Cleaning robot, self-moving robot, self-moving cleaning device, and corresponding method

Abstract

A cleaning robot, a self-moving robot (1d), a self-moving cleaning device, a control method, and an operating method. The cleaning robot comprises: a mobile chassis (1a) and movable cleaner assemblies (201a, 202a). The mobile chassis (1a) travels on a working surface; the movable cleaner assemblies (201a, 202a) are used for cleaning the working surface; and the movable cleaner assemblies (201a, 202a) can each move between a first position and a second position relative to the mobile chassis (1a). The cleaning robot has a general working mode in which same is far away from an obstacle and an obstacle avoidance working mode in which same is close to an obstacle; in the obstacle avoidance working mode, the movable cleaner assemblies (201a, 202a) are each located at the first position, and at this moment, the distance between each movable cleaner assembly (201a, 202a) and the edge of the mobile chassis (1a) is relatively short; and in the general working mode, the movable cleaner assemblies (201a, 202a) are each located at the second position, and at this moment, the distance between each movable cleaner assembly (201a, 202a) and the edge of the mobile chassis (1a) is relatively long. The present application achieves more thorough cleaning, and increases the cleaning area, thus achieving comprehensive cleaning.

Description

Cleaning robot, self-moving robot, self-moving cleaning device and corresponding method

[0001] Cross-references

[0002] This application cites the Chinese patent applications in the table below, which are incorporated herein by reference in their entirety. Technical Field

[0003] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot and a control method thereof. Background Art

[0004] Cleaning robots are a type of smart household cleaning appliance that, with the help of artificial intelligence, can automatically sweep, vacuum, and mop the floor. With the advancement of science and technology and the improvement of people's quality of life, cleaning robots have become an increasingly common feature of our lives.

[0005] When cleaning robots on the market work close to the wall, it is often difficult to achieve zero distance to the edge, resulting in the existence of cleaning blind spots. It can be seen that providing a cleaning robot that can achieve comprehensive cleaning is a technical problem that needs to be solved urgently in this application.

[0006] Application Contents

[0007] In order to solve the problems existing in the prior art, the present application provides a cleaning robot and a control method thereof.

[0008] According to a first aspect of the present application, there is provided a cleaning robot comprising:

[0009] a motion chassis configured to travel on a working surface;

[0010] a movable cleaner assembly, wherein the movable cleaner assembly is configured to clean a work surface;

[0011] The movable cleaning device assembly is configured to be movable between a first position and a second position relative to the movable chassis; the cleaning robot has a normal working mode at a distance from an obstacle and an obstacle avoidance working mode at a distance from an obstacle;

[0012] In which, in the obstacle avoidance working mode, the movable cleaner assembly is located in a first position, and in the first position, the movable cleaner assembly is closer to the edge of the moving chassis; in the normal working mode, the movable cleaner assembly is located in a second position, and in the second position, the movable cleaner assembly is farther from the edge of the moving chassis.

[0013] In one embodiment of the present application, the movable cleaning device assembly comprises:

[0014] a first movable cleaner configured to clean a work surface;

[0015] a second movable cleaner, the second movable cleaner being of a different type than the first movable cleaner and configured to clean the work surface;

[0016] The first movable cleaner and the second movable cleaner are configured to be able to move between a first position and a second position relative to the moving chassis; wherein, the first movable cleaner and the second movable cleaner are closer to the edge of the moving chassis in the obstacle avoidance working mode, and farther away from the edge of the moving chassis in the normal working mode.

[0017] In one embodiment of the present application, the cleaning robot also includes a detection unit for detecting environmental information in the working environment of the cleaning robot; and also includes a control unit, which is configured to control the first movable cleaner and the second movable cleaner to move in the direction of the first position based on the detection signal of the detection unit, and / or control the cleaning robot to move in the direction away from the obstacle.

[0018] In one embodiment of the present application, controlling the cleaning robot to move forward in a direction away from an obstacle includes: the control unit is configured to control the wheel speed difference of two drive wheels provided on the motion chassis to make the cleaning robot turn; or, controlling the cleaning robot to move backward to away from the obstacle.

[0019] In one embodiment of the present application, the control unit is configured to control the first movable cleaner and the second movable cleaner to move to the first position or to other positions between the first position and the second position based on the detection signal of the detection unit.

[0020] In one embodiment of the present application, the control unit is configured to control the speed at which the first movable cleaner and the second movable cleaner swing toward the first position based on a wheel speed difference between two driving wheels provided on the motion chassis.

[0021] In one embodiment of the present application, when located in the first position, the rotation axis of the first movable cleaner is located within the edge projection area of ​​the moving chassis, and part of the edge of the first movable cleaner is located outside the edge projection area of ​​the moving chassis; the outer contour of the moving chassis has a maximum edge in the forward direction, and when located in the second position, at least part of the edges of the first movable cleaner and the second movable cleaner are located outside the maximum edge of the moving chassis.

[0022] In one embodiment of the present application, when located at the second position, outer edges of the first movable cleaner and the second movable cleaner are flush.

[0023] In one embodiment of the present application, the control unit is configured to control the first movable cleaner and the second movable cleaner to move toward the first position at least until their outer edges are located within the maximum edge of the movable chassis based on obstacle information in the surrounding environment.

[0024] In one embodiment of the present application, the cleaning robot also includes a detection unit for detecting environmental information in the working environment of the cleaning robot; and also includes a control unit, which is configured to control the wheel speed difference of two driving wheels provided on the movable chassis based on the detection signal of the detection unit to make the cleaning robot turn; the control unit is configured to control the first movable cleaner and the second movable cleaner to move toward the first position based on the detection signal of the detection unit and the wheel speed difference of the driving wheels.

[0025] In one embodiment of the present application, the cleaning robot further includes a control unit configured to control the first movable cleaner and the second movable cleaner to move toward the first position simultaneously;

[0026] Alternatively, during the process of the cleaning robot moving forward, the first movable cleaning device is first controlled to move in the direction of the first position, and then the second movable cleaning device is controlled to move in the direction of the second position;

[0027] Alternatively, during the backward movement of the cleaning robot, the second movable cleaning device is first controlled to move in the direction of the first position, and then the first movable cleaning device is controlled to move in the direction of the second position.

[0028] In one embodiment of the present application, it also includes a detection unit and a control unit, wherein the detection unit is configured to be triggered when the first movable cleaner and / or the second movable cleaner is subjected to external force; the control unit is configured to control the first movable cleaner and / or the second movable cleaner to move toward the first position based on the signal triggered by the detection unit.

[0029] In one embodiment of the present application, the detection unit is configured to be triggered when the first movable cleaner is subjected to an external force; the control unit is configured to control the first movable cleaner and / or the second movable cleaner to move toward the first position based on the signal triggered by the detection unit; or,

[0030] The detection unit is configured to be triggered when the second movable cleaner is subjected to external force; the control unit is configured to control the first movable cleaner and / or the second movable cleaner to move toward the first position based on the signal triggered by the detection unit.

[0031] In one embodiment of the present application, after the cleaning robot leaves the base station, the first movable cleaner and the second movable cleaner are controlled to move to the second position, and the cleaning robot is controlled to perform cleaning operations on the working surface in a general working mode.

[0032] In one embodiment of the present application, when the cleaning robot returns to the base station, the first movable cleaner and the second movable cleaner both move to the first position, so that the cleaning robot docks in the base station in a maintenance posture.

[0033] In one embodiment of the present application, the first movable cleaner and the second movable cleaner are located on the same side of the moving chassis.

[0034] According to the second aspect of the present application, a control method for a cleaning robot is also provided, the method comprising the following steps:

[0035] Control the cleaning robot to clean the working surface in the normal working mode;

[0036] The control unit controls the cleaning robot to operate in an obstacle avoidance working mode based on obstacle information in the surrounding environment.

[0037] One beneficial effect of this application is that the cleaning robot is provided with a movable cleaner assembly that moves between a first position and a second position relative to the moving chassis. In normal operating mode, the movable cleaner assembly is located in the second position, which is relatively outward. This increases the cleaning coverage of the cleaning robot, effectively increasing the cleaning area and achieving comprehensive cleaning. In obstacle avoidance mode, the movable cleaner assembly retracts inward to avoid collisions with obstacles, thereby improving the user experience.

[0038] According to a third aspect of the present application, a cleaning robot is provided, comprising:

[0039] body;

[0040] a movable cleaner, the movable cleaner being configured to move between a first position and a second position relative to the machine body; when the movable cleaner is in the first position, at least a portion of its edge is located within the edge projection area of ​​the machine body, and the movable cleaner is configured to swing outward relative to the machine body to the second position;

[0041] a detection unit configured to be triggered when the movable cleaner is subjected to an external force;

[0042] A control unit is configured to control the movable cleaner to move toward the first position based on a signal triggered by the detection unit.

[0043] In one embodiment of the present application, when located in the first position, the edge of the movable cleaner is located within the edge projection area of ​​the body; when located in the second position, at least part of the edge of the movable cleaner is located outside the edge projection area of ​​the body.

[0044] In one embodiment of the present application, the outer contour of the body has a maximum edge in the advancing direction, and when located in the second position, at least part of the edge of the movable cleaner is located outside the maximum edge of the body.

[0045] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move toward the first position at least until its outer edge is located within the maximum edge of the body based on the signal triggered by the detection unit.

[0046] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move to the first position, or to another position between the first position and the second position based on a signal triggered by the detection unit.

[0047] In one embodiment of the present application, when located in the second position, the movable cleaner is constructed to vibrate at least in the swinging direction of the movable cleaner when subjected to external force, and the control unit is configured to control the movable cleaner to move toward the first position based on the signal obtained by the detection unit when the movable cleaner vibrates.

[0048] In one embodiment of the present application, the detection unit includes:

[0049] A light shielding member is provided on one of the machine body and the movable cleaner; the light shielding member is configured to have a plurality of light-transmitting channels spaced apart in the swinging direction of the movable cleaner;

[0050] A light sensor, the light sensor being arranged on the other of the machine body and the movable cleaner; the light sensor comprising an emitting portion and a receiving portion located on opposite sides of the light-shielding member; the light sensor being configured so that when the light sensor moves to a position corresponding to the light-transmitting channel relative to the light-shielding member, the receiving portion is configured to receive a light signal from the emitting portion through the light-transmitting channel, and when the light sensor moves to a position deviating from the light-transmitting channel, the light signal emitted by the emitting portion is blocked by the light-shielding member.

[0051] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move toward the first position when a pulse signal detected by the light sensor within a predetermined time reaches a threshold value.

[0052] In one embodiment of the present application, the light-transmitting channels are configured to be arranged on the light-shielding member at predetermined intervals; and the control unit is configured to control the movable cleaner to swing a predetermined angle between a first position and a second position based on a pulse signal detected by a light sensor.

[0053] In one embodiment of the present application, an elastic part is provided between the body and the movable cleaner, and the movable cleaner is configured to have a tendency to move toward the second position under the action of the elastic part; and / or, the movable cleaner includes a connecting part for rotatably connecting to the body, and a bearing part; the connecting part is constructed to be connected to the bearing part through an elastic part, and the elastic part is configured to provide elastic force for resetting the bearing part.

[0054] In one embodiment of the present application, the cleaning robot also includes a swing motor, and the movable cleaner is constructed to move between a first position and a second position under the action of the swing motor; the control unit is configured to control the movable cleaner to move toward the first position based on at least one signal of the force magnitude, swing displacement, swing angle, current of the swing motor, and rotation angle of the swing motor detected by the detection unit.

[0055] In one embodiment of the present application, the cleaning robot also includes a distance detection unit, which is configured to at least detect obstacle information in the environment; the control unit is configured to control the movable cleaner to move in the direction of the first position based on the obstacle information obtained by the distance detection unit.

[0056] In one embodiment of the present application, after the movable cleaner moves toward the first position, the control unit is configured to control the movable cleaner to reset to the second position within a predetermined time or after the cleaning robot travels a predetermined distance.

[0057] In one embodiment of the present application, after the cleaning robot leaves the base station, the control unit is configured to control the movable cleaner to perform cleaning operations on the working surface in the second position as a normal working posture.

[0058] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move to the first position in response to the return signal, so that the cleaning robot is docked in the base station in a maintenance posture.

[0059] In one embodiment of the present application, the cleaning robot is provided with at least two cleaning parts, at least one of which is the movable cleaner.

[0060] According to a fourth aspect of the present application, a control method for a cleaning robot is further provided, the method comprising the following steps:

[0061] In the second position, the cleaning robot is controlled to walk on the working surface to clean the working surface;

[0062] The control unit controls the movable cleaner to move toward the first position in response to a signal triggered by the detection unit.

[0063] One beneficial effect of the present application is that the movable cleaner can move between a first position and a second position. When it moves to the second position, it effectively increases the cleaning coverage of the cleaning robot, achieving comprehensive cleaning. The movable cleaner in the second position may collide with or scratch obstacles. For this reason, the present application provides a detection unit and a control unit, and controls the movable cleaner to move in the direction of the first position when an external force is detected, thereby achieving obstacle avoidance. In other words, the movable cleaner in the second position can be retracted in time in the event of a collision, preventing the cleaning robot from continuing to collide or even getting stuck, extending the service life of the cleaning robot, and improving the user experience.

[0064] According to a fifth aspect of the present application, a cleaning robot is provided, comprising:

[0065] a motion chassis configured to travel on a working surface;

[0066] A movable cleaner configured to move relative to the moving chassis between a first position and a second position; when the movable cleaner is in the first position, at least a portion of its edge is located within the edge projection area of ​​the moving chassis, and the movable cleaner is configured to swing outward relative to the moving chassis to the second position;

[0067] a detection unit, wherein the detection unit is configured to detect environmental information in a working environment of the cleaning robot;

[0068] A control unit is configured to determine obstacle information on the original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in the direction of the first position, and control the cleaning robot to move in the direction away from the obstacle.

[0069] In one embodiment of the present application, two drive wheels are provided at the bottom of the motion chassis, and the control unit is configured to control the wheel speed difference between the two drive wheels to make the cleaning robot turn; or, the control unit is configured to control the cleaning robot to move backward to avoid the obstacle.

[0070] In one embodiment of the present application, the control unit is configured to control the cleaning robot to turn and move in a manner of at least partially surrounding the obstacle.

[0071] In one embodiment of the present application, after determining that an obstacle is on the original moving path of the cleaning robot, the control unit is configured to control the cleaning robot to walk a predetermined distance along the original moving path, control the movable cleaner to move in the direction of the first position, and control the cleaning robot to move in the direction away from the obstacle.

[0072] In one embodiment of the present application, when located in the first position, the edge of the movable cleaner is located within the edge projection area of ​​the moving chassis; when located in the second position, at least part of the edge of the movable cleaner is located outside the edge projection area of ​​the moving chassis.

[0073] In one embodiment of the present application, the outer contour of the moving chassis has a maximum edge in the forward direction, and when located in the second position, at least part of the edge of the movable cleaner is located outside the maximum edge of the moving chassis.

[0074] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move toward the first position at least until its outer edge is located within the maximum edge of the moving chassis after determining that the obstacle is on the original moving path of the cleaning robot.

[0075] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move to the first position, or to another position between the first position and the second position after determining that the obstacle is on the original moving path of the cleaning robot.

[0076] In one embodiment of the present application, after the cleaning robot leaves the base station, the control unit is configured to control the movable cleaner to perform cleaning operations on the working surface in the second position as a normal working posture.

[0077] In one embodiment of the present application, the opposite sides of the cleaning robot are respectively recorded as the first side and the second side; a fixed cleaner is provided on the first side of the cleaning robot, and the edge of the fixed cleaner is located within the edge projection area of ​​the moving chassis; the movable cleaner is provided on the second side; the control unit is configured to control the cleaning robot to turn in such a way that the movable cleaner faces the obstacle.

[0078] In one embodiment of the present application, after the movable cleaner moves toward the first position, the control unit is configured to control the movable cleaner to reset to the second position within a predetermined time or after the cleaning robot travels a predetermined distance; and / or

[0079] After the cleaning robot walks in a direction away from the obstacle, the control unit is configured to control the cleaning robot to walk along the original moving path within a predetermined time or after the cleaning robot walks a predetermined distance.

[0080] In one embodiment of the present application, the control unit is configured to control the movable cleaner to move to the first position in response to the return signal, so that the cleaning robot is docked in the base station in a maintenance posture.

[0081] According to a sixth aspect of the present application, a control method for a cleaning robot is further provided, the method comprising the following steps:

[0082] In the second position, the cleaning robot is controlled to walk on the working surface to clean the working surface;

[0083] The control unit is configured to determine that an obstacle is on the original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in the direction of the first position, and control the cleaning robot to move in the direction away from the obstacle.

[0084] One beneficial effect of the present application is that when an obstacle exists in the moving path of the cleaning robot, the control unit can control the cleaning robot to turn so that the cleaning robot as a whole avoids the obstacle; in addition, the control unit can also control the movable cleaner to move in the direction of the first position so that the movable cleaner retracts to avoid the obstacle. The present application realizes the coordination of two obstacle avoidance behaviors, reduces the probability of collision, extends the service life of the cleaning robot, and improves the user experience. The movable cleaner can move between the first position and the second position. When moving to the second position, it effectively increases the cleaning coverage of the cleaning robot and achieves comprehensive cleaning.

[0085] In a seventh aspect, the present application provides a self-propelled robot comprising a main unit and a mopping module. The mopping module comprises a drive assembly and a turntable. The drive assembly is disposed on the main unit and connected to the turntable, configured to drive the turntable to rotate relative to the main unit and to swing relative to the main unit between a first working position and a second working position. The turntable has an edge extending beyond an edge of the main unit, and is spaced a first distance from the edge in the first working position and a second distance from the edge in the second working position, wherein the second distance is less than the first distance.

[0086] In some embodiments, a walking module is provided at the bottom of the main unit to drive the main unit to switch between a normal walking mode and an edge walking mode. In the edge walking mode, the main unit walks along the edge of an obstacle, with a distance along the edge between the edge and the obstacle. The turntable is located in the first working position in the normal walking mode and in the second working position in the edge walking mode, and the first distance or the second distance matches the distance along the edge.

[0087] In some embodiments, the travel module includes multiple wheel assemblies, and a control module and a detection module are disposed within the main unit. The multiple wheel assemblies are spaced apart at the bottom of the main unit, and the detection module is configured to detect the motion state of the main unit. The control module is electrically connected to the detection module and the drive assembly, respectively, to control the drive assembly to swing the turntable from the first working position to the second working position based on the motion state.

[0088] In some embodiments, the motion state includes a change in the host's walking speed and / or an increase or decrease in the distance between the host and the obstacle.

[0089] In some embodiments, the change in the running speed of the host is caused by the speed difference of the plurality of wheel assemblies. The detection module detects the speed difference, and the control module controls the driving assembly to drive the turntable to swing to the second working position according to the speed difference.

[0090] In some embodiments, the detection module includes a differential sensor and / or a distance sensor that matches the motion state.

[0091] In some embodiments, the driving assembly includes a rotating mechanism, a swinging mechanism and a transmission mechanism. The transmission mechanism is connected to the turntable. The rotating mechanism and the swinging mechanism are respectively connected to the transmission mechanism to drive the transmission mechanism to correspondingly drive the turntable to rotate and swing.

[0092] In some embodiments, the driving assembly includes an elastic member connected to the turntable and normally maintains the turntable in the first working position.

[0093] In an eighth aspect of the present application, a method for operating a self-moving robot according to any of the above embodiments is also provided, comprising: when the self-moving robot is in a general walking mode, the turntable is located at the first working position, so that the edge of the turntable extends beyond the edge of the main body and is separated from the edge by a first distance; and when the self-moving robot is in an edge walking mode, the turntable is swung to the second working position, so that the distance between the edge of the turntable and the edge retreats to the second distance.

[0094] In some embodiments, the operation method further includes: detecting a motion state of the host; and

[0095] The driving assembly is controlled according to the motion state to drive the turntable to swing from the first working position to the second working position; wherein the motion state includes a change in the walking speed of the host and / or an increase or decrease in the distance between the host and the obstacle.

[0096] In the aforementioned embodiment of the present application, the turntable of the mopping module normally extends beyond the projection of the main unit and, driven by the drive assembly, can swing between a first operating position and a second operating position. When the edge of the turntable is spaced a first distance from the edge of the main unit, the roller brush assembly can be used to expand the cleaning range of the main unit as it moves. Furthermore, when encountering an obstacle, the turntable can simply be driven by the drive assembly to retract to the second distance, enabling edge cleaning mode. Because the turntable's swing amplitude between the first and second distances is small, in addition to expanding the main unit's cleaning range, it also accommodates edge cleaning without affecting large-scale cleaning, thereby improving cleaning efficiency and enhancing the user experience.

[0097] Prior art (Chinese Patent Publication No. CN113287975A) discloses that when the movable cleaner is in its initial position, its edge is within the projected area of ​​the widest edge of the body. When the movable cleaner is in its edge position, at least part of its edge is outside the projected area of ​​the widest edge of the body. In other words, the movable cleaner is normally retracted, but when it detects that it needs to move along the edge, such as a wall or table corner, it expands outward. This technical solution is designed to better clean corners and reduce missed areas.

[0098] However, this technical solution has defects in actual application. The cleaning robot uses the information collected by the edge sensor on the side of the body to control the body to move along the edge, and the movable cleaner is installed at the rear end edge of the cleaning robot body. If the obstacle along the edge is a straight corner (such as the corners of walls, wardrobes, etc.), the movable cleaner will be extended to the outside when walking along the edge, which can achieve better and more comprehensive cleaning. However, if the edge of the obstacle along the edge is irregular, such as circular, elliptical, S-curve, etc., it is necessary to turn when walking along the edge. In order to avoid the extended movable cleaner being caught by the obstacle, the cleaning robot needs to increase the turning radius. The rotation center of the body is in front of the movable cleaner, and it will be found that the movable cleaner cannot clean along the edge at all. When the cleaning robot body turns sideways, the side is closer to the edge of the obstacle, but the movable cleaner at the rear end is farther away from the edge of the obstacle.

[0099] In addition, the working scene of the cleaning robot is very complex. In order to achieve the best cleaning effect while walking along the edge and covering as much as possible, there are many judgment conditions for the mobile cleaner to expand outward, which cannot be exhaustive. Therefore, the cleaning robot cannot expand outward in time every time the mobile cleaner needs to expand outward.

[0100] In a ninth aspect of the present application, a method for operating a self-propelled robot is provided. The method comprises:

[0101] Acquiring behavior control parameters of the self-moving robot, wherein the behavior control parameters are used to control the behavior of the self-moving robot;

[0102] determining a target position of the turntable relative to the host based on the behavior control parameters;

[0103] When there is a deviation between the current position of the turntable and the target position, the host is controlled to move according to the behavior control parameters, and the driving component is controlled to drive the turntable to move to the target position, so that the turntable dynamically follows the movement of the host to adjust its position;

[0104] The self-propelled robot includes the main body and a mopping module, and the mopping module includes the drive assembly and the turntable. The drive assembly is disposed on the main body and connected to the turntable to drive the turntable to rotate relative to the main body and to move between a first working position and a second working position relative to the main body. In the solution of the present invention, the mopping module is not limited to a turntable, and may also be other cleaning components, such as a roller brush.

[0105] In the first working position, the edge of the turntable extends beyond the edge of the host; in the second working position, the turntable is retracted, and the portion that does not extend beyond the edge of the host or that extends beyond the edge of the host is reduced.

[0106] In a tenth aspect of the present application, a method for operating a self-propelled robot is provided, the method may include:

[0107] Determine the host's behavior control parameters and the turntable's target position relative to the host based on the planned path, the robot's position information, and the robot's spatial environment information.

[0108] Controlling the host action according to the behavior control parameters;

[0109] When there is a deviation between the current position of the turntable and the target position, the driving component is controlled to drive the turntable to move to the target position; the control action includes: the telescopic distance and telescopic speed of the turntable.

[0110] The self-propelled robot includes the main body and a mopping module. The mopping module includes the drive assembly and the turntable. The drive assembly is disposed on the main body and connected to the turntable to drive the turntable to rotate relative to the main body and to move between a first working position and a second working position relative to the main body.

[0111] In the first working position, the edge of the turntable extends beyond the edge of the host; in the second working position, the turntable is retracted, and the portion that does not extend beyond the edge of the host or that extends beyond the edge of the host is reduced.

[0112] Optionally, when the turntable is recovered, it is recovered quickly or slowly according to the rotation speed of the host.

[0113] In the aforementioned embodiment of the present application, the turntable of the mopping module normally extends beyond the projection of the main unit and, driven by the drive assembly, can be moved between a first operating position and a second operating position. When the edge of the turntable is spaced a first distance from the edge of the main unit, the roller brush assembly can be used to expand the cleaning range of the main unit as it moves. Furthermore, when encountering an obstacle, the turntable can simply be driven by the drive assembly to retract to the second distance, enabling edge cleaning mode. Because the turntable can move narrowly between the first and second distances, in addition to expanding the main unit's cleaning range, it also accommodates edge cleaning without affecting large-scale cleaning, thereby improving cleaning efficiency and enhancing the user experience.

[0114] In the method embodiment of the present application, the turntable of the mopping module can dynamically follow the movement of the host to adjust its position so as to flexibly adapt to the needs of actual application scenarios. For example, after the self-moving robot encounters an obstacle, the turntable will be retracted when avoiding the obstacle, so that it does not extend or the part extending outside the edge of the host is reduced, which makes the host more flexible and prevents the turntable from scratching the obstacle. For example, after bypassing the obstacle, the turntable can be extended further to expand the cleaning range of the host. When the robot encounters a sudden obstacle and needs to turn quickly to avoid the obstacle, the extended turntable also needs to be quickly retracted, and the range of retraction is controlled according to the relative distance between the host and the obstacle fed back by the sensor; when the obstacle quickly moves away from the host, the turntable is quickly controlled to return to its original position. Similarly, in scenarios where a slow and small retraction is required, the robot can freely control the extension and retraction range and speed of the rag disc.

[0115] In an eleventh aspect of the present application, a method for operating a self-propelled robot may include:

[0116] Determine the behavior of the self-moving robot;

[0117] Dynamically controlling the driving component according to the behavioral action so that the turntable changes position following the behavioral action;

[0118] The self-propelled robot includes the main unit and a mopping module. The mopping module includes the drive assembly and the turntable. The drive assembly is disposed on the main unit and is used to drive the turntable to rotate relative to the main unit and to move between a first position and a second position relative to the main unit. In the solution of the present invention, the mopping module is not limited to a turntable and may also be other cleaning components, such as a roller brush.

[0119] In the first position, the edge of the turntable extends beyond the edge of the host; in the second position, the turntable is retracted, and the portion that does not extend beyond the edge of the host or that extends beyond the edge of the host is reduced.

[0120] Optionally, dynamically controlling the driving component according to the behavioral action so that the turntable changes position following the behavioral action includes:

[0121] Determining a target position of the turntable according to the behavioral action;

[0122] According to the current position of the turntable and the target position, the driving component is controlled so that the turntable changes position according to the behavioral action.

[0123] Optionally, determining the target position of the turntable according to the behavioral action includes:

[0124] When the behavioral action is an action performed by the host in a conventional scenario, determining the target position of the turntable to be a set position;

[0125] When the behavioral action is an action performed by the host in an unconventional scenario, determining the target position of the turntable to be a retracted position;

[0126] Among them, the extension amount of the turntable corresponding to the set position is greater than the extension amount corresponding to the retracted position; the actions performed by the host in unconventional scenarios are different, and the corresponding retracted positions may be the same or different.

[0127] Optionally, when the behavioral action is an action performed by the host in an unconventional scenario, determining the target position of the turntable as the retracted position includes:

[0128] If the action is a steering avoidance performed by the host in a scene with obstacles, determining the retracted position as a position when the extension amount of the turntable is a first value;

[0129] If the action is edge travel performed by the host in a scene with edge objects, determining the retracted position as a position when the extension amount of the turntable is a third value;

[0130] If the behavioral action is an escape action performed by the host in a narrow space scenario, determining the retracted position to be a position when the extension amount of the turntable is a fourth value;

[0131] Wherein, the extension amount of the turntable at the set position is a second value;

[0132] The absolute value of the first value is smaller than the absolute value of the second value, the absolute value of the third value is smaller than or equal to the absolute value of the first value; and the absolute value of the fourth value is smaller than or equal to the absolute value of the third value.

[0133] Optionally, the amount by which the turntable extends beyond the edge of the host when the turntable is in the first position is the second value; and the amount by which the turntable extends beyond the edge of the host when the turntable is in the second position is the fourth value.

[0134] Optionally, if the action is turning to avoid an obstacle, the retracted position is a position when the extension amount of the turntable is a first value, including:

[0135] If the action is turning to avoid an obstacle, determining the turning radius of the host;

[0136] The first value is determined according to the turning radius.

[0137] Optionally, the extension amount corresponding to a larger turning radius is greater than the extension amount corresponding to a smaller turning radius.

[0138] Optionally, the method may further include:

[0139] Determining, based on the behavior action, a scaling speed adapted to the execution speed of the host behavior action;

[0140] and controlling the driving assembly according to the current position of the turntable and the target position, including:

[0141] The driving assembly is controlled according to the current position of the turntable, the target position and the telescopic speed, so that the turntable can achieve synchronous following in terms of behavioral action and execution speed when executing position changes.

[0142] Optionally, if the action is turning to avoid an obstacle, the telescopic speed is determined according to the turning radius and turning speed of the host;

[0143] Among them, the telescopic speed corresponding to a small turning radius and a high turning speed is greater than the telescopic speed corresponding to a large turning radius and a low rotational speed.

[0144] Optionally, the amount by which the turntable extends beyond the edge of the main unit when in the first position is greater than the amount by which the turntable extends beyond the edge of the main unit when in the second position; and

[0145] Determining a target position of the turntable according to the behavioral action includes:

[0146] If the behavior action is turning to avoid an obstacle, determining the target position to be the second position;

[0147] If the behavior action is moving along the edge, determining the target position to be the second position;

[0148] If the behavioral action is escaping from a narrow space, the target position is determined to be the second position.

[0149] Optionally, determining the behavior of the self-moving robot includes at least one of the following:

[0150] determining a behavior of the self-moving robot based on environmental information monitored by at least one environmental monitoring sensor on the self-moving robot;

[0151] Determining the behavior of the self-propelled robot based on the planned path and the driving wheel information collected by the photoelectric encoder on the self-propelled robot;

[0152] According to the collision detection of the collision sensor on the self-moving robot, the behavior action of the self-moving robot is determined.

[0153] Optionally, the self-propelled robot further includes a first limit position detection unit, a second limit position detection unit, and an intermediate position detection unit; and the method further includes:

[0154] When the calibration is triggered, the control drive assembly drives the turntable to retract to the first limit position or expand to the second limit position;

[0155] When it is determined that the turntable is at the first extreme position or the second extreme position, the intermediate position detection unit is calibrated.

[0156] Optionally, the method may further include at least one of the following:

[0157] Set the duration for each interval to trigger calibration;

[0158] When the mobile robot turns, calibration is triggered;

[0159] When the self-moving robot collides, calibration is triggered;

[0160] When the turntable of the mobile robot is recovered to the first limit position, calibration is triggered;

[0161] When the turntable of the mobile robot expands outward to the second limit position, calibration is triggered.

[0162] Optionally, determining a behavior of the self-moving robot and dynamically controlling a driving component according to the behavior includes:

[0163] When preparing to move along the straight track of the bow-shaped track with a constant pitch, controlling the driving assembly to drive the turntable to a set position, wherein the set position is a position between the first limit position and the second limit position;

[0164] During the process of traveling along the straight track of the bow-shaped track with a constant spacing, the turntable is at the set position to clean the surface to be cleaned.

[0165] Optionally, the method may further include:

[0166] When preparing to turn in a bow-shaped trajectory, the driving assembly is controlled to drive the turntable to expand outward to the second extreme position;

[0167] During the bow-shaped turning process of the self-moving robot, the turntable is at the second extreme position;

[0168] After the bow-shaped turning is completed, the driving component is controlled to drive the turntable to retract to the set position, and continue to move along the straight track of the bow-shaped track with a constant spacing to clean the surface to be cleaned.

[0169] In a twelfth aspect, the present application further provides a method for operating the self-propelled robot according to any one of the above embodiments, comprising:

[0170] When the robot is traveling on a straight track of the bow-shaped track, the turntable is controlled to be located at a third position, and the third position is located between the first position and the second position;

[0171] Among them, the self-moving robot includes a main body, a driving component and the turntable. The driving component is arranged on the main body to drive the turntable to rotate relative to the main body and move between a first position and a second position relative to the main body, thereby changing the extension amount of the turntable; the first position is the maximum extension position of the turntable, and the second position is the position where the turntable is not extended.

[0172] In the aforementioned embodiment of the present application, the turntable of the mopping module normally extends beyond the projection of the main unit and, driven by a drive assembly, can be moved between a first position and a second position. When the edge of the turntable is spaced a first distance from the edge of the main unit, it can cooperate with the roller brush assembly to expand the cleaning range of the main unit as it moves. Furthermore, when encountering an obstacle, the turntable can simply be driven by the drive assembly to retract to the second distance, enabling edge cleaning mode. Because the turntable can move within a narrow range between the first and second distances, in addition to expanding the main unit's cleaning range, it also accommodates edge cleaning without affecting the overall cleaning area, thereby improving cleaning efficiency and enhancing the user experience.

[0173] In the method embodiment of the present application, the turntable of the mopping module can dynamically follow the movement of the host to adjust its position so as to flexibly adapt to the needs of actual application scenarios. For example, after the self-moving robot encounters an obstacle, the turntable will be retracted when avoiding the obstacle, so that it does not extend or the part extending outside the edge of the host is reduced, which makes the host more flexible and prevents the turntable from scratching the obstacle. For example, after bypassing the obstacle, the turntable can be extended further to expand the cleaning range of the host. When the robot encounters a sudden obstacle and needs to turn quickly to avoid the obstacle, the extended turntable also needs to be quickly retracted, and the range of retraction is controlled according to the relative distance between the host and the obstacle fed back by the sensor; when the obstacle quickly moves away from the host, the turntable is quickly controlled to return to its original position. Similarly, in scenarios where a slow and small retraction is required, the robot can freely control the extension and retraction range and speed of the rag disc.

[0174] It should be further explained that the working logic of the existing scheme in the above-mentioned background technology is: under normal circumstances (such as non-corner areas or areas without obstacles), the edge of the movable cleaner is located within the projection area of ​​the body; when it is necessary to walk along the edge, the movable cleaner is expanded so that at least part of its edge is located outside the projection area of ​​the body. In the field of cleaning robots (such as sweeping robots), cleaning robots can already avoid obstacles very well. The subtlety of the scheme of the present application is that it does not determine whether the cleaning robot is going to walk along the edge, but directly controls the turntable to change position according to the behavior of the cleaning robot. It can be seen that the scheme of the present application eliminates the complex identification of the edge situation, and only controls the turntable to make adaptive position changes in a timely manner based on the robot's behavior (such as travel speed, turning radius, acceleration, etc.). The corresponding control logic is simple, the design difficulty is not great, it is easy to implement, and the turntable responds quickly and the effect is good.

[0175] In a thirteenth aspect, the present application provides a self-propelled cleaning device. The self-propelled cleaning device comprises:

[0176] host body;

[0177] A mopping module is provided on the main body; the mopping module includes a driving assembly and a cleaning assembly; the cleaning assembly includes a cleaning component, and the cleaning component is used to clean the working surface to be cleaned;

[0178] A control device is electrically connected to the driving component and is used to dynamically control the driving component according to the behavior information of the main body, so that the driving component drives the cleaning component to move relative to the main body to change the position of the cleaning component relative to the main body.

[0179] Optionally, the cleaning assembly is a roller assembly, the cleaning component included in the roller assembly is a roller; and the roller assembly further includes: a dirt collecting tray; the dirt collecting tray is arranged on one side of the roller, for collecting dirt drained from the roller.

[0180] Optionally, the drum assembly further includes a scraper; the scraper is disposed above the dirt collecting tray, and one end of the scraper is in interference contact with the drum for scraping off dirt on the drum.

[0181] Optionally, the drum assembly further includes a guide member for guiding the dirt scraped from the drum into the dirt collecting pan.

[0182] Optionally, the self-moving cleaning device further includes: a recovery box, a suction channel and a suction motor;

[0183] One end of the suction channel is connected to the recovery box, and the other end is connected to the drum;

[0184] The suction motor is arranged in the suction channel to provide a suction force to suck the dirt flowing down from the drum into the recovery box.

[0185] Optionally, the suction channel is a soft pipe that can move along with the roller assembly.

[0186] Optionally, the driving assembly can also drive the cleaning component to rotate relative to the main body; and the self-moving cleaning device further includes: a conductive slot assembly for supplying power to the driving assembly;

[0187] The conductive slot assembly includes a conductive slot body and an electrical connection piece, wherein the electrical connection piece is disposed in the conductive slot body and is movable within the conductive slot body and is used to electrically connect to the electrical interface of the drive assembly;

[0188] When the driving component moves following the cleaning component, the power receiving member moves in the conductive slot to follow the cleaning component, so that the driving component can maintain power supply while moving.

[0189] Optionally, the movement includes extension and retraction; when the movement is extension, one end of the cleaning component extends at least beyond the widest edge of one side of the main body; wherein the widest edge on one side is an edge of the two opposite sides of the main body that are farthest apart in a direction perpendicular to its walking direction.

[0190] Optionally, the cleaning component is a roller component; the roller component moves linearly along its own axis toward a target direction; wherein the target direction is perpendicular to the moving direction of the main body.

[0191] Optionally, the cleaning component is a turntable component; the turntable component moves simultaneously in two different directions perpendicular to each other along a set arc; wherein, there are two turntable components, and the two turntable components move along different set arcs toward the same side of the main body.

[0192] In a fourteenth aspect, the present application further provides a control method for a self-moving cleaning device, wherein the self-moving cleaning device comprises a driving component and a cleaning component connected to the driving component. The control method comprises:

[0193] Determine behavioral information of self-mobile cleaning equipment;

[0194] The driving component is dynamically controlled according to the behavior information, so that the driving component drives the roller component to follow the behavior of the self-moving cleaning device and make corresponding movements to change the position of the cleaning component relative to the self-moving cleaning device; wherein, the cleaning component moves relative to the self-moving cleaning device along its own axis or a set arc.

[0195] Optionally, the behavior information includes differential speed information of two driving wheels of the self-moving cleaning device; and dynamically controlling the driving component according to the behavior information includes: dynamically controlling the driving component according to the differential speed information.

[0196] Optionally, dynamically controlling the drive assembly according to the differential speed information includes:

[0197] When the differential speed information indicates that the behavior of the self-propelled cleaning device is turning to avoid obstacles, determining the turning speed and turning radius of the self-propelled cleaning device according to the differential speed information;

[0198] determining a required movement amount of the cleaning component based on the turning radius;

[0199] Determining a required moving speed of the cleaning device according to the turning radius and the turning speed;

[0200] The driving assembly is controlled according to the moving speed and the required moving speed.

[0201] Optionally, the movement amount corresponding to the large turning radius is smaller than the movement amount corresponding to the small turning radius;

[0202] The moving speed corresponding to a small turning radius and a high turning speed is greater than the moving speed corresponding to a large turning radius and a low turning speed.

[0203] Optionally, dynamically controlling the driving component according to the behavior information includes: determining the movement amount and movement speed of the cleaning component according to the behavior information; and controlling the driving component according to the movement amount and the movement speed.

[0204] Optionally, the movement amount and movement speed of the cleaning component are determined based on the behavior information, including: determining the walking mode of the self-moving cleaning device based on the behavior information; determining the edge target object when the walking mode is an edge walking mode; determining the movement amount based on the distance between the cleaning component and the target object; and determining the movement speed of the cleaning component based on the behavior information.

[0205] Optionally, determining the movement amount according to the distance between the cleaning component and the target object includes:

[0206] Obtaining a first distance between an end of the cleaning component close to the target object and a widest edge of one side of the self-moving cleaning device;

[0207] Obtaining a second distance between the widest edge of one side of the self-moving cleaning device and the target object;

[0208] determining the movement amount according to the first distance and the second distance;

[0209] The widest edge on one side is an edge close to the target object among the two opposite edges of the self-moving cleaning device that are farthest apart in a direction perpendicular to the moving direction of the self-moving cleaning device.

[0210] Optionally, the cleaning assembly is a roller assembly or a turntable assembly; the roller assembly includes a roller and a dirt collecting tray, and the dirt collecting tray is used to collect dirt drained from the roller; and when the cleaning assembly is a roller assembly, the method further includes:

[0211] When it is detected that the amount of dirt in the dirt collecting tray reaches a set amount, the dirt in the dirt collecting tray is sucked to a recycling box on the self-moving cleaning device; or a prompt message is output to prompt the user to clean the dirt in the dirt collecting tray.

[0212] In a fifteenth aspect, the present application further provides a cleaning system, which includes a base station and the self-moving cleaning device provided in the first embodiment of the present application.

[0213] The technical solution provided by the embodiment of the present application is that the self-moving cleaning device includes a main body, a mopping module and a control device arranged on the main body, and the mopping module includes a driving component and a cleaning component (such as a roller component or a turntable component), and the cleaning component includes a cleaning component (such as a roller or a turntable) for cleaning the working surface to be cleaned. The driving component is electrically connected to the control device, and the control device can dynamically control the driving component according to the behavior information of the main body, so that the driving component drives the cleaning component to move relative to the main body (such as extending or retracting). The cleaning component designed in this solution can move (that is, follow the behavior of the main body) to achieve no missed sweeps. The specific movement control method is as follows: first determine the behavior information of the self-moving cleaning device, and then dynamically control the driving component according to the determined behavior information, so that the driving component drives the roller component to follow the behavior of the main body (self-moving cleaning device). Specifically, taking the cleaning component as a roller component as an example, the roller component moves along its own axis relative to the main body. For example, when the self-moving cleaning device is moving normally along the edge (moving along the edge without turning to avoid obstacles), the movement amount can be determined based on the distance between the roller assembly and the target object along the edge, and the roller assembly can be controlled to move along its own axis toward the target object based on the movement amount to contact the target object. Since the roller assembly and the target object will be in contact after the movement, there will be no gap between the two, so there will be no problem of missed scanning (such as missed scanning of the edge of the target object).

[0214] In the sixteenth aspect of the present application, a self-propelled robot is provided, which includes a main unit, a wiping module and a control module. The wiping module includes a drive component and a rag plate, and the drive component is connected between the main unit and the rag plate to drive the rag plate to swing between a first position and a second position relative to the main unit and generate a corresponding counting signal, wherein the rag plate is normally located at the first position, and the edge of the rag plate extends beyond the edge of the main unit by a cleaning distance, and the cleaning distance is reduced when the rag plate swings toward the second position. The control module is arranged in the main unit to control the drive component to drive the rag plate to swing, and to control the stop position of the rag plate between the first position and the second position according to the counting signal to dynamically adjust the cleaning distance.

[0215] In some embodiments, the driving assembly includes a main body, a first motor and a second motor. A transmission mechanism is provided in the main body. The first motor is connected between the transmission mechanism and the host to drive the main body to drive the rag plate to swing. The second motor is connected between the main body and the rag plate to drive the rag plate to rotate.

[0216] In some embodiments, the self-propelled robot also includes a counting module, which is disposed in the host and electrically connected to the control module. At least a portion of the counting module is linked to the driving component to generate one or more corresponding pulse waveforms as the counting signal according to the swinging state of the rag plate.

[0217] In some embodiments, the counting module includes a counting structure and an optical coupler, one of the counting structure and the optical coupler is arranged on the main body, and the other is arranged on the host, and can move relative to each other, wherein the counting structure includes a plurality of light-transmitting areas and a plurality of non-light-transmitting areas arranged in an staggered manner, and the optical coupler is used to emit and receive light on two opposite sides of the counting structure, and the light acts on the light-transmitting area and the non-light-transmitting area to generate the pulse waveform, and the control module calculates the stop position according to the number of times the pulse waveform is generated and the swing angle of the rag plate.

[0218] In some embodiments, the rag plate swings between the first position and the second position with the axis of the first motor as the center of the circle, the center of the rag plate has a swing path between the first position and the second position, and the light-transmitting area and the non-light-transmitting area are alternately arranged along the swing path.

[0219] In some embodiments, the extension directions of the plurality of light-transmitting areas intersect with the axis of the first motor, and the included angle between two adjacent light-transmitting areas is 1 to 5 degrees.

[0220] In some embodiments, the counting module is a code disk or an encoder, which is coaxially arranged on the first motor or the transmission mechanism, and generates the pulse waveform as the axis of the first motor or the transmission mechanism moves. The control module calculates the stop position based on the counting signal and the transmission ratio of the transmission mechanism.

[0221] In some embodiments, the first motor is a stepper motor, the counting signal corresponds to the number of steps of the stepper motor, and the control module calculates the stop position according to the counting signal and the transmission ratio of the transmission mechanism.

[0222] In some embodiments, the edge of the host is parallel to the moving direction of the host, and the moving distance of the rag plate between the first position and the stop position is the vertical distance between the center of the rag plate and the edge of the host.

[0223] In a seventeenth aspect, the present application further provides a self-propelled robot comprising a main unit, a drive assembly, and a cleaning dish. The main unit includes a control module electrically connected to the drive assembly to control the drive assembly to cause the cleaning dish to swing between a first position and a second position, generating a corresponding count signal. The control module controls the rest position of the cleaning dish between the first and second positions based on the count signal, thereby dynamically adjusting the cleaning distance that the edge of the cleaning dish extends beyond the main unit.

[0224] In aspect 18 of the present application, there is also provided an operating method of a self-moving robot according to any of the above embodiments, including: when the self-moving robot is in a general walking mode, the rag plate is normally located in the first position, so that the edge of the rag plate extends beyond the edge of the main body to form the cleaning distance; and when the self-moving robot is in an edge walking mode, the rag plate is swung toward the second position, and the stop position of the rag plate is controlled according to the counting signal to dynamically adjust the cleaning distance.

[0225] In some embodiments, the operation method further includes: detecting the motion state of the host; and controlling the driving component to drive the rag plate to swing from the first position to the stop position according to the motion state; wherein the motion state includes a change in the walking speed of the host and / or an increase or decrease in the distance between the host and the obstacle.

[0226] The self-propelled robot of the present embodiment can generate a corresponding counting signal during the oscillation of the rag tray. This allows the control module to control the rag tray's position between a first position and a second position based on the counting signal, dynamically adjusting the cleaning distance between the edge of the rag tray and the edge of the main unit to meet the needs of different cleaning environments. The control module can control the rag tray to swing to any position between the first and second positions based on actual environmental requirements, thereby dynamically adjusting the distance it extends from the main unit to accommodate different cleaning environments or obstacles, further providing more flexible and precise cleaning operations.

[0227] In some embodiments, the first motor is a stepper motor, and the number of steps of the stepper motor can generate a corresponding counting signal. Alternatively, the self-propelled robot can be equipped with a code disk, encoder, counting structure, and sensing components such as optical couplers, and the sensing components can generate a pulse waveform in response to the rotation of the first motor or transmission mechanism. In this way, the control module can calculate the resting position of the rag tray based on the counting signal, thereby achieving precise control of the rag tray's swing. BRIEF DESCRIPTION OF THE DRAWINGS

[0228] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. 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.

[0229] FIG1 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application in a first position;

[0230] FIG2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application in a second position;

[0231] FIG3 is a schematic diagram of the internal structure of a cleaning robot provided in one embodiment of the present application;

[0232] FIG4 is a schematic structural diagram of a swing mechanism provided in one embodiment of the present application;

[0233] FIG5 is a schematic structural diagram of a light-blocking strip provided in an embodiment of the present application;

[0234] FIG6 is a schematic structural diagram of a movable cleaning device provided in one embodiment of the present application;

[0235] FIG7 is a schematic diagram of a pulse signal provided in an embodiment of the present application;

[0236] FIG8 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application in a first position;

[0237] FIG9 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application in a second position;

[0238] FIG10 is a schematic diagram of the internal structure of a cleaning robot provided in one embodiment of the present application;

[0239] FIG11 is a schematic structural diagram of a movable cleaning device of a cleaning robot provided in an embodiment of the present application when in a first position;

[0240] FIG12 is a schematic structural diagram of a movable cleaning device of a cleaning robot provided in an embodiment of the present application when in a second position;

[0241] FIG13 is a bottom view of the self-moving robot according to an embodiment of the present application;

[0242] FIG14 is a schematic structural diagram of a driving assembly of a self-moving robot according to an embodiment of the present application;

[0243] FIG15 is a framework diagram of a self-moving robot according to an embodiment of the present application;

[0244] FIG16 is a bottom view of a cleaning robot according to another embodiment of the present application; and

[0245] 17 to 19 are respectively schematic diagrams of the operation dynamics of the self-moving robot according to the embodiment of the present application;

[0246] FIG20 is a flow chart of the operation method of the self-moving robot according to an embodiment of the present application

[0247] FIG21 is a bottom view of a self-moving robot according to another embodiment of the present application; and

[0248] FIG22 is a dynamic diagram of the operation of a self-moving robot according to another embodiment of the present application;

[0249] Figures 23 to 26 are diagrams showing the relationship between the global reference system and the host's local reference system;

[0250] Figures 27 and 28 are respectively partial enlarged views of different positions of Figure 26;

[0251] FIG29 is a dynamic diagram of the operation of a self-moving robot provided by an embodiment of the present application;

[0252] FIG30 is a dynamic diagram of the operation of a self-moving robot provided by another embodiment of the present application;

[0253] FIG31 is a schematic diagram showing the cleaning area that can be covered when both turntables on the self-moving robot are not extended;

[0254] FIG32 is a schematic diagram showing the cleaning area that can be covered when one of the two turntables on the self-mobile robot is expanded outward;

[0255] FIG33 is a schematic diagram showing how to achieve full coverage in different scenarios when one of the two turntables on the self-propelled robot is expanded outward;

[0256] FIG34 shows a schematic structural diagram of a driving assembly on a self-propelled robot;

[0257] FIG35 is a schematic diagram showing a robotic arm, a first limit position detection unit, a second limit position detection unit, and an intermediate position detection unit on a self-moving robot;

[0258] FIG36 shows a schematic diagram of a robotic arm on a self-propelled robot;

[0259] FIG37 shows a schematic diagram of a bow-shaped trajectory with a constant spacing;

[0260] FIG38 is a schematic diagram showing a cleaning task performed while maintaining a constant spacing when one of the two turntables A on the mobile robot expands outward to the middle position;

[0261] FIG39 a is a bottom view of a conventional self-moving cleaning device according to an embodiment of the present application;

[0262] FIG39 b is a schematic diagram of a conventional self-propelled cleaning device moving along an edge according to an embodiment of the present application;

[0263] FIG39c is a schematic structural diagram of a self-moving cleaning device according to an embodiment of the present application;

[0264] FIG39d is a schematic diagram of the turntable assembly provided by an embodiment of the present application moving along a set arc;

[0265] FIG39e is a partially enlarged schematic diagram of the turntable assembly provided by an embodiment of the present application moving along a set arc;

[0266] FIG40 a is a schematic structural diagram of a self-moving cleaning device according to an embodiment of the present application;

[0267] FIG40 b is a schematic diagram showing the extension and movement of a roller assembly on a self-moving cleaning device according to an embodiment of the present application;

[0268] FIG40c is a schematic diagram of a self-moving cleaning device walking along an edge according to an embodiment of the present application;

[0269] FIG40d is a schematic diagram of a self-moving cleaning device walking along an edge, shown in another embodiment of the present application;

[0270] Figures 41 and 42 are schematic structural diagrams of self-moving cleaning devices according to two other embodiments of the present application;

[0271] FIG43 is a schematic structural diagram of an electrical connector according to an embodiment of the present application;

[0272] FIG44a is a schematic diagram of a scene in which a self-moving cleaning device performs a turn to avoid obstacles and walk along a side, shown in one embodiment of the present application;

[0273] FIG44 b is a schematic diagram showing a principle for determining the movement amount of the roller assembly corresponding to the edge walking scenario shown in FIG44 a according to an embodiment of the present application;

[0274] FIG44c is a schematic diagram of a scene in which a self-moving cleaning device is normally moving along a sidewalk, shown in another embodiment of the present application;

[0275] FIG44d is a schematic diagram showing a principle for determining the movement amount of the roller assembly corresponding to the edge walking scenario shown in FIG44c according to an embodiment of the present application;

[0276] FIG45 is a flow chart of a method for controlling a self-moving cleaning device according to an embodiment of the present application;

[0277] FIG46 is a flow chart of a method for controlling a self-moving cleaning device according to another embodiment of the present application;

[0278] FIG47 is a top view of the self-moving robot according to an embodiment of the present application;

[0279] FIG48 is a schematic diagram of a drive assembly according to an embodiment of the present application;

[0280] FIG49 is a bottom view of the self-moving robot according to an embodiment of the present application;

[0281] FIG50 is a partially enlarged schematic diagram of a drive assembly according to an embodiment of the present application;

[0282] 51 and 52 are system block diagrams of the self-propelled robot according to an embodiment of the present application;

[0283] FIG53 is a schematic diagram of a counting structure according to an embodiment of the present application;

[0284] FIG54 is a schematic diagram of a counting module according to an embodiment of the present application;

[0285] FIG55 is a schematic diagram of a pulse waveform according to an embodiment of the present application;

[0286] FIG56 is a system block diagram of a self-moving robot according to another embodiment of the present application;

[0287] FIG57 is a schematic diagram of a swinging state of the self-moving robot according to an embodiment of the present application;

[0288] FIG58 is a schematic diagram of the swing relationship of the self-moving robot according to an embodiment of the present application;

[0289] Figure 59 is a flow chart of the operating method of the self-moving robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0290] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0291] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0292] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0293] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0294] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0295] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the prerequisite for each other's existence.

[0296] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0297] In addition, the one-to-one correspondence between the component names and reference numerals in Figures 1 to 7 is as follows:

[0298] 1a, moving chassis; 11a, driving wheel; 12a, front cleaner; 13a, detection unit; 14a, fixed cleaner; 201a, first movable cleaner; 202a, second movable cleaner; 21a, swing mechanism; 211a, connecting part; 212a, bearing part; 213a, elastic part; 22a, photoelectric reflecting tube; 23a, rag plate; 24a, swing motor; 25a, rotating motor; 3a, light shielding strip; 31a, shielding comb teeth; 32a, hollow channel; 4a, wall.

[0299] The present application provides a cleaning robot, which may be a sweeping robot, a mopping robot, a sweeping and mopping robot, or the like, and is a self-moving cleaning device used to clean work surfaces that need to be cleaned, such as floors, sofas, and carpets.

[0300] The cleaning robot of the present application comprises a motion chassis and a movable cleaning assembly. The motion chassis is configured to move on a work surface, and the movable cleaning assembly is mounted on the bottom of the motion chassis. The movable cleaning assembly can be a cleaning disc, a floor brush, a mopping tool, a roller brush, a side brush, or other cleaning components to clean the work surface.

[0301] The movable cleaning assembly of the present application is configured to move between a first position and a second position relative to a moving chassis. The cleaning robot has a normal operating mode in which it is farther away from obstacles and an obstacle avoidance mode in which it is closer to obstacles. In the obstacle avoidance mode, the movable cleaning assembly is in the first position, where it is closer to the edge of the moving chassis. In the normal operating mode, the movable cleaning assembly is in the second position, where it is farther away from the edge of the moving chassis.

[0302] When the movable cleaner assembly is in the first position, the cleaning robot is in obstacle avoidance working mode. At this time, the overall size of the cleaning robot is smaller, which is convenient for storage and is less likely to collide while driving. It can prevent the movable cleaner assembly from being stuck by objects such as furniture on the ground during work.

[0303] When the movable cleaner assembly is in the second position, the cleaning robot is in the general working mode. At this time, the movable cleaner assembly can swing outward relative to the movable chassis and move to the second position. That is to say, the movable cleaner assembly in the second position has a larger cleaning range than the movable cleaner assembly in the first position. This can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0304] In a specific embodiment of the present application, the movable cleaner assembly includes: a first movable cleaner and a second movable cleaner. The first movable cleaner and the second movable cleaner can both be mounted on the bottom of the moving chassis. Specifically, the first movable cleaner is located on the front side of the moving chassis and is configured to clean the work surface; the second movable cleaner is located on the rear side of the moving chassis and is configured to clean the work surface. The first movable cleaner and the second movable cleaner can be various types of mopping devices, such as wiping discs, floor brushes, and roller brushes. In a specific embodiment of the present application, the first movable cleaner and the second movable cleaner are of different types. For example, the first movable cleaner is a side brush located on the front side of the moving chassis, and the second movable cleaner is a mopping device, such as a wiping disc, roller brush, or the like, located on the rear side of the moving chassis. In this way, the first movable cleaner can clean dirt on the work surface, and the second movable cleaner can wet mop or dry mop the dirt on the work surface.

[0305] As the cleaning robot moves forward, the first movable cleaner at the front can clean a certain work surface, and the second movable cleaner at the rear can clean the same work surface again, thus ensuring a more thorough cleaning. When the first movable cleaner is a sweeping cleaning component and the second movable cleaner is a mopping cleaning component, the two movable cleaners arranged in front and behind can achieve a sequential cleaning process of sweeping first and then mopping, thereby improving the cleaning effect.

[0306] In an embodiment of the present application, the first movable cleaner and the second movable cleaner are respectively configured to be able to move between a first position and a second position relative to the moving chassis, that is, the first movable cleaner has a corresponding first position and a second position, and the second movable cleaner has a corresponding first position and a second position. The cleaning robot has a general working mode at a distance from obstacles and an obstacle avoidance working mode at a distance from obstacles. In the obstacle avoidance working mode, the first movable cleaner and the second movable cleaner are located in the first position, and when in the first position, the first movable cleaner and the second movable cleaner are closer to the edge of the moving chassis; in the general working mode, the first movable cleaner and the second movable cleaner are located in the second position, and when in the second position, the first movable cleaner and the second movable cleaner are farther away from the edge of the moving chassis.

[0307] When the first movable cleaner and the second movable cleaner are in the first position, the cleaning robot is in the obstacle avoidance working mode. At this time, the overall size of the cleaning robot is smaller, which is convenient for storage and is less likely to collide while driving. The first movable cleaner and the second movable cleaner can be prevented from being stuck by objects such as furniture on the ground during work.

[0308] When the first movable cleaner and the second movable cleaner are in the second position, the cleaning robot is in the general working mode. At this time, the first movable cleaner and the second movable cleaner can swing outward relative to the movable chassis and move to the second position. That is to say, the first movable cleaner and the second movable cleaner located in the second position have a larger cleaning range than the first movable cleaner and the second movable cleaner located in the first position. This can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0309] The present application provides a first movable cleaner and a second movable cleaner on the front and rear sides of the cleaning robot's moving chassis, respectively, so that the first movable cleaner and the second movable cleaner can successively clean the work surface during the movement of the cleaning robot, thereby providing a more thorough cleaning and improving the user experience. In addition, the first movable cleaner and the second movable cleaner can both move between a first position and a second position. When they move to the second position, the cleaning robot's cleaning coverage area is increased, thereby effectively increasing the cleaning area and achieving comprehensive cleaning.

[0310] The present application provides a cleaning robot capable of performing cleaning work on the ground. For ease of understanding, the specific structure and working principle of the cleaning robot provided by the present application are described in detail below with reference to Figures 1 to 7.

[0311] With reference to Figures 1 and 2, the cleaning robot of the present application includes: a moving chassis 1a and a movable cleaner assembly. The moving chassis 1a is configured to walk on a work surface, and the movable cleaner assembly is respectively configured to be able to move between a first position and a second position relative to the moving chassis 1a. The cleaning robot has a general working mode at a distance from obstacles and an obstacle avoidance working mode at a distance from obstacles. In the obstacle avoidance working mode, the movable cleaner assembly is located in the first position, and in the first position, the movable cleaner assembly is closer to the edge of the moving chassis 1a; in the general working mode, the movable cleaner assembly is located in the second position, and in the second position, the movable cleaner assembly is farther away from the edge of the moving chassis 1a.

[0312] In one embodiment of the present application, the movable cleaner includes a first movable cleaner 201a and a second movable cleaner 202a. The first movable cleaner 201a and the second movable cleaner 202a can both be mounted on the bottom of the moving chassis 1a. Specifically, the first movable cleaner 201a is disposed on the front side of the moving chassis 1a and is configured to clean the work surface; the second movable cleaner 202a is disposed on the rear side of the moving chassis 1a and is configured to clean the work surface. The first movable cleaner 201a and the second movable cleaner 202a can be of different types. For example, the first movable cleaner 201a is a side brush disposed on the front side of the moving chassis 1a, and the second movable cleaner 202a is a mopping device such as a wiping disc or a roller brush disposed on the rear side of the moving chassis 1a. In this way, the first movable cleaner 201a can clean dirt on the work surface, and the second movable cleaner 202a can perform wet or dry mopping on the dirt on the work surface.

[0313] As the cleaning robot moves forward, the first movable cleaner 201a located at the front can clean a certain work surface, and the second movable cleaner 202a located at the rear can clean the same work surface again, thus making the cleaning more thorough. In a specific embodiment of the present application, as shown in Figure 1, the first movable cleaner 201a is a floor brush along the edge, and the second movable cleaner 202a is a wiper. The two movable cleaners arranged in front and behind can achieve a sequential cleaning process of sweeping first and then mopping, thereby improving the cleaning effect.

[0314] The first movable cleaner 201a and the second movable cleaner 202a are respectively configured to be able to move between a first position and a second position relative to the moving chassis 1. The cleaning robot has a general working mode in which the cleaning robot is relatively far away from obstacles and an obstacle avoidance working mode in which the cleaning robot is relatively close to obstacles. In the obstacle avoidance working mode, as shown in FIG1 , the first movable cleaner 201a and the second movable cleaner 202a are located in the first position. In the first position, the first movable cleaner 201a and the second movable cleaner 202a are relatively close to the edge of the moving chassis. In the general working mode, as shown in FIG2 , at least the first movable cleaner 201a and the second movable cleaner 202a are located in the second position. In the second position, the first movable cleaner 201a and the second movable cleaner 202a are relatively far from the edge of the moving chassis 1a.

[0315] When the first movable cleaner 201a and the second movable cleaner 202a are in the first position, the cleaning robot is in the obstacle avoidance working mode. At this time, the overall size of the cleaning robot is smaller, which is convenient for storage and is less likely to collide while driving. The first movable cleaner 201a and the second movable cleaner 202a can be prevented from being stuck by objects such as furniture on the ground during work.

[0316] When the first movable cleaner 201a and the second movable cleaner 202a are located in the second position, the cleaning robot is in the general working mode. At this time, the first movable cleaner 201a and the second movable cleaner 202a can swing outward relative to the movable chassis 1 and thus move to the second position. That is to say, the first movable cleaner 201a and the second movable cleaner 202a located in the second position have a larger cleaning range than the first movable cleaner 201a and the second movable cleaner 202a located in the first position. This can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0317] In a specific embodiment of the present application, with continued reference to Figures 1 and 2, when in the first position, the rotation axis of the first movable cleaner 201a is located within the edge projection area of ​​the moving chassis 1, and part of the edge of the first movable cleaner 201a is located outside the edge projection area of ​​the moving chassis 1a. The first movable cleaner 201a can be a side brush. When the side brush is in the first position, which is closest to the inside, part of its bristles will be located beyond the moving chassis 1a, thereby sweeping the dirt on the working surface around the cleaning robot into the projection range of the moving chassis 1a. As shown in Figure 1, the rotation axis of the side brush in the first position is located within the projection range of the moving chassis 1a, so it only has a small cleaning range. When the side brush moves outward to the second position as shown in Figure 2, it will have a larger cleaning range, thereby covering a larger cleaning area.

[0318] The outer contour of the moving chassis has a maximum edge in the forward direction. When it is in the second position, at least part of the edge of the first movable cleaner 201a is located outside the maximum edge of the moving chassis. The moving chassis 1a can be set to any shape such as a rectangle or a circle. The moving chassis 1a in the present embodiment is a circle. With reference to Figures 1 and 2, the α-axis shows the maximum edge of the outer contour of the moving chassis 1a in the forward direction. It is understandable that when the cleaning robot moves to the position closest to the wall 4, the α-axis coincides with the edge of the wall 4. Since there is a gap between the first movable cleaner 201a in the first position and the α-axis, a cleaning dead angle is formed. In order to make up for the gap between the first movable cleaner 201a and the α-axis, as shown in Figure 2, it is necessary to swing the first movable cleaner 201a outward and move at least part of its edge to a position beyond the α-axis. This allows the cleaning range of the first movable cleaner 201a in the second position to cover the widest part of the moving chassis 1a's walking range. The cleaning range of the cleaning robot in a normal working state can at least cover the widest part of the moving chassis 1a's walking range, and the cleaning efficiency is very high.

[0319] In one embodiment of the present application, as shown in FIG1 , the second movable cleaner 202a can be a wipe. When located in the first position, the edge of the second movable cleaner 202a is located within the edge projection area of ​​the moving chassis 1a, that is, the edge of the second movable cleaner 202a does not completely exceed the edge projection area of ​​the moving chassis 1a, so as to prevent the movable cleaner 202a from being stuck by objects such as furniture on the ground during operation. At this time, the cleaning range of the second movable cleaner 202a does not exceed the driving range of the cleaning robot. As shown in FIG2 , when located in the second position, at least part of the edge of the second movable cleaner 202a is located outside the edge of the projection area of ​​the maximum edge of the moving chassis 1a, that is, beyond the position of the α axis, so as to increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position, and achieving comprehensive cleaning.

[0320] With reference to Figures 1 and 2, in an actual cleaning scenario, there may be a wall 4a, which makes it difficult for the cleaning robot to move in close proximity to the wall 4a. Even if the cleaning robot is in close proximity to the wall 4a, the first movable cleaner 201a and the second movable cleaner 202a in the first position still cannot clean the blind spots along the edge. In this case, it is necessary to extend at least the first movable cleaner 201a and the second movable cleaner 202a on the side closest to the wall 4a to the second position, thereby expanding the cleaning range, eliminating blind spots, and achieving comprehensive cleaning.

[0321] It should be noted that the first movable cleaner 201a and the second movable cleaner 202a can be independently controlled or synchronously controlled. The first movable cleaner 201a and the second movable cleaner 202a can be located at their respective first positions at the same time, can be located at their respective second positions at the same time, can be located at a position between their respective first and second positions at the same time, or can be located at different positions at the same time. For example, when there is a blind spot in front of the cleaning robot, only the first movable cleaner 201a can be controlled to extend to the second position, thereby achieving comprehensive cleaning. For another example, when an obstacle appears behind the cleaning robot, only the second movable cleaner 202a can be controlled to retract from the second position.

[0322] The present application provides a first movable cleaner 201a and a second movable cleaner 202a on the front and rear sides of the cleaning robot's moving chassis, respectively, so that the first movable cleaner 201a and the second movable cleaner 202a can successively clean the working surface during the movement of the cleaning robot, thereby providing a more thorough cleaning and improving the user experience. In addition, the first movable cleaner 201a and the second movable cleaner 202a can both move between a first position and a second position. When they move to the second position, the cleaning coverage of the cleaning robot will be increased, thereby effectively increasing the cleaning area and achieving comprehensive cleaning.

[0323] In one embodiment of the present application, after the cleaning robot leaves the base station, the first movable cleaner 201a and the second movable cleaner 202a are controlled to move to the second position, and the cleaning robot is controlled to perform cleaning operations on the work surface in normal working mode. In addition, when the cleaning robot returns to the base station, the first movable cleaner 201a and the second movable cleaner 202a are both moved to the first position so that the cleaning robot is docked in the base station in a maintenance posture. The cleaning robot has a matching base station, and the cleaning robot needs to return to the base station for charging or maintenance after completing the cleaning work. When the cleaning robot is in the base station, the first movable cleaner 201a and the second movable cleaner 202a are respectively located in their respective first positions, and the edges of both can not exceed the edge projection area of ​​the movable chassis 1a, thereby saving space in the base station. When the cleaning robot leaves the base station and begins cleaning work, the first movable cleaner 201a and the second movable cleaner 202a are respectively moved to their respective second positions and perform cleaning operations on the work surface in the second position as a normal working posture, thereby expanding the cleaning area and improving cleaning efficiency.

[0324] Specifically, the cleaning robot also includes a control unit for controlling the first movable cleaner 201a and the second movable cleaner 202a to move between the first position and the second position. The control unit can control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position at the same time when the cleaning robot receives a signal to return to the base station. The control unit can also control the second movable cleaner 202a located at the rear side to move to the first position and then control the first movable cleaner 201a located at the front side to move to the first position after the cleaning robot receives a signal to return to the base station while the cleaning robot is traveling toward the base station. In this way, it can be ensured that when the cleaning robot is docked, the first movable cleaner 201a and the second movable cleaner 202a have both been retracted to the first position, thereby facilitating the cleaning robot to enter the base station in a maintenance posture.

[0325] In the process of the cleaning robot returning to the base station, it is necessary to first execute the alignment program to ensure that the cleaning robot is in the correct position and can accurately dock into the accommodating cavity at the bottom of the base station. The control unit can control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position while the cleaning robot executes the alignment program. The control unit can also control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position when the cleaning robot has completed the alignment program and is docking at the base station. In this way, the first movable cleaner 201a and the second movable cleaner 202a can be kept in the second position for as long as possible before docking, so as to have a larger cleaning area before docking to avoid forming a cleaning dead angle around the base station.

[0326] In another embodiment of the present application, the first movable cleaner 201a and the second movable cleaner 202a can also use the first position as their normal working posture to perform cleaning operations on the work surface, and only move to the second position when cleaning the edge. This can improve the flexibility of the cleaning robot. The cleaning robot is relatively small in its normal working posture, allowing it to enter more confined areas for cleaning. Moreover, in more crowded cleaning scenarios, such as cleaning scenarios in homes with tightly arranged furniture, using the first position as the normal working posture can reduce the occurrence of collisions.

[0327] This application does not impose any specific restrictions on the normal working posture of the cleaning robot. The following text will describe the general working mode with the first movable cleaner 201a and the second movable cleaner 202a in the second position.

[0328] In one embodiment of the present application, referring to Figure 1 , a first movable cleaner 201a and a second movable cleaner 202a are located on the same side of the moving chassis 1a. When the cleaning robot is driving alongside a wall 4a, the first movable cleaner 201a and the second movable cleaner 202a on the side closest to the wall 4a can be simultaneously in the second position, thereby ensuring that the working surface close to the wall 4a is fully cleaned. The working surface on the other side of the cleaning robot can be cleaned when the robot turns around.

[0329] In one embodiment of the present application, when in the second position, the outer edges of the first movable cleaner 201a and the second movable cleaner 202a are flush, so that the cleaning range of the first movable cleaner 201a and the second movable cleaner 202a in the second position is consistent, and the edge position adjacent to the wall 4a can also be fully cleaned.

[0330] In one embodiment of the present application, with reference to Figures 1 and 2, the two opposite sides of the cleaning robot are respectively denoted as the first side and the second side. A fixed cleaner 14a is provided on the first side of the cleaning robot. The edge of the fixed cleaner 14a is located within the edge projection area of ​​the moving chassis 1a. The first movable cleaner 201a and the second movable cleaner 202a are provided on the second side opposite thereto. The second movable cleaner 202a and the fixed cleaner 14a can both be wiping discs. With reference to the viewing direction of Figure 1, the right side is the first side, and the left side is the second side. The first movable cleaner 201a is the edge brush on the upper right side of Figure 1, and the second movable cleaner 202a is the wiping disc on the right side of Figure 1, which can move between a first position and a second position; the fixed cleaner 14a is the wiping disc on the left side of Figure 1, which can only be fixed in the first position for movement.

[0331] In one embodiment of the present application, as shown in FIG1 , the cleaning robot may further include a front cleaner 12a. The front cleaner 12a may be a suction port or a roller brush, or may include both a suction port and a roller brush. Specifically, the front cleaner 12a may be a suction port, and the first movable cleaner 201a may sweep dirt to the suction port, thereby collecting dust.

[0332] In one embodiment of the present application, two second movable cleaners 202a can be provided, and the two second movable cleaners 202a are arranged on the left and right, and each second movable cleaner 202a has a first position and a second position. Among them, the second position of the left second movable cleaner 202a is located on the left side of the moving chassis 1a, and the second position of the right second movable cleaner 202a is located on the right side of the moving chassis 1a. When the left or right side of the moving chassis 1a is close to the wall or the periphery of the furniture, the second movable cleaner 202a on the corresponding side can move to the second position on the side of the moving chassis 1a, and fit the corners for comprehensive cleaning. The two second movable cleaners 202a can be independently controlled. For example, when there is no blind spot for cleaning on the right side of the cleaning robot and there is a wall 4a on the left side that needs to be cleaned close to the edge, the control unit can only control the second movable cleaner 202a on the left to move to the second position, and the second movable cleaner 202a on the right can be in the first position.

[0333] In a specific embodiment of the present application, referring to Figures 3 and 6, the first movable cleaner 201a and the second movable cleaner 202a move between a first position and a second position under the driving action of the swing mechanism 21a. Specifically, as shown in Figure 6, the second movable cleaner 202a is a wiping plate, which includes: a swing mechanism 21a, a wiping plate 23a, a swing motor 24a, and a rotary motor 25a. One end of the swing mechanism 21a is rotatably connected to the bottom of the moving chassis 1a via the swing motor 24a, and the wiping plate 23a is rotatably connected to the other end of the swing mechanism 21a via the rotary motor 25a. The swing motor 24a is configured to drive the swing mechanism 21a to move the second movable cleaner 202a between the second position and the first position. The rotary motor 25a can be fixedly mounted on the swing mechanism 21a, and its output end can be transmission-connected to the rotating shaft of the wiping plate 23a, thereby driving the wiping plate 23a to rotate. As a result, the cleaning robot can clean the working surface more thoroughly through its own rotation when performing cleaning work.

[0334] The first and second movable cleaning devices 201a, 202a in the second position have difficulty avoiding obstacles in a timely manner. When the cleaning robot turns, or when running close to the edge of the wall 4, it is often difficult to accurately control the distance. The first and second movable cleaning devices 201a, 202a are prone to hitting or scratching objects, and may even cause the cleaning robot to become stuck on obstacles. To address this issue, the control unit can control the first and second movable cleaning devices 201a, 202a to avoid obstacles.

[0335] It should be noted that the control unit can control only the first movable cleaner 201a to avoid obstacles, or can control both the first movable cleaner 201a and the second movable cleaner 202a to avoid obstacles. It is understood that the control logic of the second movable cleaner 202a can be completely consistent with that of the first movable cleaner 201a.

[0336] In one embodiment of the present application, the cleaning robot also includes a detection unit 13a for detecting environmental information in the working environment of the cleaning robot, and the detection unit 13a is communicatively connected to the control unit. Specifically, as shown in Figure 1, the detection unit 13a in this embodiment is a laser radar provided on the cleaning robot. The detection unit 13a can also be other types of detection structures such as edge sensors and cameras. The present application does not limit the specific type of the detection unit 13a. The detection unit 13a can send the detected environmental information to the control unit in real time. The control unit can analyze and judge the environmental information and send control instructions based on this to control the cleaning robot.

[0337] Specifically, the control unit is configured to control the first movable cleaner 201a and the second movable cleaner 202a to move toward the first position based on the detection signal from the detection unit 13a, and / or control the cleaning robot to move in a direction away from the obstacle in advance. The direction of travel of the cleaning robot is recorded as forward. When there is an obstacle in front of the cleaning robot, the detection unit 13a can detect the presence of the obstacle and send information such as its size and position to the control unit. After analysis, the control unit determines that the obstacle is located in the movement path of the cleaning robot and therefore controls the cleaning robot to actively avoid the obstacle in advance. The cleaning robot of the present application has two obstacle avoidance behaviors: one is to retract the first movable cleaner 201a and / or the second movable cleaner 202a in advance, that is, the control unit controls the first movable cleaner 201a and / or the second movable cleaner 202a to move in the direction of the first position; the other is to turn the cleaning robot to avoid the obstacle, that is, the control unit controls the cleaning robot to move in a direction away from the obstacle in advance. The two obstacle avoidance behaviors are performed in coordination, thereby actively avoiding the occurrence of collisions.

[0338] When an obstacle appears in the cleaning robot's path, the control unit can control the robot to turn so that the robot as a whole avoids the obstacle. Furthermore, the control unit can control the first movable cleaning unit 201a and / or the second movable cleaning unit 202a to move in the direction of the first position, so that the first movable cleaning unit 201a and / or the second movable cleaning unit 202a retract to avoid the obstacle. This achieves the coordination of the two obstacle avoidance behaviors, reduces the probability of collision, extends the service life of the cleaning robot, and improves the user experience.

[0339] In one embodiment of the present application, the control unit is configured to control the first movable cleaner 201a and the second movable cleaner 202a to move toward the first position at least until their outer edges are located within the maximum edge of the moving chassis 1a based on obstacle information in the surrounding environment. When the detection unit 13a detects an obstacle in front of the cleaning robot, the control unit controls the first movable cleaner 201a and / or the second movable cleaner 202a to move inward to avoid the obstacle in advance. It should be noted that the obstacle encountered by the first movable cleaner 201a and / or the second movable cleaner 202a when they are in the second position is located outside the maximum edge of the moving chassis 1, that is, the obstacle will not collide with the moving chassis 1a. Therefore, as long as the first movable cleaner 201a and / or the second movable cleaner 202a are moved to the maximum edge of the moving chassis 1a, the obstacle can be avoided.

[0340] In one embodiment of the present application, the present application does not specifically limit the order of the two active obstacle avoidance behaviors of the cleaning robot. Specifically, the control unit is configured to control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position based on the detection signal of the detection unit 13a, and at the same time control the cleaning robot to turn away from the obstacle; or, first control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position, and then control the cleaning robot to turn away from the obstacle; or, first control the cleaning robot to turn away from the obstacle, and then control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position.

[0341] The control unit can adopt appropriate obstacle avoidance methods in different cleaning scenarios. For example, when the cleaning robot is driving close to a wall, the detection unit 13a detects a corner in front of it. At this time, the control unit can control the cleaning robot to turn away from the obstacle while controlling the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position; or, the control unit can first control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position, and then control the cleaning robot to turn away from the obstacle. The simultaneous retraction and turning obstacle avoidance, or the obstacle avoidance method of retraction first and then turning, can enable the cleaning robot to have a smaller turning radius when it starts turning at the corner position, thereby reducing the missed areas during the cleaning process.

[0342] When the cleaning robot is traveling in a relatively open area, if the detection unit 13a detects an obstacle ahead, the control unit can first control the cleaning robot to turn away from the obstacle, and then control the first movable cleaning device 201a and / or the second movable cleaning device 202a to move toward the first position. In this way, the first movable cleaning device 201a and / or the second movable cleaning device 202a can be retracted as late as possible, thereby maintaining the second position for as long as possible, thereby obtaining a larger cleaning area.

[0343] In one embodiment of the present application, as shown in FIG1 , two driving wheels 11a for walking are provided at the bottom of the moving chassis 1a, and the two driving wheels 11a are spaced apart on the left and right sides of the moving chassis 1a in the direction of travel. The control unit is configured to control the wheel speed difference of the two driving wheels 11a to turn the cleaning robot; or, the control unit is configured to control the cleaning robot to move backward to avoid an obstacle. When the detection unit 13a detects an obstacle in front of the cleaning robot, the control unit can control the rotation speed of the two driving wheels 11a or the rotation direction of the two driving wheels 11a to bypass the obstacle.

[0344] Specifically, when the cleaning robot needs to be controlled to turn left, the rotation speed of the left driving wheel 11a can be controlled to be slower than the rotation speed of the right driving force 11a; when the cleaning robot needs to be controlled to turn right, the rotation speed of the right driving wheel 11a can be controlled to be slower than the rotation speed of the left driving force 11a. In this way, the steering of the cleaning robot is controlled by the wheel speed difference. After turning, the cleaning robot can bypass the obstacle in front, thereby preventing the occurrence of collision.

[0345] The control unit can also control the two driving wheels 11a to reversely rotate, thereby causing the cleaning robot to travel backwards, which can also keep the cleaning robot away from obstacles in front. After the cleaning robot retreats, the control unit can re-plan the cleaning path so that the above-mentioned obstacles no longer exist on the cleaning path and prevent collisions.

[0346] In one embodiment of the present application, the control unit is configured to control the wheel speed difference of the two drive wheels 11a provided on the movable chassis 1a based on the detection signal of the detection unit 13a, so as to cause the cleaning robot to turn; and the control unit is configured to control the first movable cleaner 201a and the second movable cleaner 202a to move toward the first position based on the detection signal of the detection unit 13a and the wheel speed difference of the drive wheels 11a. In other words, when the presence of an obstacle is detected and the cleaning robot is turning, the first movable cleaner 201a and / or the second movable cleaner 202a can move in the first direction.

[0347] Specifically, each time the cleaning robot turns, the first movable cleaner 201a and / or the second movable cleaner 202a will move in the direction of the first position. It is understandable that in addition to turning when encountering an obstacle, the cleaning robot will also turn adaptively according to the terrain when it encounters a common situation in cleaning scenes such as a corner or a cabinet foot, etc. during normal cleaning. At this time, the corner, the cabinet foot, etc. can be understood as an obstacle that can be detected by the detection unit 13a, so the control unit will control the first movable cleaner 201a and / or the second movable cleaner 202a to move in the direction of the first position. The control unit can control the first movable cleaner 201a and / or the second movable cleaner 202a to retract while the cleaning robot turns, so that the cleaning robot maintains a smaller turning radius and reduces the missed areas during the cleaning process.

[0348] In particular, when the cleaning robot is cleaning the ground along a preset "bow-shaped" path in an open cleaning scene, when it turns at a preset turning point of the "bow-shaped" path, the first movable cleaner 201a and / or the second movable cleaner 202a can remain in the second position without having to retract in the direction of the first position. This is because the control unit generates a preset path based on the cleaning range of the first movable cleaner 201a and / or the second movable cleaner 202a located in the second position. Although the turning radius of the cleaning robot is large when turning, there will be no missed cleaning areas. The first movable cleaner 201a and / or the second movable cleaner 202a only need to remain in the second position to achieve comprehensive cleaning.

[0349] In one embodiment of the present application, the control unit is configured to control the cleaning robot to turn and move in a manner that at least partially surrounds the obstacle. When the obstacle is a small obstacle that can be circumvented, such as a table leg, a bed leg, a floor lamp, etc., the cleaning robot can travel around the obstacle to avoid a collision. Specifically, when the obstacle is a table leg located on the cleaning path of the cleaning robot, the cleaning robot can travel half a circle around the table leg, thereby bypassing the table leg and returning to the original cleaning path; the cleaning robot can also travel around the table leg for one and a half weeks and then return to the original cleaning path to prevent missing the ground around the table leg.

[0350] In one embodiment of the present application, the control unit is configured to, based on the detection signal from the detection unit 13a, control the cleaning robot to move a predetermined distance along the original movement path, control the first movable cleaner 201a and / or the second movable cleaner 202a to move in the direction of the first position, and control the cleaning robot to move in a direction away from the obstacle. After the detection unit 13a detects an obstacle in front of the cleaning robot, the control unit may not immediately send an obstacle avoidance command, but may instead send an obstacle avoidance command after the cleaning robot continues to move forward a predetermined distance.

[0351] Specifically, the predetermined distance can be set according to the detection range of the detection unit 13a. For example, the detection unit 13a can detect a range within a radius of one meter. When the detection unit 13a detects an obstacle, it means that the obstacle is one meter in front of the cleaning robot. The control unit can control the cleaning robot to walk 0.8 meters along the original path and then send an obstacle avoidance instruction, that is, control the first movable cleaner 201a and / or the second movable cleaner 202a to move in the direction of the first position in advance, and control the cleaning robot to walk in the direction away from the obstacle in advance. In this way, obstacles can be avoided as late as possible without hitting the obstacle, thereby minimizing the number of areas that are missed when cleaning.

[0352] In a specific embodiment of the present application, the control unit is configured to control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position, or to other positions between the first position and the second position based on the detection signal of the detection unit 13a. When the first movable cleaner 201a and / or the second movable cleaner 202a moves to the first position, the edge of the first movable cleaner 201a and / or the second movable cleaner 202a is located within the maximum edge, and obstacle avoidance can naturally be achieved. However, the first movable cleaner 201a and / or the second movable cleaner 202a do not have to move completely back to the first position every time they avoid an obstacle, but can swing a smaller amplitude and only move to other positions between the first position and the second position where obstacle avoidance can be achieved. As shown in Figure 2, there is a large space between the first movable cleaner 201a and / or the second movable cleaner 202a located in the first position and the α axis, and the control unit can control the first movable cleaner 201a and / or the second movable cleaner 202a to move to any position therebetween. This reduces the swing stroke for each obstacle avoidance and improves cleaning efficiency.

[0353] The control unit can control the first movable cleaner 201a and / or the second movable cleaner 202a to swing in the first direction at different amplitudes based on the distance between the obstacle and the first movable cleaner 201a and / or the second movable cleaner 202a. When the obstacle is far away, the first movable cleaner 201a and / or the second movable cleaner 202a only needs to swing a small amplitude to avoid the obstacle; when the obstacle is close, the first movable cleaner 201a and / or the second movable cleaner 202a needs to swing a large amplitude to avoid the obstacle.

[0354] In a specific embodiment of the present application, the control unit is configured to control the speed at which the first movable cleaner 201a and the second movable cleaner 202a swing toward the first position based on the wheel speed difference between the two drive wheels 11a provided on the moving chassis 1a. When the wheel speed difference between the two drive wheels 11a is large, it means that the turning radius of the cleaning robot is small. In this case, it is necessary to control the first movable cleaner 201a and / or the second movable cleaner 202a to swing toward the first position at a faster speed, thereby achieving obstacle avoidance. When the wheel speed difference between the two drive wheels 11a is large, it means that the turning radius of the cleaning robot is large. In this case, it is only necessary to control the first movable cleaner 201a and / or the second movable cleaner 202a to swing toward the first position at a slower speed to achieve obstacle avoidance.

[0355] The first movable cleaning unit 201a and / or the second movable cleaning unit 202a moves toward the first position to avoid obstacles, and needs to be reset to the second position after crossing the obstacle, thereby maintaining a larger cleaning range. The cleaning robot needs to reset to the original moving path after bypassing the obstacle to reduce the area missed by cleaning.

[0356] In one embodiment of the present application, after the first movable cleaner 201a and / or the second movable cleaner 202a moves toward the first position, the control unit is configured to control the first movable cleaner 201a and / or the second movable cleaner 202a to reset to the second position within a predetermined time or after the cleaning robot walks a predetermined distance; and / or, after the cleaning robot walks in a direction away from the obstacle, the control unit is configured to control the cleaning robot to walk along the original moving path within a predetermined time or after the cleaning robot walks a predetermined distance.

[0357] In a specific embodiment of the present application, the control unit can start timing from the moment the first movable cleaner 201a and / or the second movable cleaner 202a leaves the second position. When the predetermined time is reached, the control unit controls the first movable cleaner 201a and / or the second movable cleaner 202a to reset to the second position. The predetermined time is the time required for the cleaning robot to pass an obstacle under normal circumstances. For example, the predetermined time can be five seconds, and the first movable cleaner 201a and / or the second movable cleaner 202a can move outward and reset five seconds after leaving the second position. If the cleaning robot has already passed the obstacle during the reset, it can smoothly reset to the second position and continue cleaning a large area. If the cleaning robot has not yet passed the obstacle during the reset, the control unit can again control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position to avoid the obstacle again, and restart the timing, and repeat this process until the reset is completed.

[0358] In another specific embodiment of the present application, the control unit can start timing after the cleaning robot moves in a direction away from the obstacle. When the predetermined time is reached, the control unit controls the cleaning robot to reset to the original movement path. As above, taking the predetermined time of five seconds as an example, the cleaning robot can reset to the original path after five seconds of deviation from the original path to continue cleaning along the original path. If the cleaning robot has not yet crossed the obstacle during the reset, the control unit can control the cleaning robot to move in the direction away from the obstacle to avoid the obstacle again, and restart the timing, and repeat this process until the reset is reached.

[0359] In another specific embodiment of the present application, the control unit can calculate the travel distance of the cleaning robot from the time the first movable cleaner 201a and / or the second movable cleaner 202a leave the second position. When the predetermined distance is reached, the control unit controls the first movable cleaner 201a and / or the second movable cleaner 202a to reset to the second position. It should be noted that the travel distance includes both the distance the cleaning robot travels forward and the distance traveled during turns and circles. For example, the predetermined distance can be one meter. After the first movable cleaner 201a and / or the second movable cleaner 202a leave the second position, the cleaning robot continues to travel one meter. At this time, the first movable cleaner 201a and / or the second movable cleaner 202a can move outward to reset. If the cleaning robot has crossed the obstacle during the reset, it can smoothly reset to the second position and continue to clean a large area. If the cleaning robot has not crossed the obstacle when resetting, the control unit can control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position to avoid the obstacle again, and recalculate the travel distance, and repeat this process until resetting.

[0360] In another specific embodiment of the present application, the control unit can start calculating the distance traveled by the cleaning robot after the cleaning robot moves in a direction away from the obstacle. When the predetermined distance is reached, the control unit controls the cleaning robot to reset to the original moving path. As above, taking the predetermined distance of one meter as an example, the cleaning robot deviates from the original path and continues to travel one meter. At this time, it can reset to the original path to continue cleaning along the original path. If the cleaning robot has not crossed the obstacle at the time of reset, the control unit can control the cleaning robot to move in the direction away from the obstacle again to avoid the obstacle again, and recalculate the travel distance, and repeat this process until it is reset.

[0361] The detection unit 13a may have a detection blind spot. For example, when the detection unit 13a is a laser radar installed on the top of the moving chassis 1a, it is difficult to detect low obstacles such as door sills. And for obstacles that can be detected, the control unit's prejudgment may also be biased. It can be seen that setting up the detection 13a can only reduce the occurrence of collisions, but cannot completely avoid collisions. After a collision occurs, the first movable cleaner 201a and / or the second movable cleaner 202a need to be put away in time, otherwise the cleaning robot may get stuck and be difficult to operate. For this reason, the cleaning robot of the present application is also provided with a detection unit for passive obstacle avoidance.

[0362] In one embodiment of the present application, the detection unit is configured to be triggered when the first movable cleaner 201a and / or the second movable cleaner 202a is subjected to an external force, and the control unit is configured to control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position based on the signal triggered by the detection unit. The detection unit can be respectively provided on the first movable cleaner 201a and the second movable cleaner 202a. When the detection unit on the first movable cleaner 201a is triggered, the first movable cleaner 201a is controlled to retract inward; when the detection unit on the second movable cleaner 202a is triggered, the second movable cleaner 202a is controlled to retract inward.

[0363] In a specific embodiment of the present application, the detection unit is configured to be triggered when the first movable cleaner 201a is subjected to external force; the control unit is configured to control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position based on the signal triggered by the detection unit; or, the detection unit is configured to be triggered when the second movable cleaner 202a is subjected to external force; the control unit is configured to control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position based on the signal triggered by the detection unit.

[0364] In this embodiment, the detection unit can be provided on only one of the first movable cleaner 201a and the second movable cleaner 202a. For example, the detection unit is provided on the first movable cleaner 201a. When the first movable cleaner 201a is collided by an external force, the control unit can retract the first movable cleaner 201a and the second movable cleaner 202a at the same time based on the collision signal, or it can retract only one of them. The same applies when the detection unit is provided on the second movable cleaner 202a. In this way, when only one movable cleaner collides, the other movable cleaner can also be retracted, thereby preventing the collision from happening again.

[0365] It should be noted that the detection unit can directly or indirectly continuously detect the force state of the first movable cleaner 201a and / or the second movable cleaner 202a, and continuously send the detection signal to the control unit; the control unit can analyze and judge the detection signal, and only when the control unit determines that the first movable cleaner 201a and / or the second movable cleaner 202a collides with an obstacle, will it control the first movable cleaner 201a and / or the second movable cleaner 202a to move toward the first position to avoid it.

[0366] When the external force applied to the first movable cleaner 201a and / or the second movable cleaner 202a is relatively small, the control unit will determine that the first movable cleaner 201a and / or the second movable cleaner 202a are in normal operation. For example, when the second movable cleaner 202a is mopping the floor, it will be subjected to friction from the working surface, but this friction will not cause the second movable cleaner 202a to move toward the first position. Only when the external force applied to the second movable cleaner 202a reaches a certain threshold will the control unit determine that the second movable cleaner 202a has collided with an obstacle and control it to move toward the first position to avoid the obstacle.

[0367] The cleaning robot of the present application achieves the coordinated operation of active and passive obstacle avoidance through two obstacle avoidance systems: the detection unit and the detection unit 13a. If the detection unit 13a detects an obstacle, the control unit can retract the first movable cleaner 201a and / or the second movable cleaner 202a in advance and control the cleaning robot to turn, thereby actively avoiding the collision. If a collision cannot be avoided, the detection unit can detect the occurrence of the collision, and the control unit can retract the first movable cleaner 201a and / or the second movable cleaner 202a based on the signal triggered by the detection unit, preventing the cleaning robot from being stuck by the obstacle and improving the user experience.

[0368] The detection unit of the present application is configured to be triggered when the first movable cleaner 201a and / or the second movable cleaner 202a is subjected to an external force. There are many specific ways for the detection unit to detect the force, and the present application does not limit the specific method of detection. The following will introduce in detail several different detection methods provided by the present application and the specific structure of the detection unit in combination with several embodiments. Since the detection unit structure and control logic on the first movable cleaner 201a and the second movable cleaner 202a can be completely consistent, for the sake of indirectness in the text, the following will only be explained using the second movable cleaner 202a as an example.

[0369] In one embodiment of the present application, when located in the second position, the second movable cleaner 202a is constructed to vibrate at least in the swinging direction of the second movable cleaner 202a when subjected to external force, and the control unit is configured to control the second movable cleaner 202a to move toward the first position based on a signal obtained by the detection unit when the second movable cleaner 202a vibrates.

[0370] When the second movable cleaner 202a collides with an obstacle, for example, when the second movable cleaner 202a is stuck in a corner, the driving wheel 11a of the cleaning robot continues to rotate. At this time, the rag disc 23a on the second movable cleaner 202a will continue to be subjected to pressure from the corner. There is a certain gap between the mechanical structures within the second movable cleaner 202a. Under the pressure of the corner, the mechanical structures within the second movable cleaner 202a will continuously collide and rebound with each other, which will cause the second movable cleaner 202a to vibrate as a whole. The swing mechanism 21a is connected to the moving chassis 1a by a rotational connection. The rotational connection point is located at the end away from the rag disc 23a. It can be seen that the torque at this point is relatively large. Therefore, when the rag disc 23a is continuously subjected to force, it will first vibrate about the above-mentioned rotational connection point as the axis, that is, it will vibrate in the swing direction of the second movable cleaner 202a.

[0371] Since the second movable cleaner 202a may also vibrate in the swinging direction during the normal operation of the cleaning robot, it is necessary to further define the vibration signal. In a specific embodiment of the present application, only when the vibration reaches a predetermined frequency can the control unit determine that the second movable cleaner 202a has collided and control the second movable cleaner 202a to move in the direction of the first position. When the cleaning robot is operating normally, even if the second movable cleaner 202a vibrates, it will only be a low-frequency vibration. Only when a collision occurs or when the second movable cleaner 202a is stuck in a dead corner will it vibrate at a high frequency under the action of continuous force. For example: when the second movable cleaner 202a vibrates 10 times within 200ms, it is considered that the vibration has reached the predetermined frequency, and the control unit controls the second movable cleaner 202a to move in the direction of the first position to avoid obstacles.

[0372] In addition to the gaps between the mechanical structures within the second movable cleaner 202a causing vibration, an elastic portion 213a may also be provided within the second movable cleaner 202a, which can also cause vibration of the second movable cleaner 202a. The elastic portion 213a is provided to provide a buffer. The elastic portion 213a can absorb the impact force when the second movable cleaner 202a is hit, thereby extending the service life of the cleaning device. This application provides the following two specific arrangements for the elastic portion 213a.

[0373] In a specific embodiment of the present application, with reference to Figure 6, the second movable cleaner 202a includes a connecting portion 211a for rotating and connecting the motion chassis 1a, and a bearing portion 212a. The connecting portion 211a is constructed to be connected with the bearing portion 212a by an elastic portion 213a, and the elastic portion 213a is configured to provide elastic force for the reset of the bearing portion 212a. In the present embodiment, the connecting portion 211a, the bearing portion 212a and the elastic portion 213a are all parts of the swing mechanism 21, and the connecting portion 211a can be connected to the motion chassis 1a by a swing motor 24a, and the bearing portion 212a can be used for installing the rag dish 23a, and the rag dish 23a can be rotated and connected on the bearing portion 212a by a rotary motor 25a. The connecting portion 211a is connected to the bearing portion 212a by the elastic portion 213a, and the elastic portion 213a can be a spring, a shrapnel, a spring plate or an elastic material.

[0374] When the rag tray 23a collides, the bearing portion 212a, which is rotatably connected to the rag tray 23a, is subjected to a certain impact force. However, the elastic portion 213a acts as a buffer, significantly reducing the impact force transmitted to the connecting portion 211a and the moving chassis 1. The elastic portion 213a elastically deforms under the impact force exerted on the bearing portion 212a, generating an elastic force in the opposite direction of the impact force. This elastic force causes the bearing portion 212a to rebound and return to its original position.

[0375] When the obstacle is small, it won't get stuck on the second movable cleaner 202a, and the cleaning robot can simply pass over it at its speed, eliminating the need to retract the second movable cleaner 202a. The rag tray 23a can be directly reset under the elastic force and continue cleaning. It's understandable that even when the second movable cleaner 202a isn't stuck, a single impact with the obstacle will cause it to vibrate. However, due to the cushioning effect of the elastic portion 213a, the vibration frequency is low and won't reach the predetermined frequency required for obstacle avoidance.

[0376] When the obstacle is large, such as a wall, a table corner, or a large piece of furniture, it can get stuck in the second movable cleaner 202a, requiring it to be retracted. When the second movable cleaner 202a is stuck, the rag tray 23a is continuously subjected to pressure. The elastic force causes the rag tray 23a to rebound, but it will collide again, and this cycle will produce high-frequency vibrations. The control unit determines that the vibration frequency of the second movable cleaner 202a has reached a predetermined frequency and controls the second movable cleaner 202a to move toward the first position to avoid the obstacle.

[0377] In another specific embodiment of the present application, an elastic portion 213a is provided between the moving chassis 1 and the second movable cleaner 202a, and the second movable cleaner 202a is configured to have a tendency to move toward the second position under the action of the elastic portion 213a. The elastic portion 213a can continuously provide the second movable cleaner 202a with an elastic force in the direction of the second position, and the second movable cleaner 202a can only be retracted to the first position under the driving action of the swing motor 24a. In this embodiment, it can be considered that the second movable cleaner 202a is a structure that moves as a whole. When the second movable cleaner 202a collides, it will swing as a whole toward the first position. Under the buffering effect of the elastic portion 213a, the impact force transmitted to the moving chassis 1a will be greatly reduced. By providing an elastic portion 213a between the movable chassis 1a and the second movable cleaner 202a, a certain amount of space is provided for the second movable cleaner 202a to move. When the second movable cleaner 202a is stuck by an obstacle, it will vibrate at a high frequency within this space. The control unit will determine when the vibration frequency of the second movable cleaner 202a reaches a predetermined frequency and control the second movable cleaner 202a to move toward the first position to avoid the obstacle.

[0378] In one embodiment of the present application, referring to Figures 3 to 5, the detection unit includes: a light-blocking strip 3a and a photoelectric radiation tube 22a. The light-blocking strip 3a is arranged on one of the moving chassis 1a and the second movable cleaner 202a, and the photoelectric radiation tube 22a is arranged on the other of the moving chassis 1a and the second movable cleaner 202a. In other words, the light-blocking strip 3a is installed on the moving chassis 1a, and the photoelectric radiation tube 22a is installed on the second movable cleaner 202a; or, the light-blocking strip 3a is installed on the second movable cleaner 202a, and the photoelectric radiation tube 22a is installed on the moving chassis 1a. The present application does not impose any restrictions on the specific installation method of the light-blocking strip 3a and the photoelectric radiation tube 22a, as long as one of the two can follow the movement of the second movable cleaner 202a and the other is fixed and stationary.

[0379] As shown in Figures 3 and 4 , in this embodiment, a light-blocking bar 3a is mounted on the movable chassis 1a, and a photoelectric reflector 22a is mounted on the second movable cleaning device 202a. As shown in Figure 5 , the light-blocking bar 3a is configured with multiple hollow channels 32a spaced apart in the swing direction of the second movable cleaning device 202a. The light-blocking bar 3a may be an arc-shaped grille bar extending in the swing direction of the second movable cleaning device 202a. The light-blocking bar 3a includes shielding comb teeth 31a and multiple hollow channels 32a, which are interspersed and arranged to form a comb-tooth shape.

[0380] The photoelectric emitting tube 22a includes a transmitting tube and a receiving tube located on opposite sides of the light-blocking bar 3a. When the photoelectric emitting tube 22a moves relative to the light-blocking bar 3 to a position corresponding to the hollow channel 32a, the receiving tube is configured to receive the light signal from the transmitting tube through the hollow channel 32a. Furthermore, when the photoelectric emitting tube 22a moves away from the hollow channel 32a, the light signal emitted by the transmitting tube is blocked by the light-blocking bar 3a. The transmitting tube and receiving tube of the photoelectric emitting tube 22a can be separately mounted on the second movable cleaning device 202a and can swing with the second movable cleaning device 202a. The transmitting tube and receiving tube can be respectively mounted on the upper and lower sides of the curved grille bar.

[0381] When the second movable cleaner 202a is functioning normally, the transmitting tube and the receiving tube can be located above and below the light-shielding comb teeth 31a on the light-shielding strip 3a, respectively. The light signal emitted by the transmitting tube will be blocked by the light-shielding strip 3, and the receiving tube will not receive the signal. When the second movable cleaner 202a swings, the transmitting tube and the receiving tube swing with the second movable cleaner 202a, thereby moving to the above and below the hollow channel 32a on the light-shielding strip 3a. The receiving tube receives the light signal from the transmitting tube through the hollow channel 32a. Based on this light signal, the control unit can determine that the second movable cleaner 202a has swung.

[0382] Of course, when the second movable cleaner 202a is working normally, the transmitting tube and the receiving tube can also be located on the upper and lower sides of the hollow channel 32a respectively, and the receiving tube can continue to receive the light signal from the transmitting tube; and when the light signal disappears, it means that the second movable cleaner 202a has swung.

[0383] As shown in Figure 7, the light signal received by the receiving tube is a high-level signal in Figure 7, and the light signal not received by the receiving tube is a low-level signal in Figure 7. When the light-shielding bar 3a and the photoelectric tube 22a are relatively stationary, the level signal will remain high or low. When the level signal suddenly changes, that is, when a pulse signal is generated, it means that the light-shielding bar 3a and the photoelectric tube 22a have moved relative to each other, that is, the second movable cleaner 202a has swung relative to the movable chassis 1a.

[0384] When the level signal exhibits a low-frequency pulse signal at a uniform speed, it can be determined that the second movable cleaner 202a is being extended or retracted by the swing motor 24a. In a specific embodiment of the present application, the hollow channels 32a are arranged at predetermined intervals on the light-blocking strip 3a, and the control unit is configured to control the second movable cleaner 202a to swing a predetermined angle between a first position and a second position based on the pulse signal detected by the photoelectric reflector 22a. It will be understood that each occurrence of a high-level signal indicates that the photoelectric reflector 22a has passed through the hollow channel 32a once, and each occurrence of a low-level signal indicates that the photoelectric reflector 22a has passed through the shielding comb 31a once. Therefore, the pulse signals can be counted, and the swing angle of the second movable cleaner 202a can be calculated based on the number of signals. Based on this information, the control unit can control the second movable cleaner 202a to swing a predetermined angle between the first position and the second position, thereby controlling the second movable cleaner 202a to move to any position between the first position and the second position. In this way, the second movable cleaner 202a is precisely positioned, so that the posture and shape of the second movable cleaner 202a can be adjusted more finely to achieve more complex cleaning operations.

[0385] If the level signal suddenly undergoes multiple mutations within a short period of time, i.e., exhibits a high-frequency pulse signal, it can be determined that the second movable cleaner 202a is vibrating under the action of an external force. The control unit can determine the vibration frequency based on the pulse signal. If the vibration frequency is greater than a predetermined frequency, it can be determined that the second movable cleaner 202a has impacted and needs to be retracted.

[0386] In a specific embodiment of the present application, the control unit is configured to control the second movable cleaner 202a to move toward the first position when a pulse signal detected by the photoelectric transmitting tube 22a reaches a threshold within a predetermined time. When the second movable cleaner 202a is struck, it will generate high-frequency vibrations. At this time, the transmitting tube and the receiving tube will vibrate back and forth along the swing direction along with the second movable cleaner 202a. This will cause the second movable cleaner 202a to swing back and forth rapidly between the adjacent shielding comb teeth 31a and the light-shielding channel 32a, thus generating a high-frequency pulse signal. The control unit can count the pulse signals, with each set of high and low levels representing one vibration. The control unit calculates the vibration frequency of the second movable cleaner 202a based on the pulse signals. When the pulse signal reaches the threshold within the predetermined time, it indicates that the vibration frequency of the second movable cleaner 202a has reached the predetermined frequency, and it can be determined that the second movable cleaner 202a has been struck. The control unit then controls the second movable cleaner 202a to move toward the first position to avoid the obstacle.

[0387] The above description describes a specific embodiment in which the detection unit comprises a light-blocking strip 3a and a photoelectric reflector 22a. The photoelectric sensing detection method is highly accurate and less prone to misjudgment. When the second movable cleaner 202a impacts, the control unit can quickly and promptly control the second movable cleaner 202a to retract inward to avoid the obstacle. In addition to the photoelectric sensing method, this application also provides several other detection methods, which will be described in detail below.

[0388] In one embodiment of the present application, the cleaning robot includes a swing motor 24a, and the second movable cleaning device 202a is configured to move between a first position and a second position under the action of the swing motor 24a. The control unit is configured to control the second movable cleaning device 202a to move toward the first position based on at least one signal detected by the detection unit, including the force applied to the second movable cleaning device 202a, the swing displacement, the swing angle, the current of the swing motor 24a, and the rotation angle of the swing motor 24.

[0389] In a specific embodiment of the present application, the control unit is configured to control the second movable cleaner 202a to move in the direction of the first position based on the force applied to the second movable cleaner 202a detected by the detection unit. The detection unit is a pressure sensor provided on the second movable cleaner 202a. When the pressure detected by the pressure sensor reaches a predetermined pressure, it indicates that the second movable cleaner 202a has been hit. If the obstacle is small in size and will not continue to jam the second movable cleaner 202a after a collision, obstacle avoidance may not be performed. Therefore, the control unit may start timing after the pressure reaches a predetermined pressure. Only when the pressure remains greater than the predetermined pressure for a period of time (e.g., within two seconds) will it be determined that the second movable cleaner 202a has been jammed by the obstacle, and the second movable cleaner 202a will be controlled to move in the direction of the first position to avoid the obstacle.

[0390] In a specific embodiment of the present application, the control unit is configured to control the second movable cleaner 202a to move toward the first position based on the swing displacement detected by the detection unit. The detection unit is a position sensor provided on the second movable cleaner 202a, and the control unit can obtain the real-time position of the second movable cleaner 202a. The control unit can determine whether the second movable cleaner 202a has collided based on the position information of the second movable cleaner 202a. For example, the position sensor detects a pulsed change in the swing displacement of the second movable cleaner 202a, which indicates that the second movable cleaner 202a has vibrated. When the vibration frequency is greater than a predetermined frequency, the control unit can control the second movable cleaner 202a to move toward the first position to avoid obstacles.

[0391] In a specific embodiment of the present application, the control unit is configured to control the second movable cleaner 202a to move in the direction of the first position based on the swing angle detected by the detection unit. The detection unit is a code disk provided on the second movable cleaner 202a, and the code disk can detect the angle information of the second movable cleaner 202a in the swing direction. The control unit can determine whether the second movable cleaner 202a has collided based on the angle information fed back by the code disk. For example, the code disk detects a pulsed change in the swing angle of the second movable cleaner 202a, which indicates that the second movable cleaner 202a has vibrated. When the vibration frequency is greater than a predetermined frequency, the control unit can control the movable cleaner 2 to move in the direction of the first position to avoid obstacles.

[0392] In a specific embodiment of the present application, the control unit is configured to control the second movable cleaner 202a to move in the direction of the first position based on the current of the swing motor 24a detected by the detection unit. The control unit can obtain the current of the swing motor 24a in real time. When the second movable cleaner 202a is hit, the current of the swing motor 24a will increase accordingly, and the control unit can determine whether the second movable cleaner 202a has collided based on the current of the swing motor 24a. For example: the current of the swing motor 24a undergoes a pulsed change, which indicates that the second movable cleaner 202a has vibrated in the swing direction. When the vibration frequency is greater than a predetermined frequency, the control unit can control the second movable cleaner 202a to move in the direction of the first position to avoid obstacles.

[0393] In a specific embodiment of the present application, the control unit is configured to control the second movable cleaner 202a to move toward the first position based on the rotation angle of the swing motor 24a detected by the detection unit. A motor encoder can be provided on the rotation shaft of the swing motor 24a, and the motor encoder can detect the rotation angle of the swing motor 24a. The control unit can obtain the rotation angle of the swing motor 24a in real time. For example, if the rotation angle of the swing motor 24a detected by the motor encoder changes in a pulsed manner, it means that the second movable cleaner 202a vibrates in the swing direction. When the vibration frequency is greater than a predetermined frequency, the control unit can control the second movable cleaner 202a to move toward the first position to avoid obstacles.

[0394] In a specific embodiment of the present application, the control unit can also control the second movable cleaner 202a to move toward the first position based on at least two signals of the force magnitude, swing displacement, swing angle, current of the swing motor 24a, and rotation angle of the swing motor 24a detected by the detection unit. The detection unit can include at least a first detection unit and a second detection unit, and the first detection unit and the second detection unit can be used to detect different signals respectively, for example: the first detection unit is used to detect the force magnitude of the second movable cleaner 202a, and the first detection unit is used to detect the current of the swing motor 24a. The control unit can comprehensively judge the actual state of the second movable cleaner 202a based on at least the signals fed back by the first detection unit and the second detection unit. This reduces the misjudgment rate of the control unit, enables the control unit to more accurately judge whether the second movable cleaner 202a has been hit and whether it needs to be retracted, and improves the user experience.

[0395] The present application also provides a control method for the cleaning robot. Specifically, the method comprises the following steps:

[0396] Control the cleaning robot to clean the working surface in the normal working mode;

[0397] The control unit controls the cleaning robot to operate in an obstacle avoidance working mode based on obstacle information in the surrounding environment.

[0398] After the cleaning robot leaves the base station, the control unit is configured to control the first movable cleaning unit 201a and the second movable cleaning unit 202a to perform cleaning operations on the work surface in the second position and in the normal working mode. Specifically, when the cleaning robot leaves the base station and begins cleaning, the first movable cleaning unit 201a and the second movable cleaning unit 202a perform cleaning operations on the work surface in the second position as the normal working posture, thereby expanding the cleaning area and improving cleaning efficiency.

[0399] When an obstacle appears in front of the cleaning robot, the detection unit detects the obstacle and sends information such as its size and location to the control unit. After analysis, the control unit determines that the obstacle is in the cleaning robot's path and controls the cleaning robot to avoid the obstacle in advance. When the first movable cleaning unit 201a and / or the second movable cleaning unit 202a collide, the detection unit is triggered, and the control unit controls the cleaning robot to perform passive obstacle avoidance based on this information. After the obstacle avoidance is completed, the cleaning robot can continue to operate in the obstacle avoidance working mode.

[0400] Application Scenario 1

[0401] The cleaning robot of the present application can be a mopping robot. When the mopping robot is working, the cleaning device of the mopping robot is used to clean the work surface. When the mopping robot leaves the base station and begins cleaning, the first movable cleaner 201a and the second movable cleaner 202a both use the second position away from the edge of the movable chassis 1 as a general working mode to perform cleaning operations on the work surface, thereby expanding the cleaning area and improving cleaning efficiency. The first movable cleaner 201a and the second movable cleaner 202a in the second position can cover hard-to-reach cleaning corners such as wall bases and cabinet legs, achieving comprehensive cleaning.

[0402] The first movable cleaning device 201a can be a floor brush located along the front of the moving chassis 1a, and the second movable cleaning device 202a can be a mop located at the rear of the moving chassis 1a. After the floor brush located at the front finishes cleaning a certain work surface, the mop located at the rear can clean the same work surface again, thus ensuring a more thorough cleaning. The two movable cleaning devices located at the front and back enable sequential cleaning, first sweeping and then mopping, thereby improving cleaning efficiency.

[0403] Application Scenario 2

[0404] The cleaning robot of the present application may be a mopping robot. When an obstacle is present in front of the mopping robot, the detection unit can detect the presence of the obstacle and send information such as its size and position to the control unit. After analysis, the control unit determines that the obstacle is located in the moving path of the cleaning robot and sends a command to control the cleaning robot to avoid the obstacle in advance. The mopping robot has two obstacle avoidance behaviors: one is to retract the first movable cleaner 201a and the second movable cleaner 202a in advance, that is, the control unit controls the first movable cleaner 201a and the second movable cleaner 202a to move in the direction of the first position; the other is to turn the mopping robot to avoid the obstacle, that is, the control unit controls the mopping robot to move in the direction away from the obstacle in advance. The two obstacle avoidance behaviors are carried out in coordination, reducing the probability of collision, extending the service life of the cleaning robot, and improving the user experience.

[0405] Application Scenario 2

[0406] The cleaning robot of the present application may be a mopping robot. After the first movable cleaner 201a and the second movable cleaner 202a of the mopping robot move toward the first position to avoid obstacles, they need to be reset to the second position to maintain a larger cleaning range. After the first movable cleaner 201a and the second movable cleaner 202a move toward the first position, the control unit is configured to control the first movable cleaner 201a and the second movable cleaner 202a to be reset to the second position within a predetermined time or after the mopping robot has traveled a predetermined distance.

[0407] The control unit can start timing from the moment the first movable cleaner 201a and the second movable cleaner 202a leave the second position. When the predetermined time is reached, the control unit controls the first movable cleaner 201a and the second movable cleaner 202a to reset to the second position. The predetermined time can be five seconds. The first movable cleaner 201a and the second movable cleaner 202a can move outward and reset five seconds after leaving the second position. If the mopping robot has already crossed the obstacle during the reset, it can smoothly reset to the second position and continue cleaning a large area. If the mopping robot has not yet crossed the obstacle during the reset, the control unit can again control the first movable cleaner 201a and the second movable cleaner 202a to move toward the first position to avoid the obstacle again, and restart the timing, and repeat this process until the reset is completed.

[0408] The control unit can also calculate the distance traveled by the mopping robot starting from the moment the first and second movable cleaners 201a, 202a leave the second position. Once the predetermined distance is reached, the control unit controls the first and second movable cleaners 201a, 202a to return to the second position. The travel distance includes both the distance the mopping robot travels forward and the distance traveled during turns and circles. The predetermined distance can be one meter. After the first and second movable cleaners 201a, 202a leave the second position, the mopping robot continues to travel one meter, at which point the first and second movable cleaners 201a, 202a can move outward to reset. If the mopping robot has already cleared the obstacle during reset, it can successfully return to the second position and continue cleaning a large area. If the mopping robot has not cleared the obstacle during reset, the control unit can again control the first and second movable cleaners 201a, 202a to move toward the first position to avoid the obstacle again, and recalculate the travel distance, repeating this process until the robot is reset.

[0409] Application Scenario 3

[0410] The cleaning robot of the present application may be a mopping robot. When the mopping robot needs to return to its original moving path after circumventing an obstacle to reduce missed cleaning areas, the control unit is configured to control the mopping robot to return to its original moving path within a predetermined time or after the mopping robot has traveled a predetermined distance after moving in a direction away from the obstacle.

[0411] The control unit can start timing after the mopping robot moves in a direction away from an obstacle. When a predetermined timer is reached, the control unit controls the mopping robot to return to its original path. The predetermined timer is five seconds. After five seconds of deviation from the original path, the mopping robot will return to its original path and continue cleaning along the original path. If the mopping robot has not yet cleared the obstacle during the reset, the control unit can control the mopping robot to move in the direction away from the obstacle to avoid the obstacle again, and restart the timing, repeating this cycle until the robot is reset.

[0412] The control unit can also begin calculating the distance traveled by the mopping robot after it moves away from an obstacle. Once the predetermined distance is reached, the control unit controls the mopping robot to reset to its original path. For example, if the predetermined distance is one meter, and the mopping robot continues to travel one meter after deviating from its original path, it will reset to its original path and continue cleaning along the intended path. If the mopping robot has not yet cleared the obstacle during the reset, the control unit can control the mopping robot to move away from the obstacle again to avoid the obstacle and recalculate the distance traveled, repeating this process until it resets.

[0413] Application Scenario 4

[0414] The cleaning robot of the present application may be a mopping robot, and the detection unit 13 may be a laser radar. The laser radar can detect in real time whether there are obstacles that need to be avoided in the cleaning environment and send the detection information to the control unit. The control unit can predict the size and distance of the obstacle based on the detection information of the laser radar and control the first movable cleaning unit 201a and the second movable cleaning unit 202a to move in the direction of the first position in advance before a collision occurs, thereby achieving active obstacle avoidance.

[0415] LiDAR has blind spots. When mounted on top of the robot's motion chassis 1, it has difficulty detecting low obstacles. Even for obstacles that can be detected, the control unit's predictions may be inaccurate. For example, if there's a low threshold in front of the robot, the LiDAR can't detect it. The robot fails to make a prediction, and the first movable cleaner 201a and / or the second movable cleaner 202a collide with the threshold.

[0416] The detection unit can detect the above-mentioned collision in a timely manner, and the control unit can retract the first movable cleaner 201a and / or the second movable cleaner 202a based on the signal triggered by the detection unit to prevent the mopping robot from being stuck on the threshold. This achieves the coordinated operation of active and passive obstacle avoidance. For obstacles detectable by the laser radar, the control unit can retract the first movable cleaner 201a and / or the second movable cleaner 202a in advance to actively avoid the collision; for collisions that cannot be avoided, the detection unit can detect the occurrence of the collision, and the control unit can retract the first movable cleaner 201a and / or the second movable cleaner 202a based on the signal triggered by the detection unit to prevent the mopping robot from being stuck, thereby improving the user experience.

[0417] Application Scenario 4

[0418] The cleaning robot of the present application can be a mopping robot. When the mopping robot leaves the base station and starts cleaning, the first movable cleaner 201a and the second movable cleaner 202a perform cleaning operations on the working surface in the second position as a normal working posture. The outer contour of the moving chassis 1 has a maximum edge in the forward direction. When it is in the second position, at least part of the edges of the first movable cleaner 201a and the second movable cleaner 202a are located outside the maximum edge of the moving chassis 1a. This allows the cleaning range of the movable cleaner 2a in the second position to cover the widest part of the moving chassis 1a's walking range. The cleaning range of the mopping robot during normal operation can at least cover the widest part of the moving chassis 1a's walking range, and the cleaning efficiency is very high.

[0419] When the mopping robot is moving close to the wall, it can clean the base of the wall. When the detection unit 13a detects a corner in front of the mopping robot, the control unit can control the first movable cleaner 201a and the second movable cleaner 202a to move toward the first position while controlling the mopping robot to turn away from the obstacle; or, it can first control the first movable cleaner 201a and the second movable cleaner 202a to move toward the first position, and then control the mopping robot to turn away from the obstacle. The simultaneous retraction and turning obstacle avoidance, or the obstacle avoidance method of retraction first and then turning, can both enable the mopping robot to have a smaller turning radius when it starts turning at the corner, thereby reducing the missed areas during the cleaning process.

[0420] Application Scenario 5

[0421] The cleaning robot of the present application may be a mopping robot. Each time the mopping robot turns, the first movable cleaning element 201a and the second movable cleaning element 202a move toward the first position. During normal cleaning, when the mopping robot encounters corners, cabinet legs, and other common cleaning scenarios requiring a turn, it will adaptively turn according to the terrain.

[0422] At this point, corners, cabinet legs, and the like can be understood as obstacles detectable by the detection unit 13a. Because the control unit is configured to control the first and second movable cleaners 201a, 202a to move toward the first position based on the detection signal from the detection unit 13a and the wheel speed difference of the drive wheel 11, the mopping robot will control the first and second movable cleaners 201a, 202a to move toward the first position when turning. This allows the mopping robot to maintain a smaller turning radius, reducing areas missed during cleaning.

[0423] Application Scenario 6

[0424] The cleaning robot of the present application may be a mopping robot. When the mopping robot completes a cleaning task, it needs to return to the base station. For example, when the mopping robot has completed cleaning the entire operating area, it can dock at the base station for maintenance and storage. Alternatively, if the mopping robot encounters a maintenance-required condition during the cleaning process, such as insufficient battery or excessive dirt on the rag tray, the mopping robot needs to return to the base station for charging or self-cleaning. The user can also directly send a control command to the mopping robot on the mobile client to return to the base station.

[0425] The first movable cleaner 201a and the second movable cleaner 202a on the mopping robot are located in the second position during operation. The control unit is configured to control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position in response to the return signal, so that the cleaning robot is docked in the base station in a maintenance posture. When the mopping robot is in the base station, the first movable cleaner 201a and the second movable cleaner 202a are in the first position, thereby saving space in the base station.

[0426] During the process of the mopping robot returning to the base station, it is necessary to first execute the alignment program to ensure that the mopping robot is in the correct position and can accurately dock into the accommodation cavity at the bottom of the base station. The control unit can control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position while the mopping robot executes the alignment program. The control unit can also control the first movable cleaner 201a and the second movable cleaner 202a to move to the first position when the mopping robot has completed the alignment program and is docking at the base station. In this way, the first movable cleaner 201a and the second movable cleaner 202a can be kept in the second position for as long as possible before docking, so that there is a larger cleaning area before docking to avoid the formation of cleaning dead corners around the base station.

[0427] Application Scenario 7

[0428] The cleaning robot of the present application may be a mopping robot. Upon entering a home cleaning scene, its control unit generates a map and cleaning path based on the indoor layout. In relatively open spaces, the control unit generates a "bow-shaped" path, and the mopping robot turns in advance each time it approaches a wall until it completes cleaning the entire house.

[0429] When the mopping robot cleans the floor along a preset "bow-shaped" path in an open cleaning area, when it turns at a preset bend in the "bow-shaped" path, the first movable cleaning unit 201a and the second movable cleaning unit 202a can remain in the second position without retracting toward the first position. This is because the control unit generates the preset path based on the cleaning range of the movable cleaning unit in the second position. Although the mopping robot has a larger turning radius when turning, it will not miss any area. The first movable cleaning unit 201a and the second movable cleaning unit 202a only need to remain in the second position to achieve a comprehensive cleaning.

[0430] Besides the preset "bow-shaped" cleaning path, when the mopping robot turns in other situations, the first movable cleaning unit 201a and the second movable cleaning unit 202a will simultaneously move toward the first position. In addition to turning when encountering obstacles, the mopping robot will also adaptively turn according to the terrain during normal cleaning when encountering common turning situations such as corners and cabinet legs. The control unit can control the first and second movable cleaning units 201a, 202a to retract as the mopping robot turns, thereby maintaining a smaller turning radius and reducing areas missed during cleaning.

[0431] When cleaning robots on the market work close to the wall, it is often difficult to achieve zero distance to the edge, resulting in the existence of cleaning blind spots. In the prior art, a motor can be used to drive a robotic arm to swing a cleaner, such as a rag plate, to the outside of the body, thereby achieving the purpose of mopping the floor to the edge. However, a cleaner swung to the outside of the body is prone to collision or scratching obstacles, and the cleaner cannot be retracted in time after the collision, resulting in a poor user experience. The embodiments of the present application provide a cleaning robot, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, etc., a self-moving cleaning device for cleaning work surfaces that need to be cleaned, such as floors, sofas, carpets, etc.

[0432] The cleaning robot of the present application includes: a body, a movable cleaning device, a detection unit, and a control unit. The movable cleaning device can be mounted on the bottom of the body and configured to move relative to the body between a first position and a second position. Specifically, the movable cleaning device can be a cleaning component of various types, such as a wiping plate, a floor brush, or a mopping device. The present application does not limit the specific type of the movable cleaning device.

[0433] When the movable cleaner is in the first position, at least a portion of its edge is located within the edge projection area of ​​the body, and the movable cleaner is configured to swing outward relative to the body to a second position. Specifically, when the movable cleaner is in the first position, the entire edge of the movable cleaner can be located within the vertical projection area of ​​the edge of the body onto the ground. In other words, the edge of the movable cleaner does not exceed the edge projection area of ​​the body, so as to prevent the movable cleaner from being stuck on objects such as furniture on the ground during operation. In the first position, the movable cleaner can also have a portion of its edge located within the projection area of ​​the body, while another portion of its edge is located outside the projection area of ​​the body, thereby providing the movable cleaning device with a larger cleaning range.

[0434] The movable cleaner swings outward relative to the body and moves to the second position. That is to say, the movable cleaner in the second position has a larger cleaning range than the movable cleaner in the first position, which can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0435] The detection unit is in communication with the control unit, and is configured to be triggered when the movable cleaner is subjected to an external force; the control unit is configured to control the movable cleaner to move toward the first position based on the signal triggered by the detection unit. It should be noted that the detection unit is capable of continuously detecting the force applied to the movable cleaner directly or indirectly and continuously transmitting the detection signal to the control unit; the control unit is capable of analyzing and determining the detection signal, and only when the control unit determines that the movable cleaner has collided with an obstacle will it control the movable cleaner to move toward the first position to avoid the obstacle.

[0436] When the external force on the mobile cleaner is low, the control unit determines that the mobile cleaner is in normal operation. For example, when the mobile cleaner is mopping the floor, it will be subject to friction from the work surface, but this friction will not cause the mobile cleaner to move toward the first position. Only when the external force on the mobile cleaner reaches a certain threshold will the control unit determine that the mobile cleaner has collided with an obstacle and control it to move toward the first position to avoid the obstacle.

[0437] The movable cleaner of the present application can move between a first position and a second position. When it moves to the second position, it effectively increases the cleaning coverage of the cleaning robot and achieves comprehensive cleaning. The movable cleaner in the second position may collide with or scratch obstacles. For this reason, the present application provides a detection unit and a control unit, and controls the movable cleaner to move in the direction of the first position when an external force is detected, thereby achieving obstacle avoidance. In other words, the movable cleaner in the second position can be retracted in time in the event of a collision, preventing the cleaning robot from continuing to collide or even getting stuck, extending the service life of the cleaning robot, and improving the user experience.

[0438] The present application provides a cleaning robot that can perform cleaning work on the ground. For ease of understanding, the specific structure and working principle of the cleaning robot provided by the present application are described in detail below in conjunction with Figures 8 to 13. The one-to-one correspondence between the names of the components and the reference numerals in Figures 8 to 13 is as follows: 1b, body; 11b, driving wheel; 12a, fixed cleaner; 13a, distance detection unit; 2b, movable cleaner; 21a, swing mechanism; 211a, connecting part; 212a, bearing part; 213a, elastic part; 22a, light sensor; 23a, rag plate; 24a, swing motor; 25a, rotating motor; 3a, light shielding member; 31a, shielding part; 32a, light-transmitting channel; 4a, wall.

[0439] 8 and 9 , the cleaning robot of the present application includes: a body 1b, a movable cleaner 2b, a detection unit, and a control unit. The movable cleaner 2b can be mounted on the bottom of the body and configured to be movable between a first position and a second position relative to the body. The movable cleaner 2b in FIG8 is located in the first position, and the movable cleaner 2b on the right side of FIG9 is located in the second position. Specifically, the movable cleaner 2b can be various types of cleaning components such as a wiping plate, a floor brush, or a mopping piece. The present application does not limit the specific type of the movable cleaner 2b.

[0440] The bottom of the machine body 1b is provided with two driving wheels 11b for traveling, and the two driving wheels 11b are spaced apart on the left and right sides of the traveling direction of the machine body 1b. For the convenience of description, the traveling direction of the machine body 1b is defined as the front in this embodiment.

[0441] When the movable cleaning unit 2b is in the first position, at least a portion of its edge is located within the edge projection area of ​​the body 1b, and the movable cleaning unit 2b is configured to swing outward relative to the body 1b to the second position. Specifically, when the movable cleaning unit 2b is in the first position, its entire edge can be located within the edge projection area of ​​the body 1b, which reduces the overall size of the cleaning robot, making it easier to store and less likely to collide during operation. Alternatively, its edge can be partially located within the edge projection area of ​​the body 1b and partially located outside of the edge projection area, which allows the movable cleaning unit 2b in the first position to have a larger cleaning range.

[0442] The movable cleaner 2b swings outward relative to the body 1b and moves to the second position. That is to say, the movable cleaner in the second position has a larger cleaning range than the movable cleaner 2b in the first position, which can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0443] In one embodiment of the present application, as shown in FIG8 , when the movable cleaner 2b is in the first position, the edge of the movable cleaner 2b is located within the vertical projection area of ​​the edge of the body 1b onto the ground, that is, the edge of the movable cleaner 2b does not exceed the edge projection area of ​​the body 1b, so as to prevent the movable cleaner 2b from being stuck by objects such as furniture on the ground during operation. At this time, the cleaning range of the movable cleaner 2b does not exceed the driving range of the cleaning robot. As shown in FIG9 , when the movable cleaner 2b is in the second position, at least part of the edge of the movable cleaner 2b is located outside the edge of the projection area of ​​the body 1b, so as to increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position, and achieving comprehensive cleaning.

[0444] Specifically, referring to Figures 8 and 9, in an actual cleaning scenario, there is a wall 4a, which makes it difficult for the cleaning robot to move in close proximity to the wall 4a. Even if the cleaning robot can move in close proximity to the wall 4a, the movable cleaner 2b in the first position still cannot clean the blind spots along the edge. In this case, it is necessary to extend at least the movable cleaner 2b on the side closest to the wall 4 to the second position, thereby expanding the cleaning range, eliminating blind spots, and achieving comprehensive cleaning.

[0445] However, the movable cleaning device 2b in the second position presents a problem of difficulty in timely obstacle avoidance. When the cleaning robot turns, or when operating close to the edge of a wall 4a, it is often difficult to accurately control the distance. The movable cleaning device 2b is prone to collisions and scratches, and if it fails to retract promptly after a collision, it may become stuck on an obstacle. To address this issue, the present application provides a detection unit and a control unit on the cleaning robot.

[0446] The detection unit is in communication with the control unit. The detection unit is configured to be triggered when the movable cleaner 2b is subjected to an external force. The control unit is configured to control the movable cleaner 2b to move toward the first position based on the signal triggered by the detection unit. It should be noted that the detection unit is capable of continuously detecting the force applied to the movable cleaner 2b directly or indirectly and continuously transmitting the detection signal to the control unit. The control unit is capable of analyzing and determining the detection signal. Only when the control unit determines that the movable cleaner 2b has collided with an obstacle will it control the movable cleaner 2b to move toward the first position to avoid the obstacle.

[0447] When the external force acting on the movable cleaner 2b is relatively small, the control unit will determine that the movable cleaner 2b is in normal operation. For example, when the movable cleaner 2b is mopping the floor, it will be subject to friction from the working surface, but this friction will not cause the movable cleaner 2b to move toward the first position. Only when the external force acting on the movable cleaner 2b reaches a certain threshold will the control unit determine that the movable cleaner 2b has collided with an obstacle and control it to move toward the first position to avoid the obstacle.

[0448] The movable cleaner 2b of the present application can move between a first position and a second position. When it moves to the second position, it effectively increases the cleaning coverage of the cleaning robot and achieves comprehensive cleaning. The movable cleaner 2b in the second position may collide with or scratch obstacles. For this reason, the present application is provided with a detection unit and a control unit, and when an external force is detected, the movable cleaner 2b is controlled to move in the direction of the first position, thereby achieving obstacle avoidance. In other words, the movable cleaner 2b in the second position can be retracted in time when a collision occurs, preventing the cleaning robot from continuing to collide or even getting stuck, extending the service life of the cleaning robot, and improving the user experience.

[0449] In one embodiment of the present application, the cleaning robot is provided with at least two cleaning units, at least one of which is a movable cleaning device 2b. For example, when the movable cleaning device 2b is a movable wiping disc, the other cleaning unit may be a non-movable wiping disc provided in correspondence with the movable cleaning device 2b; when the movable cleaning device 2b is in the first position, the two wiping discs may be symmetrically provided on the left and right sides of the bottom surface of the robot body 1b.

[0450] In one embodiment of the present application, as shown in FIG8 , another cleaning unit may also be a fixed cleaner 12a. The fixed cleaner 12a may be a suction port or a roller brush, or may include both a suction port and a roller brush. The fixed cleaner 12a may be a suction port, and the movable cleaner 2b may be a wiping disc for mopping the floor, and the movable cleaner 2b may be positioned behind the suction port. The movable cleaner 2b may be attached with water and wet-mopped on the floor to be cleaned, and the movable cleaner 2b may be mounted adjacent to the rear edge of the machine body 1b. Furthermore, a roller brush for mopping the floor may be mounted on the fixed cleaner 12a, so that the machine body 1b implements a cleaning sequence of sweeping first and then mopping during movement.

[0451] The number of movable cleaners 2b can be one, two or more. When the number of movable cleaners 2b is two or more, the second position of at least one movable cleaner 2b is located on the left side of the body 1b, and the second position of at least one movable cleaner 2b is located on the right side of the body 1.

[0452] In this embodiment, two movable cleaners 2b are provided. As shown in FIG9 , the two movable cleaners 2b are provided on the left and right sides, and each movable cleaner 2b has a first position and a second position. The second position of the left movable cleaner 2b is located on the left side of the body 1b, and the second position of the right movable cleaner 2b is located on the right side of the body 1b. When the left or right side of the body 1b is close to the wall or the periphery of furniture, the movable cleaner 2b on the corresponding side can move to the second position on that side of the body 1b, and fit the corners for comprehensive cleaning. The two movable cleaners 2b can be controlled independently. For example, when there is no blind spot on the right side of the cleaning robot and there is a wall 4a on the left side that needs to be cleaned close to the edge, the control unit can only control the movable cleaner 2b on the left to move to the second position, and the movable cleaner 2b on the right can be in the first position.

[0453] In a specific embodiment of the present application, with reference to Figures 10, 4 and 6, the movable cleaner 2b is a wiping disc, which includes: a swing mechanism 21a, a wiping disc 23a, a swing motor 24a and a rotary motor 25a. One end of the swing mechanism 21a is rotationally connected to the bottom of the body 1b via the swing motor 24a, and the wiping disc 23a is rotationally connected to the other end of the swing mechanism 21a via the rotary motor 25a. The swing motor 24a is configured to drive the swing mechanism 21a so that the movable cleaner 2b moves between a second position and a first position. The rotary motor 25a can be fixedly mounted on the swing mechanism 21a, and its output end can be transmission-connected to the rotating shaft of the wiping disc 23a, thereby driving the wiping disc 23a to rotate. This allows the cleaning robot to clean the work surface more cleanly through its own rotation when performing cleaning work.

[0454] In one embodiment of the present application, after the cleaning robot leaves the base station, the control unit is configured to control the movable cleaner 2b to perform cleaning operations on the work surface in the second position as a normal working posture. In addition, the control unit is configured to control the movable cleaner 2b to move to the first position in response to the return signal, so that the cleaning robot is docked in the base station as a maintenance posture. The cleaning robot has a matching base station, and the cleaning robot needs to return to the base station for charging or maintenance after completing the cleaning work. When the cleaning robot is in the base station, the movable cleaner 2b is located in the first position, and its edge does not exceed the edge projection area of ​​the body 1b, thereby saving space in the base station. When the cleaning robot leaves the base station and starts cleaning work, the movable cleaner 2b performs cleaning operations on the work surface in the second position as a normal working posture, thereby expanding the cleaning area and improving cleaning efficiency.

[0455] Specifically, the control unit can control the movable cleaner 2b to move to the first position when the cleaning robot receives a signal to return to the base station. The control unit can also control the movable cleaner 2b to move to the first position after the cleaning robot receives a signal to return to the base station while the cleaning robot is moving toward the base station. This ensures that when the cleaning robot docks, its movable cleaner 2b has been retracted to the first position, thereby facilitating the cleaning robot to enter the base station in a maintenance posture.

[0456] During the process of the cleaning robot returning to the base station, it is necessary to first execute the alignment program to ensure that the cleaning robot is in the correct position and can accurately dock into the accommodating cavity at the bottom of the base station. The control unit can control the movable cleaner 2b to move to the first position while the cleaning robot is executing the alignment program. The control unit can also control the movable cleaner 2b to move to the first position when the cleaning robot has completed the alignment program and is docking at the base station. In this way, the movable cleaner 2b can be kept in the second position for as long as possible before docking, so that there is a larger cleaning area before docking to avoid the formation of cleaning blind spots around the base station.

[0457] In another embodiment of the present application, the movable cleaning device 2b can also use the first position as its normal operating posture to clean the work surface, and only move to the second position when cleaning the edge. This can improve the cleaning robot's flexibility. The cleaning robot's relatively small size in the normal operating posture allows it to enter and clean narrower areas. Furthermore, in crowded cleaning scenarios, such as those in homes with tightly arranged furniture, using the first position as its normal operating posture can reduce the occurrence of collisions.

[0458] The present application does not impose any specific restrictions on the normal working posture of the cleaning robot. The movable cleaner 2b will be described below with the second position as the normal working posture.

[0459] In one embodiment of the present application, the outer contour of the machine body 1b has a maximum edge in the forward direction, and when in the second position, at least a portion of the edge of the movable cleaning device 2b is located outside the maximum edge of the machine body 1b. Specifically, the machine body 1b can be configured as any shape, such as a rectangle or a circle. In this embodiment, the machine body 1b is circular.

[0460] With reference to Figures 8 and 9, the α-axis shows the maximum edge of the outer contour of the body 1b in the forward direction. It is understandable that when the cleaning robot moves to the position closest to the wall 4a, the α-axis coincides with the edge of the wall 4a. Since there is a gap between the movable cleaner 2b located in the first position and the α-axis, a cleaning dead angle is formed. In order to make up for the gap between the movable cleaner 2b and the α-axis, as shown in Figure 9, it is necessary to swing the movable cleaner 2b outward and move at least part of its edge to a position beyond the α-axis. This allows the cleaning range of the movable cleaner 2b in the second position to cover the widest part of the walking range of the body 1b. Since the movable cleaner 2b in this embodiment uses the second position as the normal working posture, the cleaning range of the robot of the present application during normal operation can at least cover the widest part of the walking range of the body 1b, and the cleaning efficiency is very high.

[0461] In one embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move toward the first position at least until its outer edge is within the maximum edge of the body 1b based on the signal triggered by the detection unit. When the movable cleaner 2b in the second position collides with an obstacle, the control unit controls the movable cleaner 2b to move inward to avoid the obstacle. It should be noted that the obstacle encountered by the movable cleaner 2b in the second position is outside the maximum edge of the body 1b, that is, the obstacle will not collide with the body 1b. Therefore, as long as the movable cleaner 2b is moved to within the maximum edge of the body 1b, the obstacle can be avoided.

[0462] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move to the first position, or to another position between the first position and the second position, based on a signal triggered by the detection unit. When the movable cleaner 2b moves to the first position, the edge of the movable cleaner 2b does not exceed the edge projection area of ​​the body 1b and is naturally located within the maximum edge of the body 1b, thereby achieving obstacle avoidance.

[0463] However, the movable cleaner 2b does not need to fully return to its first position each time it avoids an obstacle. Instead, it can swing a smaller amount, moving only to other positions between the first and second positions where it can avoid obstacles. As shown in Figure 9, there is a large gap between the movable cleaner 2b in its first position and the α-axis, allowing the control unit to control the movable cleaner 2b to move to any position between them. This reduces the swing distance required for each obstacle avoidance move and improves cleaning efficiency.

[0464] In one embodiment of the present application, as shown in Figure 8, the cleaning robot also includes a distance detection unit 13a, and the distance detection unit 13a is configured to at least detect obstacle information in the environment. The control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the obstacle information obtained by the distance detection unit 13a. Specifically, the distance detection unit 13a can be a laser radar, which can detect in real time whether there are obstacles that need to be avoided in the cleaning environment, and send the detection information to the control unit. The control unit can predict the size and distance of the obstacle based on the detection information of the laser radar, and control the movable cleaner 2b to move in the direction of the first position before the collision occurs, thereby achieving active obstacle avoidance.

[0465] However, the distance detection unit 13a has a detection blind spot. When the distance detection unit 13a is a laser radar mounted on the top of the vehicle body 1b, it has difficulty detecting low obstacles such as door sills. Even for obstacles that can be detected, the control unit's prediction may be inaccurate. Therefore, installing the distance detection unit 13a can only reduce the likelihood of collisions, but cannot completely prevent them.

[0466] The cleaning robot of this application utilizes two obstacle avoidance systems: a detection unit and a distance detection unit 13a, achieving coordinated active and passive obstacle avoidance. If the distance detection unit 13a detects an obstacle, the control unit can retract the movable cleaner 2b in advance to proactively avoid the collision. If a collision cannot be avoided, the detection unit can detect the occurrence of the collision and, based on a signal triggered by the detection unit, the control unit can retract the movable cleaner 2b, preventing the cleaning robot from becoming stuck on an obstacle and improving the user experience.

[0467] The movable cleaner 2b moves toward the first position to avoid obstacles, and after crossing the obstacle, it needs to continue to return to the second position to maintain a larger cleaning range. In one embodiment of the present application, after the movable cleaner 2b moves toward the first position, the control unit is configured to control the movable cleaner 2b to return to the second position within a predetermined time or after the cleaning robot travels a predetermined distance.

[0468] In a specific embodiment of the present application, the control unit can start timing from the time the movable cleaner 2b leaves the second position, and when the predetermined time is reached, the control unit controls the movable cleaner 2b to reset to the second position. The predetermined time is the time required for the cleaning robot to pass an obstacle under normal circumstances. For example, the predetermined time can be five seconds, and the movable cleaner 2b can move outward and reset five seconds after leaving the second position. If the cleaning robot has crossed the obstacle when resetting, it can smoothly reset to the second position and continue to clean a large area. If the cleaning robot has not crossed the obstacle when resetting, a collision will occur again, and the control unit can again control the movable cleaner 2b to move in the direction of the first position to avoid the obstacle again, and restart the timing, and repeat this process until it is reset.

[0469] In another specific embodiment of the present application, the control unit can calculate the travel distance of the cleaning robot from the moment the movable cleaner 2b leaves the second position, and when the predetermined distance is reached, the control unit controls the movable cleaner 2b to reset to the second position. It should be noted that the travel distance includes both the distance the cleaning robot travels forward and the distance traveled during turns and circles. For example, the predetermined distance can be one meter, and the cleaning robot continues to travel one meter after the movable cleaner 2b leaves the second position. At this time, the movable cleaner 2b can move outward to reset. If the cleaning robot has crossed the obstacle when resetting, it can smoothly reset to the second position and continue cleaning a large area. If the cleaning robot has not crossed the obstacle when resetting, a collision will occur again, and the control unit can again control the movable cleaner 2b to move in the direction of the first position to avoid the obstacle again, and recalculate the travel distance, and repeat this process until it is reset.

[0470] The detection unit of the present application is configured to be triggered when the movable cleaner 2b is subjected to an external force. There are many specific ways for the detection unit to detect the force applied to the movable cleaner 2b, and the present application does not limit the specific detection method. The following will detail several different detection methods provided by the present application and the specific structure of the detection unit in conjunction with several embodiments.

[0471] In one embodiment of the present application, when located in the second position, the movable cleaner 2b is constructed to vibrate at least in the swinging direction of the movable cleaner 2b when subjected to external force, and the control unit is configured to control the movable cleaner 2b to move toward the first position based on a signal obtained by the detection unit when the movable cleaner 2b vibrates.

[0472] When the mobile cleaner 2b collides with an obstacle, for example, when the mobile cleaner 2b is stuck in a corner, the driving wheel 11b of the cleaning robot continues to rotate. At this time, the rag disc 23a on the mobile cleaner 2b will continue to be subjected to pressure from the corner. There is a certain gap between the mechanical structures within the mobile cleaner 2b. Under the pressure of the corner, the mechanical structures within the mobile cleaner 2b will continuously collide and rebound with each other, causing the mobile cleaner 2b to vibrate as a whole. The swing mechanism 21a is connected to the body 1b by a rotational connection. The rotational connection point is located at the end away from the rag disc 23a. It can be seen that the torque at this point is relatively large. Therefore, when the rag disc 23a is subjected to continuous force, it will first vibrate about the rotational connection point as the axis, that is, vibrate in the swing direction of the mobile cleaner 2b.

[0473] Since the movable cleaner 2b may also vibrate in the swinging direction during the normal operation of the cleaning robot, the vibration signal needs to be further limited. In a specific embodiment of the present application, only when the vibration reaches a predetermined frequency can the control unit determine that the movable cleaner 2b has collided and control the movable cleaner 2b to move in the direction of the first position. When the cleaning robot is operating normally, even if the movable cleaner 2b vibrates, it will only be a low-frequency vibration. Only when a collision occurs or when the movable cleaner 2b is stuck in a dead corner will it vibrate at a high frequency under the action of continuous force. For example: when the movable cleaner 2b vibrates 10 times within 200ms, it is considered that the vibration has reached the predetermined frequency, and the control unit controls the movable cleaner 2b to move in the direction of the first position to avoid obstacles.

[0474] In addition to the gaps between the mechanical structures within the movable cleaner 2b causing vibration, the movable cleaner 2b may also be provided with an elastic portion 213a, which also causes vibration of the movable cleaner 2b. The elastic portion 213a is provided to provide a buffer. The elastic portion 213a can absorb the impact force when the movable cleaner 2b is hit, thereby extending the service life of the cleaning device. This application provides the following two specific arrangements for the elastic portion 213a.

[0475] In a specific embodiment of the present application, with reference to Figure 6, the movable cleaner 2b includes a connecting portion 211a for rotating the connection body 1b, and a bearing portion 212a. The connecting portion 211a is constructed to be connected to the bearing portion 212a via an elastic portion 213a, and the elastic portion 213a is configured to provide elastic force for resetting the bearing portion 212a. In this embodiment, the connecting portion 211a, the bearing portion 212a and the elastic portion 213a are all part of the swing mechanism 21a, and the connecting portion 211a can be connected to the body 1b via a swing motor 24a, and the bearing portion 212a can be used to install a rag plate 23a, which can be rotatably connected to the bearing portion 212a via a rotating motor 25a. The connecting portion 211a is connected to the bearing portion 212a via the elastic portion 213a, and the elastic portion 213a can be a spring, a shrapnel, a spring plate or an elastic material.

[0476] When the rag tray 23a collides, the bearing portion 212a, which is rotatably connected to the rag tray 23a, experiences a certain impact force. However, the elastic portion 213a acts as a buffer, significantly reducing the impact force transmitted to the connecting portion 211a and the housing 1b. The elastic portion 213a elastically deforms under the impact force exerted on the bearing portion 212a, generating an elastic force in the opposite direction of the impact force. This elastic force causes the bearing portion 212a to rebound and return to its original position.

[0477] When the obstacle is small, it will not get stuck on the movable cleaner 2b, and the cleaning robot can directly pass over the obstacle at its speed, eliminating the need to retract the movable cleaner 2b. The rag tray 23a can be directly reset under the elastic force and continue cleaning. It is understandable that when the movable cleaner 2b is not stuck on the obstacle, a single impact with the obstacle will cause the movable cleaner 2b to vibrate. However, due to the cushioning effect of the elastic portion 213a, the frequency of the vibration is low and will not reach the predetermined frequency required for obstacle avoidance.

[0478] When the obstacle is large, such as a wall, a table corner, or a large piece of furniture, it can get stuck on the movable cleaner 2b, requiring it to be retracted. When the movable cleaner 2b is stuck, the rag plate 23a is continuously subjected to pressure. The elastic force causes the rag plate 23a to rebound, but it will collide again, and this cycle will produce high-frequency vibrations. The control unit determines that the vibration frequency of the movable cleaner 2b has reached a predetermined frequency and controls the movable cleaner 2b to move toward the first position to avoid the obstacle.

[0479] In another specific embodiment of the present application, an elastic portion 213a is provided between the body 1b and the movable cleaner 2b. The movable cleaner 2b is configured to have a tendency to move toward the second position under the force of the elastic portion 213a. The elastic portion 213a can continuously provide elastic force to the movable cleaner 2b toward the second position. The movable cleaner 2b can only be retracted to the first position under the drive of the swing motor 24a. In this embodiment, the movable cleaner 2b can be considered to be a structure that moves as a whole. When the movable cleaner 2b collides, it will swing as a whole toward the first position. Under the cushioning effect of the elastic portion 213a, the impact force transmitted to the body 1b will be significantly reduced. By providing the elastic portion 213a between the body 1b and the movable cleaner 2b, a certain amount of space for movement is provided for the movable cleaner 2b. When the movable cleaner 2b is stuck by an obstacle, high-frequency vibrations will occur within the above-mentioned space. The control unit determines that the vibration frequency of the movable cleaner 2b reaches a predetermined frequency, and controls the movable cleaner 2b to move toward the first position to avoid obstacles.

[0480] In one embodiment of the present application, referring to Figures 10, 4 and 5, the detection unit includes: a light shielding member 3a and a light sensor 22a. The light shielding member 3a is arranged on one of the body 1b and the movable cleaner 2b, and the light sensor 22a is arranged on the other of the body 1b and the movable cleaner 2b. In other words, the light shielding member 3a is installed on the body 1b, and the light sensor 22a is installed on the movable cleaner 2b; or, the light shielding member 3a is installed on the movable cleaner 2b, and the light sensor 22a is installed on the body 1b. The present application does not impose any restrictions on the specific installation method of the light shielding member 3a and the light sensor 22a, as long as one of the two can move with the movable cleaner 2b and the other is fixed and stationary.

[0481] As shown in Figures 10 and 4 , in this embodiment, the light shielding member 3a is mounted on the housing 1b, and the light sensor 22a is mounted on the movable cleaning element 2b. As shown in Figure 5 , the light shielding member 3a is configured with multiple light-transmitting channels 32a spaced apart in the swinging direction of the movable cleaning element 2b. The light shielding member 3a may be an arc-shaped grille bar extending in the swinging direction of the movable cleaning element 2b. The light shielding member 3a includes multiple shielding portions 31a and multiple light-transmitting channels 32a, which are interspersed and arranged to form a comb-like shape.

[0482] The light sensor 22a includes an emitting portion and a receiving portion located on opposite sides of the light shielding member 3a. When the light sensor 22a is moved relative to the light shielding member 3a to a position corresponding to the light-transmitting channel 32a, the receiving portion is configured to receive a light signal from the emitting portion through the light-transmitting channel 32a. Furthermore, when the light sensor 22a is moved to a position away from the light-transmitting channel 32a, the light signal emitted by the emitting portion is blocked by the light shielding member 3a. Specifically, the light sensor 22a may be a photoelectric emitting tube, with the emitting tube and receiving tube of the photoelectric emitting tube being mounted on the movable cleaner 2b and capable of swinging with the movable cleaner 2b. The emitting tube and receiving tube may be mounted on the upper and lower sides of the curved grille bars, respectively.

[0483] When the movable cleaner 2b is operating normally, the transmitter and receiver can be located on either side of the shielding portion 31a on the light shielding member 3a. The light signal emitted by the transmitter will be blocked by the light shielding member 3a, and the receiver will not receive the signal. When the movable cleaner 2b swings, the transmitter and receiver swing with the movable cleaner 2b, moving to the upper and lower sides of the light-transmitting channel 32a on the light shielding member 3a. The receiver receives the light signal from the transmitter through the light-transmitting channel 32a. Based on this light signal, the control unit can determine that the movable cleaner 2b has swung.

[0484] Of course, when the movable cleaner 2b is working normally, the transmitting part and the receiving part can also be located on the upper and lower sides of the light-transmitting channel 32a respectively, and the receiving part can continue to receive the light signal from the transmitting part; and when the light signal disappears, it means that the movable cleaner 2b has swung.

[0485] As shown in Figure 7, the light signal received by the receiving unit is a high-level signal, while the signal not received by the receiving unit is a low-level signal. When the light shielding member 3a and the light sensor 22a are relatively stationary, the level signal remains high or low. When the level signal suddenly changes, i.e., when a pulse signal is generated, it indicates that the light shielding member 3a and the light sensor 22a have moved relative to each other, that is, the movable cleaning device 2b has swung relative to the body 1b.

[0486] When the level signal presents a pulse signal with a low frequency at a uniform speed, it can be determined that the movable cleaner 2b is being extended or retracted under the action of the swing motor 24a. In a specific embodiment of the present application, the light-transmitting channels 32a are configured to be arranged on the light-shielding member 3a at predetermined intervals, and the control unit is configured to control the movable cleaner 2b to swing a predetermined angle between the first position and the second position based on the pulse signal detected by the light sensor 22a. It is understandable that each time a high-level signal appears, it means that the light sensor 22a has passed through the light-transmitting channel 32a once, and each time a low-level signal appears, it means that the light sensor 22a has passed through the shielding portion 31a once. Therefore, the pulse signals can be counted, and the swing angle of the movable cleaner 2b can be calculated based on the number of signals. Based on this, the control unit can control the movable cleaner 2b to swing a predetermined angle between the first position and the second position, that is, it can control the movable cleaner 2b to move to any position between the first position and the second position. In this way, the movable cleaner 2b can be precisely positioned, so that the posture and shape of the movable cleaner 2b can be adjusted more finely to achieve more complex cleaning operations.

[0487] When the level signal suddenly undergoes multiple mutations within a short period of time, i.e., a high-frequency pulse signal is present, it can be determined that the movable cleaner 2b is vibrating under the action of an external force. The control unit can determine the vibration frequency based on the pulse signal. When the vibration frequency is greater than a predetermined frequency, it can be determined that the movable cleaner 2b has impacted and needs to be retracted.

[0488] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move toward the first position when the pulse signal detected by the light sensor 22a within a predetermined time reaches a threshold value. The movable cleaner 2b will generate high-frequency vibrations when a collision occurs. At this time, the transmitting part and the receiving part vibrate back and forth along the swing direction along with the movable cleaner 2b. As a result, it swings back and forth quickly between the adjacent shielding part 31a and the light-transmitting channel 32a, which will form a high-frequency pulse signal. The control unit can count the pulse signals, and each group of high and low levels means one vibration. The control unit calculates the vibration frequency of the movable cleaner 2b based on the pulse signal. When the pulse signal within the predetermined time reaches the threshold value, it means that the vibration frequency of the movable cleaner 2b has reached the predetermined frequency. It can be determined that the movable cleaner 2b has been hit. The control unit controls the movable cleaner 2b to move toward the first position to avoid obstacles.

[0489] The above description describes a specific embodiment of the detection unit comprising a light shielding member 3a and a light sensor 22a. The photoelectric sensing detection method is highly accurate and less prone to misjudgment. When the movable cleaner 2b is struck, the control unit can quickly and promptly control the movable cleaner 2b to retract inward to avoid the obstacle. In addition to the photoelectric sensing method, this application also provides several other detection methods, which will be described in detail below.

[0490] In one embodiment of the present application, the cleaning robot includes a swing motor 24a, and the movable cleaning device 2b is configured to move between a first position and a second position under the action of the swing motor 24a. The control unit is configured to control the movable cleaning device 2b to move toward the first position based on at least one signal detected by the detection unit: the force applied to the movable cleaning device 2b, the swing displacement, the swing angle, the current of the swing motor 24a, and the rotation angle of the swing motor 24a.

[0491] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the force applied to the movable cleaner 2b detected by the detection unit. The detection unit is a pressure sensor provided on the movable cleaner 2b. When the pressure detected by the pressure sensor reaches a predetermined pressure, it indicates that the movable cleaner 2b has been hit. If the obstacle is small in size and will not continue to jam the movable cleaner 2b after a collision, obstacle avoidance may not be performed. Therefore, the control unit may start timing after the pressure reaches a predetermined pressure. Only when the pressure remains greater than the predetermined pressure for a period of time (for example, within two seconds) will it be determined that the movable cleaner 2b has been jammed by the obstacle, and the movable cleaner 2b will be controlled to move in the direction of the first position to avoid the obstacle.

[0492] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move toward the first position based on the swing displacement detected by the detection unit. The detection unit is a position sensor provided on the movable cleaner 2b, and the control unit can obtain the real-time position of the movable cleaner 2b. The control unit can determine whether the movable cleaner 2b has collided based on the position information of the movable cleaner 2b. For example, the position sensor detects a pulsed change in the swing displacement of the movable cleaner 2b, which indicates that the movable cleaner 2b has vibrated. When the vibration frequency is greater than a predetermined frequency, the control unit can control the movable cleaner 2b to move toward the first position to avoid obstacles.

[0493] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the swing angle detected by the detection unit. The detection unit is a code disk provided on the movable cleaner 2b, and the code disk can detect the angle information of the movable cleaner 2b in the swing direction. The control unit can determine whether the movable cleaner 2b has collided based on the angle information fed back by the code disk. For example, the code disk detects a pulsed change in the swing angle of the movable cleaner 2b, which indicates that the movable cleaner 2b has vibrated. When the vibration frequency is greater than a predetermined frequency, the control unit can control the movable cleaner 2b to move in the direction of the first position to avoid obstacles.

[0494] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the current of the swing motor 24a detected by the detection unit. The control unit can obtain the current of the swing motor 24a in real time. When the movable cleaner 2b is hit, the current of the swing motor 24a will increase accordingly, and the control unit can determine whether the movable cleaner 2b has collided based on the current of the swing motor 24a. For example: the current of the swing motor 24a has undergone a pulsed change, which indicates that the movable cleaner 2b has vibrated in the swing direction. When the vibration frequency is greater than the predetermined frequency, the control unit can control the movable cleaner 2b to move in the direction of the first position to avoid obstacles.

[0495] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move toward the first position based on the rotation angle of the swing motor 24a detected by the detection unit. A motor encoder can be provided on the rotation shaft of the swing motor 24a, and the motor encoder can detect the rotation angle of the swing motor 24a. The control unit can obtain the rotation angle of the swing motor 24a in real time. For example, if the rotation angle of the swing motor 24a detected by the motor encoder undergoes a pulsed change, it means that the movable cleaner 2b has vibrated in the swing direction. When the vibration frequency is greater than a predetermined frequency, the control unit can control the movable cleaner 2b to move toward the first position to avoid obstacles.

[0496] In a specific embodiment of the present application, the control unit can also control the movable cleaner 2b to move toward the first position based on at least two signals of the force magnitude, swing displacement, swing angle, current of the swing motor 24a, and rotation angle of the swing motor 24a detected by the detection unit. The detection unit can include at least a first detection unit and a second detection unit, and the first detection unit and the second detection unit can be used to detect different signals respectively, for example: the first detection unit is used to detect the force magnitude of the movable cleaner 2b, and the first detection unit is used to detect the current of the swing motor 24a. The control unit can comprehensively judge the actual state of the movable cleaner 2b based on at least the signals fed back by the first detection unit and the second detection unit. This reduces the misjudgment rate of the control unit, enables the control unit to more accurately judge whether the movable cleaner 2b has been hit and whether it needs to be retracted, and improves the user experience.

[0497] The present application also provides a control method for the cleaning robot. Specifically, the method comprises the following steps:

[0498] In the second position, the cleaning robot is controlled to walk on the working surface to clean the working surface;

[0499] The control unit controls the movable cleaning device 2b to move toward the first position in response to the signal triggered by the detection unit.

[0500] After the cleaning robot leaves the base station, the control unit is configured to control the movable cleaning device 2b to use the second position as a normal working posture to perform cleaning operations on the work surface. Specifically, when the cleaning robot leaves the base station and begins cleaning operations, the movable cleaning device 2b uses the second position as a normal working posture to perform cleaning operations on the work surface, thereby expanding the cleaning area and improving cleaning efficiency.

[0501] The detection unit can directly or indirectly continuously detect the force status of the movable cleaning device 2b and continuously send a detection signal to the control unit. When the control unit determines based on the signal that the movable cleaning device 2b has collided with an obstacle, it can control the movable cleaning device 2b to move toward the first position to avoid the obstacle.

[0502] When a collision occurs, the control unit can control the movable cleaner 2b to move to the first position, or to another position between the first and second positions. When the movable cleaner 2b moves to the first position, the edge of the movable cleaner 2b does not exceed the edge projection area of ​​the body 1b, and is naturally located within the maximum edge of the body 1b, enabling obstacle avoidance. However, the movable cleaner 2b does not have to move completely back to the first position every time it avoids an obstacle. Instead, it can swing a smaller amplitude and only move to other positions between the first and second positions where obstacle avoidance can be achieved. This reduces the swing stroke for each obstacle avoidance and improves cleaning efficiency.

[0503] Application Scenario 1

[0504] The cleaning robot of the present application can be a mopping robot. While the mopping robot is operating, its cleaning device cleans the work surface. When the mopping robot leaves the base station and begins cleaning, the movable cleaner 2b uses the second position, acting as a normal operating posture, to clean the work surface, thereby expanding the cleaning area and improving cleaning efficiency. The movable cleaner 2b in the second position can reach hard-to-reach corners such as wall bases and cabinet legs, achieving comprehensive cleaning.

[0505] When the mopping robot is moving along the edge, it is often difficult to accurately control the distance. The movable cleaner 2b is prone to collision and scratching objects, and it cannot be retracted in time after the collision, which may cause the mopping robot to get stuck at the obstacle. The detection unit can directly or indirectly continuously detect the force state of the movable cleaner 2b and continuously send the detection signal to the control unit. When the external force on the movable cleaner 2b is small, the control unit will determine that the movable cleaner 2b is in a normal operating state. For example: when the movable cleaner 2b is mopping the floor, it will be subjected to friction from the working surface, and the friction of the working surface will not cause the movable cleaner 2b to move in the direction of the first position.

[0506] Only when the external force applied to the movable cleaning element 2b reaches a certain threshold does the control unit determine that the movable cleaning element 2b has collided with an obstacle and control its movement toward the first position to avoid the obstacle. The movable cleaning element 2b in the second position can be promptly retracted in the event of a collision, preventing the mopping robot from continuously colliding or even getting stuck, extending its service life and improving the user experience.

[0507] Application Scenario 2

[0508] The cleaning robot of the present application may be a mopping robot. After the movable cleaning unit 2b of the mopping robot moves toward a first position to avoid obstacles, it needs to be reset to a second position to maintain a larger cleaning range. After the movable cleaning unit 2b moves toward the first position, the control unit is configured to control the movable cleaning unit 2b to reset to the second position within a predetermined time or after the mopping robot has traveled a predetermined distance.

[0509] The control unit can start timing from the time the movable cleaner 2b leaves the second position, and when the predetermined time is reached, the control unit controls the movable cleaner 2b to reset to the second position. The predetermined time is the time it normally takes for the mopping robot to pass an obstacle. For example: if the predetermined time is five seconds, the movable cleaner 2b can move outward and reset five seconds after leaving the second position. If the mopping robot has already crossed the obstacle when resetting, it can smoothly reset to the second position and continue cleaning a large area. If the mopping robot has not yet crossed the obstacle when resetting, a collision will occur again, and the control unit can again control the movable cleaner 2b to move toward the first position to avoid the obstacle again, and restart the timing, and repeat this process until it is reset.

[0510] The control unit can also calculate the travel distance of the mopping robot starting from the time the movable cleaner 2b leaves the second position. When the predetermined distance is reached, the control unit controls the movable cleaner 2b to reset to the second position. The travel distance includes both the distance the mopping robot travels forward and the distance traveled during turns and circles. For example: if the predetermined distance is one meter, the mopping robot continues to travel one meter after the movable cleaner 2b leaves the second position, at which point the movable cleaner 2b can move outward to reset. If the mopping robot has already crossed the obstacle during the reset, it can smoothly reset to the second position and continue cleaning a large area. If the mopping robot has not yet crossed the obstacle during the reset, a collision will occur again. The control unit can again control the movable cleaner 2b to move toward the first position to avoid the obstacle again, and recalculate the travel distance, and repeat this process until it is reset.

[0511] Application Scenario 3

[0512] The cleaning robot of the present application may be a mopping robot equipped with a laser radar that can detect in real time whether there are obstacles in the cleaning environment that need to be avoided and transmit the detection information to a control unit. The control unit can predict the size and distance of the obstacle based on the detection information of the laser radar and control the movable cleaning device 2b to move in the direction of the first position in advance before a collision occurs, thereby achieving active obstacle avoidance.

[0513] LiDAR has blind spots. When mounted on top of the mopping robot's body 1b, it has difficulty detecting low obstacles. Even for obstacles it can detect, the control unit's predictions can be inaccurate. For example, if there's a low threshold in front of the mopping robot, the LiDAR can't detect it. The mopping robot fails to anticipate the threshold, and the movable cleaner 2b collides with it.

[0514] The detection unit can promptly detect such collisions, and the control unit can retract the movable cleaner 2b based on a signal triggered by the detection unit, preventing the mopping robot from getting stuck on the threshold. This achieves the coordinated operation of active and passive obstacle avoidance. For obstacles detectable by the lidar, the control unit can retract the movable cleaner 2b in advance to actively avoid the collision. For collisions that cannot be avoided, the detection unit can detect the occurrence of the collision and, based on a signal triggered by the detection unit, retract the movable cleaner 2b to prevent the mopping robot from getting stuck, thus improving the user experience.

[0515] Application Scenario 4

[0516] The cleaning robot of the present application can be a mopping robot. When the mopping robot leaves the base station and begins cleaning, the movable cleaner 2b performs cleaning operations on the work surface in the second position as a normal working posture. The outer contour of the body 1b has a maximum edge in the forward direction. When in the second position, at least part of the edge of the movable cleaner 2b is located outside the maximum edge of the body 1b. This allows the cleaning range of the movable cleaner 2b in the second position to cover the widest part of the travel range of the body 1b. The cleaning range of the mopping robot during normal operation can at least cover the widest part of the travel range of the body 1b, and the cleaning efficiency is very high.

[0517] When the mopping robot is moving close to the wall, it can clean the base of the wall. However, when it is moving close to a corner, the mopping robot needs to make a 90° turn to avoid hitting the wall. The movable cleaner 2b in the second position is easily stuck in the corner during the turn.

[0518] When the movable cleaner 2b is stuck in a corner, the mopping robot's drive wheel 11b continues to rotate, causing the rag plate 23a on the movable cleaner 2b to continuously experience pressure from the corner. Because there are gaps between the mechanical structures within the movable cleaner 2b, the pressure from the corner causes them to constantly collide and rebound, causing the entire movable cleaner 2b to vibrate. When the movable cleaner 2b is measured to vibrate 10 times within 200ms, the vibration is considered to have reached the predetermined frequency, and the control unit controls the movable cleaner 2b to move toward the first position to avoid the corner.

[0519] The movable cleaner 2b moves toward the first position at least until its outer edge is located within the maximum edge of the body 1b, so that the movable cleaner 2b can be separated from the corner, and the mopping robot can continue to turn and perform subsequent cleaning work.

[0520] Application Scenario 5

[0521] The cleaning robot of the present application may be a mopping robot. When the mopping robot completes a cleaning task, it needs to return to the base station. For example, when the mopping robot has completed cleaning the entire operating area, it can dock at the base station for maintenance and storage. Alternatively, if the mopping robot encounters a maintenance-required condition during the cleaning process, such as insufficient battery or excessive dirt on the rag tray, the mopping robot needs to return to the base station for charging or self-cleaning. The user can also directly send a control command to the mopping robot on the mobile client to return to the base station.

[0522] During operation, the movable cleaning unit 2b of the mopping robot is in the second position. The control unit is configured to control the movable cleaning unit 2b to move to the first position in response to the return signal, thereby allowing the mopping robot to dock in the base station in a maintenance position. When the mopping robot is within the base station, the movable cleaning unit 2b is in the first position, with its edge within the projected edge area of ​​the robot body 1b, thereby conserving space in the base station.

[0523] Specifically, the control unit can control the movable cleaner 2b to move to the first position when the mopping robot receives a signal to return to the base station. Alternatively, the control unit can control the movable cleaner 2b to move to the first position after the mopping robot receives the signal to return to the base station while the mopping robot is traveling toward the base station. This ensures that the movable cleaner 2b has already been retracted to the first position when the mopping robot docks, facilitating the mopping robot's entry into the base station in a maintenance posture.

[0524] During the mopping robot's return to the base station, an alignment procedure must be performed to ensure the robot's correct positioning and accurate docking within the accommodating cavity at the bottom of the base station. The control unit can control the movable cleaner 2b to move to the first position while the mopping robot is executing the alignment procedure. The control unit can also control the movable cleaner 2b to move to the first position after the mopping robot has completed the alignment procedure and is docking at the base station. This allows the movable cleaner 2b to remain in the second position for as long as possible before docking, thereby providing a larger cleaning area before docking and avoiding the formation of blind spots around the base station.

[0525] The cleaning robot of the present application comprises: a motion chassis, a movable cleaner, a detection unit, and a control unit. The motion chassis is configured to move on a work surface. The movable cleaner can be mounted on the bottom of the motion chassis and configured to move relative to the motion chassis between a first position and a second position. Specifically, the movable cleaner can be a cleaning component of various types, such as a wiping plate, a floor brush, or a mopping tool. The present application does not limit the specific type of the movable cleaner.

[0526] When the movable cleaner is in the first position, at least a portion of its edge is located within the edge projection area of ​​the moving chassis, and the movable cleaner is configured to swing outward relative to the moving chassis to a second position. Specifically, when the movable cleaner is in the first position, the edge of the movable cleaner is located within the vertical projection area of ​​the edge of the moving chassis onto the ground. In other words, the edge of the movable cleaner does not extend beyond the edge projection area of ​​the moving chassis, thereby preventing the movable cleaner from being caught by objects such as furniture on the ground during operation. In the first position, the movable cleaner may also have a portion of its edge located within the projection area of ​​the moving chassis, while another portion of its edge is located outside the projection area of ​​the moving chassis. This allows the movable cleaning device to have a larger cleaning range.

[0527] The movable cleaner swings outward relative to the moving chassis and moves to the second position. That is to say, the movable cleaner in the second position has a larger cleaning range than the movable cleaner in the first position, which can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0528] The detection unit is communicatively connected to the control unit, wherein the detection unit is configured to detect environmental information in the working environment of the cleaning robot. Specifically, the detection unit can be a detection structure such as an edge sensor, a camera, or a lidar provided on the cleaning robot. This application does not limit the specific type of the detection unit. The detection unit can send the detected environmental information to the control unit in real time. The control unit can analyze and judge the environmental information and send control instructions based on the environmental information to operate the cleaning robot.

[0529] Specifically, the control unit is configured to determine the obstacle information on the original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in the direction of the first position, and control the cleaning robot to move in the direction away from the obstacle.

[0530] The direction of travel of the cleaning robot is recorded as the front. When there is an obstacle in front of the cleaning robot, the detection unit can detect the existence of the obstacle and send information such as its size and position to the control unit. After analysis, the control unit determines that the obstacle is located in the moving path of the cleaning robot, and therefore controls the cleaning robot to avoid the obstacle in advance. The cleaning robot of the present application has two obstacle avoidance behaviors: one is to retract the movable cleaner in advance, that is, the control unit controls the movable cleaner to move in the direction of the first position; the other is to turn the cleaning robot to avoid the obstacle, that is, the control unit controls the cleaning robot to move in the direction away from the obstacle in advance. The two obstacle avoidance behaviors are carried out in coordination to avoid the occurrence of collisions.

[0531] When an obstacle appears in the cleaning robot's path, the control unit can control the robot's steering to avoid the obstacle as a whole. Furthermore, the control unit can control the movable cleaning unit to advance toward its first position, retracting it to avoid the obstacle. This achieves the coordination of these two obstacle avoidance behaviors, reducing the probability of collisions, extending the cleaning robot's service life, and improving the user experience. The movable cleaning unit can move between the first and second positions. When it moves to the second position, it effectively increases the cleaning robot's cleaning coverage, achieving comprehensive cleaning.

[0532] The present application provides a cleaning robot that can perform cleaning work on the ground. For ease of understanding, the specific structure and working principle of the cleaning robot provided by the present application are described in detail below in conjunction with Figures 11, 12, and 3 to 7. The one-to-one correspondence between the names of the components and the reference numerals in the accompanying drawings is as follows: 1a, moving chassis; 11b, driving wheel; 12b, front cleaner; 13a, detection unit; 14c, fixed cleaner; 2b, movable cleaner; 21a, swing mechanism; 211a, connecting part; 212a, bearing part; 213a, elastic part; 22a, photoelectric radiation tube; 23a, rag plate; 24a, swing motor; 25a, rotating motor; 3a, light shielding strip; 31a, shielding comb teeth; 32a, hollow channel; 4a, wall.

[0533] With reference to Figures 11 and 12, the cleaning robot of the present application includes: a moving chassis 1a, a movable cleaner 2b, a detection unit 13a and a control unit. The moving chassis 1a is configured to walk on a work surface, and the movable cleaner 2b can be installed at the bottom of the moving chassis and is configured to be able to move between a first position and a second position relative to the moving chassis. Among them, the movable cleaner 2b in Figure 11 is located in the first position, and the movable cleaner 2b in Figure 12 is located in the second position. Specifically, the movable cleaner 2b can be various types of cleaning components such as a wiping plate, a floor brush, a mopping piece, etc., and the present application does not limit the specific type of the movable cleaner 2b.

[0534] When the movable cleaner 2b is in the first position, at least a portion of its edge is located within the edge projection area of ​​the moving chassis 1a, and the movable cleaner 2b is configured to swing outward relative to the moving chassis 1a to the second position. In other words, when the movable cleaner 2b is in the first position, its entire edge can be located within the edge projection area of ​​the moving chassis 1a, which makes the cleaning robot smaller, easier to store, and less likely to collide during operation. Alternatively, its edge can be partially located within the edge projection area of ​​the moving chassis 1a and partially located outside the edge projection area of ​​the moving chassis 1a, which allows the movable cleaner 2b in the first position to have a larger cleaning range.

[0535] The movable cleaner 2b swings outward relative to the movable chassis 1a and moves to the second position. That is to say, the movable cleaner in the second position has a larger cleaning range than the movable cleaner 2b in the first position, which can further increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0536] In one embodiment of the present application, as shown in Figure 11, when the movable cleaner 2b is in the first position, the edge of the movable cleaner 2b is located within the vertical projection area of ​​the edge of the moving chassis 1a to the ground, that is, the edge of the movable cleaner 2b does not exceed the edge projection area of ​​the moving chassis 1a, so as to prevent the movable cleaner 2b from being stuck by objects such as furniture on the ground during operation. At this time, the cleaning range of the movable cleaner 2b does not exceed the driving range of the cleaning robot. As shown in Figure 12, when the movable cleaner 2b is in the second position, at least part of the edge of the movable cleaner 2b is located outside the edge of the projection area of ​​the moving chassis 1a to increase the cleaning range, thereby cleaning the sanitary dead corners that are difficult to clean in the first position and achieving comprehensive cleaning.

[0537] Specifically, referring to Figures 11 and 12, in an actual cleaning scenario, there is a wall 4a, which makes it difficult for the cleaning robot to move in close proximity to the wall 4a. Even if the cleaning robot can move in close proximity to the wall 4a, the movable cleaner 2b in the first position still cannot clean the blind spots along the edge. In this case, it is necessary to extend at least the movable cleaner 2b on the side closest to the wall 4a to the second position, thereby expanding the cleaning range, eliminating blind spots, and achieving comprehensive cleaning.

[0538] However, the movable cleaner 2b in the second position has difficulty avoiding obstacles in a timely manner. When the cleaning robot turns, or when running close to the edge of a wall 4, it is often difficult to accurately control the distance. The movable cleaner 2b is prone to hitting or scratching objects, and may even cause the cleaning robot to become stuck on an obstacle. To address this issue, the present application provides a detection unit 13a and a control unit on the cleaning robot.

[0539] The detection unit 13a is communicatively connected to the control unit, wherein the detection unit 13a is configured to detect environmental information in the working environment of the cleaning robot. Specifically, as shown in FIG11 , the detection unit 13a in this embodiment is a laser radar provided on the cleaning robot. The detection unit 13a may also be other types of detection structures such as edge sensors and cameras. This application does not limit the specific type of the detection unit 13a. The detection unit 13a can send the detected environmental information to the control unit in real time. The control unit can analyze and judge the environmental information and send control instructions based on this information to control the cleaning robot.

[0540] Specifically, the control unit is configured to determine the obstacle information on the original moving path of the cleaning robot based on the environmental information detected by the detection unit 13a, control the movable cleaner 2b to move in the direction of the first position, and control the cleaning robot to move in the direction away from the obstacle.

[0541] The direction of travel of the cleaning robot is recorded as the front. When there is an obstacle in front of the cleaning robot, the detection unit 13a can detect the existence of the obstacle and send its size, position and other information to the control unit. After analysis, the control unit determines that the obstacle is located in the moving path of the cleaning robot, and therefore controls the cleaning robot to actively avoid the obstacle in advance. The cleaning robot of the present application has two obstacle avoidance behaviors: one is to retract the movable cleaner 2b in advance, that is, the control unit controls the movable cleaner 2b to move in the direction of the first position; the other is to turn the cleaning robot to avoid the obstacle, that is, the control unit controls the cleaning robot to move in the direction away from the obstacle in advance. The two obstacle avoidance behaviors are carried out in coordination, thereby actively avoiding the occurrence of collisions.

[0542] When an obstacle appears in the cleaning robot's path, the control unit can control the robot's steering to avoid the obstacle as a whole. Furthermore, the control unit can control the movable cleaner 2b to advance toward the first position, retracting it to avoid the obstacle. This achieves the coordination of the two obstacle avoidance behaviors, reducing the probability of collisions, extending the cleaning robot's service life, and improving the user experience. The movable cleaner 2b can move between the first and second positions. When it moves to the second position, it effectively increases the cleaning robot's cleaning coverage, achieving comprehensive cleaning.

[0543] In one embodiment of the present application, the present application does not specifically limit the order of the two active obstacle avoidance behaviors of the cleaning robot. Specifically, the control unit is configured to determine that the obstacle information is on the original moving path of the cleaning robot based on the environmental information detected by the detection unit 13a, and control the movable cleaner 2b to move toward the first position, and at the same time control the cleaning robot to turn away from the obstacle; or, first control the movable cleaner 2b to move toward the first position, and then control the cleaning robot to turn away from the obstacle; or, first control the cleaning robot to turn away from the obstacle, and then control the movable cleaner 2b to move toward the first position.

[0544] The control unit can adopt appropriate obstacle avoidance methods in different cleaning scenarios. For example, when the cleaning robot is driving close to a wall, the detection unit 13a detects a corner in front of it. At this time, the control unit can control the movable cleaner 2b to move toward the first position while controlling the cleaning robot to turn away from the obstacle. Alternatively, the control unit can first control the movable cleaner 2b to move toward the first position and then control the cleaning robot to turn away from the obstacle. The simultaneous retraction and turning obstacle avoidance, or the obstacle avoidance method of retraction first and then turning, can both enable the cleaning robot to have a smaller turning radius when it starts turning at the corner position, thereby reducing the missed areas during the cleaning process.

[0545] When the cleaning robot is traveling in a relatively open area, if the detection unit 13a detects an obstacle ahead, the control unit can first control the cleaning robot to turn away from the obstacle and then control the movable cleaning device 2b to move toward the first position. In this way, the movable cleaning device 2b can be retracted as late as possible, thereby maintaining the second position for as long as possible, thereby achieving a larger cleaning area.

[0546] In one embodiment of the present application, the movable cleaner 2b moves toward the first position each time the cleaning robot turns. It is understandable that in addition to turning when encountering obstacles, the cleaning robot will also make adaptive turns according to the terrain when encountering corners, cabinet legs, and other common cleaning scenarios that require turning during normal cleaning. The control unit can control the movable cleaner 2b to retract while the cleaning robot turns, thereby maintaining a smaller turning radius for the cleaning robot and reducing the areas that are missed during the cleaning process.

[0547] In particular, when the cleaning robot is cleaning the floor along a preset "bow-shaped" path in an open cleaning scene, when it turns at a preset bend in the "bow-shaped" path, the movable cleaning unit 2b can remain in the second position without having to retract toward the first position. This is because the control unit generates a preset path based on the cleaning range of the movable cleaning unit in the second position. Although the turning radius of the cleaning robot is larger when turning, it will not miss any area. The movable cleaning unit 2b only needs to remain in the second position to achieve comprehensive cleaning.

[0548] In one embodiment of the present application, as shown in FIG11 , two driving wheels 11 b for walking are provided at the bottom of the moving chassis 1 , and the two driving wheels 11 b are spaced apart on the left and right sides of the moving chassis 1 a in the direction of travel. The control unit is configured to control the wheel speed difference of the two driving wheels 11 b to turn the cleaning robot; or, the control unit is configured to control the cleaning robot to move backward to avoid an obstacle. When the detection unit 13 a detects an obstacle in front of the cleaning robot, the control unit can control the rotation speed of the two driving wheels 11 b, or control the rotation direction of the two driving wheels 11 b, so as to bypass the obstacle.

[0549] Specifically, when the cleaning robot needs to be controlled to turn left, the speed of the left drive wheel 11b can be controlled to be slower than the speed of the right drive wheel 11b; when the cleaning robot needs to be controlled to turn right, the speed of the right drive wheel 11b can be controlled to be slower than the speed of the left drive wheel 11b. In this way, the steering of the cleaning robot is controlled by the wheel speed difference. After turning, the cleaning robot can bypass the obstacle in front, thereby preventing the occurrence of collision.

[0550] The control unit can also control the two driving wheels 11b to reverse, so that the cleaning robot can move backward, which can also keep the cleaning robot away from obstacles in front. After the cleaning robot moves backward, the control unit can replan the cleaning path so that the above obstacles no longer exist on the cleaning path, preventing collisions.

[0551] In a specific embodiment of the present application, the control unit is configured to control the cleaning robot to turn and move in a manner that at least partially surrounds the obstacle. When the obstacle is a small obstacle that can be circumvented, such as a table leg, a bed leg, a floor lamp, etc., the cleaning robot can travel around the obstacle to avoid a collision. Specifically, when the obstacle is a table leg located on the cleaning path of the cleaning robot, the cleaning robot can travel half a circle around the table leg, thereby bypassing the table leg and returning to the original cleaning path; the cleaning robot can also travel around the table leg for one and a half weeks and then return to the original cleaning path to prevent missing the ground around the table leg.

[0552] In one embodiment of the present application, after determining that an obstacle is on the original movement path of the cleaning robot, the control unit is configured to control the cleaning robot to move a predetermined distance along the original movement path, then control the movable cleaner 2b to move in the direction of the first position, and control the cleaning robot to move in a direction away from the obstacle. After the detection unit 13a detects an obstacle in front of the cleaning robot, the control unit may not immediately send an obstacle avoidance command, but may send an obstacle avoidance command after the cleaning robot continues to move forward a predetermined distance.

[0553] Specifically, the predetermined distance can be set according to the detection range of the detection unit 13a. For example, the detection unit 13a can detect a range within a radius of one meter. When the detection unit 13a detects an obstacle, it means that the obstacle is one meter in front of the cleaning robot. The control unit can control the cleaning robot to walk 0.8 meters along the original path and then send an obstacle avoidance instruction, that is, control the movable cleaner 2b to move in the direction of the first position, and control the cleaning robot to walk in the direction away from the obstacle. In this way, the obstacle can be avoided as late as possible without hitting the obstacle, thereby minimizing the number of areas that are missed by cleaning.

[0554] In one embodiment of the present application, after the cleaning robot leaves the base station, the control unit is configured to control the movable cleaner 2b to perform cleaning operations on the work surface in the second position as a normal working posture. In addition, the control unit is configured to control the movable cleaner 2b to move to the first position in response to the return signal, so that the cleaning robot is docked in the base station as a maintenance posture. The cleaning robot has a matching base station, and the cleaning robot needs to return to the base station for charging or maintenance after completing the cleaning work. When the cleaning robot is in the base station, the movable cleaner 2b is located in the first position, and its edge does not exceed the edge projection area of ​​the moving chassis 1a, thereby saving space in the base station. When the cleaning robot leaves the base station and starts to perform cleaning work, the movable cleaner 2b performs cleaning operations on the work surface in the second position as a normal working posture, thereby expanding the cleaning area and improving cleaning efficiency.

[0555] Specifically, the control unit can control the movable cleaner 2b to move to the first position when the cleaning robot receives a signal to return to the base station. The control unit can also control the movable cleaner 2b to move to the first position after the cleaning robot receives a signal to return to the base station while the cleaning robot is moving toward the base station. This ensures that when the cleaning robot docks, its movable cleaner 2b has been retracted to the first position, thereby facilitating the cleaning robot to enter the base station in a maintenance posture.

[0556] During the process of the cleaning robot returning to the base station, it is necessary to first execute the alignment program to ensure that the cleaning robot is in the correct position and can accurately dock into the accommodating cavity at the bottom of the base station. The control unit can control the movable cleaner 2b to move to the first position while the cleaning robot is executing the alignment program. The control unit can also control the movable cleaner 2b to move to the first position when the cleaning robot has completed the alignment program and is docking at the base station. In this way, the movable cleaner 2b can be kept in the second position for as long as possible before docking, so that there is a larger cleaning area before docking to avoid the formation of cleaning blind spots around the base station.

[0557] In another embodiment of the present application, the movable cleaning device 2b can also use the first position as its normal operating posture to clean the work surface, and only move to the second position when cleaning the edge. This can improve the cleaning robot's flexibility. The cleaning robot's relatively small size in the normal operating posture allows it to enter and clean narrower areas. Furthermore, in crowded cleaning scenarios, such as those in homes with tightly arranged furniture, using the first position as its normal operating posture can reduce the occurrence of collisions.

[0558] The present application does not impose any specific restrictions on the normal working posture of the cleaning robot. The movable cleaner 2b will be described below with the second position as the normal working posture.

[0559] In one embodiment of the present application, with reference to Figures 11 and 12, the two opposite sides of the cleaning robot are respectively denoted as the first side and the second side. A fixed cleaner 14c is provided on the first side of the cleaning robot, and the edge of the fixed cleaner 14c is located within the edge projection area of ​​the moving chassis 1a. The movable cleaner 2b is provided on the second side. The movable cleaner 2b and the fixed cleaner 14c can both be wipers. With reference to the viewing direction of Figure 11, the right side is the first side, and the left side is the second side. The movable cleaner 2b is the wiper on the right side of Figure 11, which can move between a first position and a second position; the fixed cleaner 14c is the wiper on the left side of Figure 11, which can only be fixed in the first position for movement.

[0560] When the wiper is set in this way, the control unit is configured to control the cleaning robot to turn in a manner that the movable cleaner 2b faces the obstacle. With reference to the viewing direction of Figure 11, the top is the front of the cleaning robot. When the detection unit 13a detects the presence of an obstacle in front, the control unit can control the cleaning robot to turn to the left. It is understandable that when the cleaning robot turns, the movable cleaner 2b located on the right side may still be in the second position and has not yet been retracted, or it may only be retracted to a state between the first position and the second position; at this time, controlling the cleaning robot to turn in a manner that the movable cleaner 2b faces the obstacle can ensure that the turning radius of the cleaning robot is minimized, thereby minimizing the areas that are missed when cleaning.

[0561] In one embodiment of the present application, as shown in FIG11 , the cleaning robot may further include a front cleaner 12b, which may be a suction port or a roller brush, or may include both a suction port and a roller brush. Specifically, the front cleaner 12b may be a suction port, and the movable cleaner 2b may be a wiping disc for mopping the floor, and the movable cleaner 2b may be disposed behind the suction port; the movable cleaner 2b may be attached with water and wet-mopped on the floor to be cleaned, and the movable cleaner 2b may be installed adjacent to the rear end edge of the moving chassis 1a. Furthermore, a roller brush for mopping the floor may be installed at the front cleaner 12b, so that the cleaning robot can achieve a cleaning sequence of sweeping first and then mopping during movement.

[0562] The number of movable cleaners 2b can be one, two or more. When the number of movable cleaners 2b is two or more, the second position of at least one movable cleaner 2b is located on the left side of the moving chassis 1, and the second position of at least one movable cleaner 2b is located on the right side of the moving chassis 1a.

[0563] In one embodiment of the present application, there can be two movable cleaners 2b, and the two movable cleaners 2b are arranged on the left and right, and each movable cleaner 2b has a first position and a second position. Among them, the second position of the left movable cleaner 2b is located on the left side of the moving chassis 1a, and the second position of the right movable cleaner 2b is located on the right side of the moving chassis 1a. When the left or right side of the moving chassis 1a is close to the wall or the periphery of the furniture, the movable cleaner 2b on the corresponding side can move to the second position on the side of the moving chassis 1a, and fit the corners for comprehensive cleaning. The two movable cleaners 2b can be independently controlled. For example, when there is no blind spot for cleaning on the right side of the cleaning robot and there is a wall 4a on the left side that needs to be cleaned close to the edge, the control unit can only control the movable cleaner 2b on the left to move to the second position, and the movable cleaner 2b on the right can be in the first position.

[0564] In a specific embodiment of the present application, with reference to Figures 3 and 6, the movable cleaner 2b is a wiping dish, which includes a swing mechanism 21a, a wiping dish 23aa, a swing motor 24a, and a rotary motor 25a. One end of the swing mechanism 21a is rotationally connected to the bottom of the moving chassis 1a via the swing motor 24a, and the wiping dish 23a is rotationally connected to the other end of the swing mechanism 21a via the rotary motor 25a. The swing motor 24a is configured to drive the swing mechanism 21a so that the movable cleaner 2b moves between the second position and the first position. The rotary motor 25a can be fixedly arranged on the swing mechanism 21a, and its output end can be transmission-connected to the rotating shaft of the wiping dish 23a, thereby driving the wiping dish 23a to perform self-rotational motion. This allows the cleaning robot to clean the work surface more cleanly through its own rotation when performing cleaning work.

[0565] In one embodiment of the present application, the outer contour of the moving chassis 1a has a maximum edge in the forward direction, and when in the second position, at least a portion of the edge of the movable cleaning device 2b is located outside the maximum edge of the moving chassis 1a. Specifically, the moving chassis 1a can be configured as any shape, such as a rectangle or a circle. In this embodiment, the moving chassis 1a is circular.

[0566] With reference to Figures 11 and 12, the α-axis shows the maximum edge of the outer contour of the moving chassis 1a in the forward direction. It is understandable that when the cleaning robot moves to the position closest to the wall 4a, the α-axis coincides with the edge of the wall 4a. Since there is a gap between the movable cleaner 2b located in the first position and the α-axis, a cleaning dead angle is formed. In order to make up for the gap between the movable cleaner 2b and the α-axis, as shown in Figure 12, it is necessary to swing the movable cleaner 2b outward and move at least part of its edge to a position beyond the α-axis. In this way, the cleaning range of the movable cleaner 2b in the second position can cover the widest part of the walking range of the moving chassis 1a. Since the movable cleaner 2b in this embodiment uses the second position as the normal working posture, the cleaning range of the robot disclosed in the present invention can at least cover the widest part of the walking range of the moving chassis 1a during normal operation, and the cleaning efficiency is very high.

[0567] In one embodiment of the present application, the control unit is configured to, after determining that the obstacle is on the original moving path of the cleaning robot, control the movable cleaner 2b to move in the direction of the first position at least until its outer edge is located within the maximum edge of the moving chassis 1a. When the detection unit 13a detects an obstacle in front of the cleaning robot, the control unit controls the movable cleaner 2b to move inward to avoid the obstacle in advance. It should be noted that the obstacle encountered by the movable cleaner 2b in the second position is located outside the maximum edge of the moving chassis 1a, that is, the obstacle will not collide with the moving chassis 1a. Therefore, as long as the movable cleaner 2b is moved to the maximum edge of the moving chassis 1a, the obstacle can be avoided.

[0568] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move to a first position, or to another position between the first position and the second position, after determining that an obstacle is on the original movement path of the cleaning robot. When the movable cleaner 2b moves to the first position, the edge of the movable cleaner 2b does not exceed the edge projection area of ​​the movable chassis 1a and is naturally located within the maximum edge of the movable chassis 1a, thereby achieving obstacle avoidance.

[0569] However, the movable cleaner 2b does not need to fully return to its first position each time it avoids an obstacle. Instead, it can swing a smaller amount, moving only to other positions between the first and second positions where it can avoid obstacles. As shown in Figure 12, there is a large gap between the movable cleaner 2b in its first position and the α-axis, allowing the control unit to control the movable cleaner 2b to move to any position between them. This reduces the swing range required for each obstacle avoidance, improving cleaning efficiency.

[0570] The movable cleaning device 2b moves toward the first position to avoid obstacles, and needs to be reset to the second position after crossing the obstacle, so as to maintain a larger cleaning range. The cleaning robot needs to reset to the original moving path after bypassing the obstacle to reduce the area missed by cleaning.

[0571] In one embodiment of the present application, after the movable cleaner 2b moves in the direction of the first position, the control unit is configured to control the movable cleaner 2b to reset to the second position within a predetermined time or after the cleaning robot walks a predetermined distance; and / or, after the cleaning robot walks in a direction away from the obstacle, the control unit is configured to control the cleaning robot to walk along the original moving path within a predetermined time or after the cleaning robot walks a predetermined distance.

[0572] In a specific embodiment of the present application, the control unit can start timing from the time the movable cleaner 2b leaves the second position, and when the predetermined time is reached, the control unit controls the movable cleaner 2b to reset to the second position. The predetermined time is the time required for the cleaning robot to pass an obstacle under normal circumstances. For example, the predetermined time can be five seconds, and the movable cleaner 2b can move outward and reset five seconds after leaving the second position. If the cleaning robot has crossed the obstacle when resetting, it can smoothly reset to the second position and continue to clean a large area. If the cleaning robot has not crossed the obstacle when resetting, the control unit can control the movable cleaner 2 to move in the direction of the first position again to avoid the obstacle again, and restart the timing, and repeat this process until it is reset.

[0573] In another specific embodiment of the present application, the control unit may begin timing after the cleaning robot moves in a direction away from an obstacle. When the predetermined time is reached, the control unit controls the cleaning robot to return to its original movement path. Similarly, taking a predetermined time of five seconds as an example, the cleaning robot can return to its original path after five seconds of deviation from the original path to continue cleaning along the original path. If the cleaning robot has not yet overcome the obstacle during the reset, the control unit can control the cleaning robot to move in a direction away from the obstacle to avoid the obstacle again, and restart the timing, repeating this process until the robot is reset.

[0574] In another specific embodiment of the present application, the control unit can calculate the travel distance of the cleaning robot from the moment the movable cleaner 2b leaves the second position, and when the predetermined distance is reached, the control unit controls the movable cleaner 2b to reset to the second position. It should be noted that the travel distance includes both the distance the cleaning robot travels forward and the distance traveled during turns and circles. For example, the predetermined distance can be one meter, and the cleaning robot continues to travel one meter after the movable cleaner 2b leaves the second position, at which point the movable cleaner 2b can move outward to reset. If the cleaning robot has crossed the obstacle when resetting, it can smoothly reset to the second position and continue cleaning a large area. If the cleaning robot has not crossed the obstacle when resetting, the control unit can again control the movable cleaner 2b to move in the direction of the first position to avoid the obstacle again, and recalculate the travel distance, and repeat this process until it is reset.

[0575] In another specific embodiment of the present application, the control unit can start calculating the distance traveled by the cleaning robot after the cleaning robot moves in a direction away from the obstacle. When the predetermined distance is reached, the control unit controls the cleaning robot to reset to the original moving path. As above, taking the predetermined distance of one meter as an example, the cleaning robot deviates from the original path and continues to travel one meter. At this time, it can reset to the original path to continue cleaning along the original path. If the cleaning robot has not crossed the obstacle at the time of reset, the control unit can control the cleaning robot to move in the direction away from the obstacle again to avoid the obstacle again, and recalculate the travel distance, and repeat this process until it is reset.

[0576] The detection unit 13a may have a detection blind spot. For example, when the detection unit 13a is a laser radar installed on the top of the moving chassis 1a, it is difficult to detect low obstacles such as door sills. And for obstacles that can be detected, the control unit's prejudgment may also be biased. It can be seen that setting up the detection 13a can only reduce the occurrence of collisions, but cannot completely avoid collisions. After a collision occurs, the movable cleaner 2b needs to be put away in time, otherwise the cleaning robot may be stuck and difficult to operate. For this reason, the cleaning robot of the present application is also provided with a detection unit for passive obstacle avoidance.

[0577] In one embodiment of the present application, the detection unit is configured to be triggered when the movable cleaner 2b is subjected to an external force; the control unit can control the movable cleaner 2b to move toward the first position based on the signal triggered by the detection unit. It should be noted that the detection unit can directly or indirectly continuously detect the force state of the movable cleaner 2b and continuously send the detection signal to the control unit; the control unit can analyze and determine the detection signal, and only when the control unit determines that the movable cleaner 2b has collided with an obstacle will it control the movable cleaner 2b to move toward the first position to avoid the obstacle.

[0578] When the external force acting on the movable cleaner 2b is relatively small, the control unit will determine that the movable cleaner 2b is in normal operation. For example, when the movable cleaner 2b is mopping the floor, it will be subject to friction from the working surface, but this friction will not cause the movable cleaner 2b to move toward the first position. Only when the external force acting on the movable cleaner 2b reaches a certain threshold will the control unit determine that the movable cleaner 2b has collided with an obstacle and control it to move toward the first position to avoid the obstacle.

[0579] The cleaning robot of the present application utilizes two obstacle avoidance systems, the detection unit and the probe unit 13a, to achieve coordinated active and passive obstacle avoidance. If the probe unit 13a detects an obstacle, the control unit can retract the movable cleaner 2b in advance and control the cleaning robot to turn, thereby actively avoiding the collision. If a collision cannot be avoided, the detection unit can detect the occurrence of the collision and, based on a signal triggered by the detection unit, the control unit can retract the movable cleaner 2b, preventing the cleaning robot from being stuck by the obstacle and improving the user experience.

[0580] The detection unit of the present application is configured to be triggered when the movable cleaner 2b is subjected to an external force. There are many specific ways for the detection unit to detect the force applied to the movable cleaner 2b, and the present application does not limit the specific detection method. The following will detail several different detection methods provided by the present application and the specific structure of the detection unit in conjunction with several embodiments.

[0581] In one embodiment of the present application, when located in the second position, the movable cleaner 2b is constructed to vibrate at least in the swinging direction of the movable cleaner 2b when subjected to external force, and the control unit is configured to control the movable cleaner 2b to move toward the first position based on a signal obtained by the detection unit when the movable cleaner 2b vibrates.

[0582] When the mobile cleaner 2b collides with an obstacle, for example, when the mobile cleaner 2b is stuck in a corner, the driving wheel 11b of the cleaning robot continues to rotate. At this time, the rag disc 23a on the mobile cleaner 2b will continue to be subjected to pressure from the corner. There is a certain gap between the mechanical structures within the mobile cleaner 2b. Under the pressure of the corner, the mechanical structures inside the mobile cleaner 2b will constantly collide and rebound with each other, which will cause the mobile cleaner 2b to vibrate as a whole. The swing mechanism 21a is connected to the moving chassis 1a by a rotational connection. The rotational connection point is located at the end away from the rag disc 23a. It can be seen that the torque at this point is relatively large. Therefore, when the rag disc 23a is subjected to continuous force, it will first vibrate about the above-mentioned rotational connection point as the axis, that is, it will vibrate in the swing direction of the mobile cleaner 2b.

[0583] Since the movable cleaner 2b may also vibrate in the swinging direction during the normal operation of the cleaning robot, the vibration signal needs to be further limited. In a specific embodiment of the present application, only when the vibration reaches a predetermined frequency can the control unit determine that the movable cleaner 2b has collided and control the movable cleaner 2b to move in the direction of the first position. When the cleaning robot is operating normally, even if the movable cleaner 2b vibrates, it will only be a low-frequency vibration. Only when a collision occurs or when the movable cleaner 2b is stuck in a dead corner will it vibrate at a high frequency under the action of continuous force. For example: when the movable cleaner 2b vibrates 10 times within 200ms, it is considered that the vibration has reached the predetermined frequency, and the control unit controls the movable cleaner 2b to move in the direction of the first position to avoid obstacles.

[0584] In addition to the gaps between the mechanical structures within the movable cleaner 2b causing vibration, the movable cleaner 2b may also be provided with an elastic portion 213a, which also causes vibration of the movable cleaner 2b. The elastic portion 213a is provided to provide a buffer. The elastic portion 213a can absorb the impact force when the movable cleaner 2b is hit, thereby extending the service life of the cleaning device. This application provides the following two specific arrangements for the elastic portion 213a.

[0585] In a specific embodiment of the present application, with reference to Figure 6, the movable cleaner 2b includes a connecting portion 211a for rotating and connecting the moving chassis 1a, and a bearing portion 212a. The connecting portion 211a is constructed to be connected to the bearing portion 212a by an elastic portion 213a, and the elastic portion 213a is configured to provide elastic force for the reset of the bearing portion 212a. In the present embodiment, the connecting portion 211a, the bearing portion 212a and the elastic portion 213a are all part of the swing mechanism 21a, and the connecting portion 211a can be connected to the moving chassis 1a by a swing motor 24a, and the bearing portion 212a can be used to install the rag dish 23a, and the rag dish 23a can be rotatably connected to the bearing portion 212a by a rotating motor 25a. The connecting portion 211a is connected to the bearing portion 212a by the elastic portion 213a, and the elastic portion 213a can be a spring, a shrapnel, a spring plate or an elastic material.

[0586] When the rag tray 23a collides, the bearing portion 212a, which is rotatably connected to the rag tray 23a, experiences a certain impact force. However, the elastic portion 213a acts as a buffer, significantly reducing the impact force transmitted to the connecting portion 211a and the moving chassis 1a. The elastic portion 213a elastically deforms under the impact force exerted on the bearing portion 212a, generating an elastic force in the opposite direction of the impact force. This elastic force causes the bearing portion 212a to rebound and return to its original position.

[0587] When the obstacle is small, it will not get stuck on the movable cleaner 2b, and the cleaning robot can directly pass over the obstacle at its speed, eliminating the need to retract the movable cleaner 2b. The rag tray 23a can be directly reset under the elastic force and continue cleaning. It is understandable that when the movable cleaner 2b is not stuck on the obstacle, a single impact with the obstacle will cause the movable cleaner 2b to vibrate. However, due to the cushioning effect of the elastic portion 213a, the frequency of the vibration is low and will not reach the predetermined frequency required for obstacle avoidance.

[0588] When the obstacle is large, such as a wall, a table corner, or a large piece of furniture, it can get stuck in the movable cleaner 2, requiring the movable cleaner 2b to be retracted. When the movable cleaner 2b is stuck, the rag plate 23a is continuously subjected to pressure. Under the action of the elastic force, the rag plate 23a rebounds and resets, but it will collide again, and this cycle will produce high-frequency vibrations. The control unit will determine that the vibration frequency of the movable cleaner 2b has reached the predetermined frequency and control the movable cleaner 2b to move toward the first position to avoid the obstacle.

[0589] In another specific embodiment of the present application, an elastic portion 213a is provided between the moving chassis 1a and the movable cleaner 2b, and the movable cleaner 2b is configured to have a tendency to move toward the second position under the action of the elastic portion 213a. The elastic portion 213a can continuously provide the movable cleaner 2b with an elastic force in the direction of the second position, and the movable cleaner 2b can only be retracted to the first position under the driving action of the swing motor 24a. In this embodiment, it can be considered that the movable cleaner 2b is a structure that moves as a whole. When the movable cleaner 2b collides, it will swing as a whole toward the first position. Under the buffering effect of the elastic portion 213a, the impact force transmitted to the moving chassis 1a will be greatly reduced. By providing the elastic portion 213a between the moving chassis 1a and the movable cleaner 2b, a certain amount of space for movement is provided for the movable cleaner 2b. When the movable cleaner 2b is stuck by an obstacle, high-frequency vibrations will occur in the above-mentioned space for movement. The control unit determines that the vibration frequency of the movable cleaner 2b reaches a predetermined frequency, and controls the movable cleaner 2b to move toward the first position to avoid obstacles.

[0590] In one embodiment of the present application, referring to Figures 3 to 5, the detection unit includes: a light-blocking strip 3a and a photoelectric beam tube 22a. The light-blocking strip 3 is provided on one of the moving chassis 1a and the movable cleaner 2b, and the photoelectric beam tube 22a is provided on the other of the moving chassis 1a and the movable cleaner 2b. In other words, the light-blocking strip 3a is installed on the moving chassis 1a, and the photoelectric beam tube 22a is installed on the movable cleaner 2b; or, the light-blocking strip 3a is installed on the movable cleaner 2b, and the photoelectric beam tube 22a is installed on the moving chassis 1a. The present application does not impose any restrictions on the specific installation method of the light-blocking strip 3a and the photoelectric beam tube 22a, as long as one of the two can follow the movement of the movable cleaner 2b and the other is fixed and stationary.

[0591] As shown in Figures 3 and 4 , in this embodiment, a light-blocking bar 3a is mounted on the moving chassis 1a, and a photoelectric reflector 22a is mounted on the movable cleaner 2b. As shown in Figure 5 , the light-blocking bar 3a is configured with multiple hollow channels 32a spaced apart in the swing direction of the movable cleaner 2b. The light-blocking bar 3a may be an arc-shaped grille bar extending in the swing direction of the movable cleaner 2b. The light-blocking bar 3a includes shielding comb teeth 31a and multiple hollow channels 32a, which are interspersed and arranged to form a comb-tooth shape.

[0592] The photoelectric emitting tube 22a includes a transmitting tube and a receiving tube located on opposite sides of the light-blocking bar 3a. When the photoelectric emitting tube 22a moves relative to the light-blocking bar 3a to a position corresponding to the hollow channel 32a, the receiving tube is configured to receive the light signal from the transmitting tube through the hollow channel 32a. Furthermore, when the photoelectric emitting tube 22a moves away from the hollow channel 32a, the light signal emitted by the transmitting tube is blocked by the light-blocking bar 3a. The transmitting tube and receiving tube of the photoelectric emitting tube 22a can be separately mounted on the movable cleaning device 2b and can swing with the movable cleaning device 2b. The transmitting tube and receiving tube can be respectively mounted on the upper and lower sides of the curved grille bar.

[0593] When the movable cleaner 2b is operating normally, the transmitting tube and the receiving tube can be located on the upper and lower sides of the light-blocking strip 3a, respectively, blocking the comb teeth 31a. The light signal emitted by the transmitting tube will be blocked by the light-blocking strip 3a, and the receiving tube will not receive the signal. When the movable cleaner 2b swings, the transmitting tube and the receiving tube swing with the movable cleaner 2b, moving to the upper and lower sides of the hollow channel 32a on the light-blocking strip 3a. The receiving tube receives the light signal from the transmitting tube through the hollow channel 32a. Based on this light signal, the control unit can determine that the movable cleaner 2b has swung.

[0594] Of course, when the movable cleaner 2b is working normally, the transmitting tube and the receiving tube can also be located on the upper and lower sides of the hollow channel 32a respectively, and the receiving tube can continue to receive the light signal from the transmitting tube; and when the light signal disappears, it means that the movable cleaner 2b has swung.

[0595] As shown in Figure 7, the light signal received by the receiving tube is a high-level signal in Figure 7, and the light signal not received by the receiving tube is a low-level signal in Figure 7. When the light-shielding bar 3a and the photoelectric tube 22a are relatively stationary, the level signal will remain high or low. When the level signal suddenly changes, that is, when a pulse signal is generated, it means that the light-shielding bar 3a and the photoelectric tube 22a have moved relative to each other, that is, the movable cleaner 2b has swung relative to the moving chassis 1.

[0596] When the level signal exhibits a low-frequency pulse signal at a uniform speed, it can be determined that the movable cleaner 2b is being extended or retracted by the swing motor 24a. In a specific embodiment of the present application, the hollow channels 32a are arranged at predetermined intervals on the light-blocking strip 3a, and the control unit is configured to control the movable cleaner 2a to swing a predetermined angle between a first position and a second position based on the pulse signal detected by the photoelectric reflector 22a. It is understood that each occurrence of a high-level signal indicates that the photoelectric reflector 22a has passed through the hollow channel 32a once, and each occurrence of a low-level signal indicates that the photoelectric reflector 22a has passed through the shielding comb 31a once. Therefore, the pulse signals can be counted, and the swing angle of the movable cleaner 2b can be calculated based on the number of signals. Based on this, the control unit can control the movable cleaner 2b to swing a predetermined angle between the first position and the second position, that is, it can control the movable cleaner 2b to move to any position between the first position and the second position. In this way, the movable cleaner 2 is precisely positioned, so that the position and shape of the movable cleaner 2b can be adjusted more finely to achieve more complex cleaning operations.

[0597] When the level signal suddenly undergoes multiple mutations within a short period of time, i.e., a high-frequency pulse signal is present, it can be determined that the movable cleaner 2b is vibrating under the action of an external force. The control unit can determine the vibration frequency based on the pulse signal. When the vibration frequency is greater than a predetermined frequency, it can be determined that the movable cleaner 2b has impacted and needs to be retracted.

[0598] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move toward the first position when the pulse signal detected by the photoelectric transmitting tube 22a reaches a threshold value within a predetermined time. The movable cleaner 2b will generate high-frequency vibrations when a collision occurs. At this time, the transmitting tube and the receiving tube vibrate back and forth along the swing direction along with the movable cleaner 2b. As a result, it swings back and forth quickly between the adjacent shielding comb teeth 31a and the shading channel 32a, thus forming a high-frequency pulse signal. The control unit can count the pulse signals, and each set of high and low levels means one vibration. The control unit calculates the vibration frequency of the movable cleaner 2b based on the pulse signal. When the pulse signal reaches the threshold value within the predetermined time, it means that the vibration frequency of the movable cleaner 2b has reached the predetermined frequency, and it can be determined that the movable cleaner 2b has collided. The control unit controls the movable cleaner 2b to move toward the first position to avoid obstacles.

[0599] The above description describes a specific embodiment of the detection unit comprising a light-blocking strip 3a and a photoelectric reflector 22a. The photoelectric sensing detection method is highly accurate and less prone to misjudgment. When the movable cleaner 2b is struck, the control unit can quickly and promptly control the movable cleaner 2b to retract inward to avoid the obstacle. In addition to the photoelectric sensing method, this application also provides several other detection methods, which will be described in detail below.

[0600] In one embodiment of the present application, the cleaning robot includes a swing motor 24a, and the movable cleaning device 2b is configured to move between a first position and a second position under the action of the swing motor 24a. The control unit is configured to control the movable cleaning device 2b to move toward the first position based on at least one signal detected by the detection unit: the force applied to the movable cleaning device 2b, the swing displacement, the swing angle, the current of the swing motor 24a, and the rotation angle of the swing motor 24a.

[0601] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the force applied to the movable cleaner 2b detected by the detection unit. The detection unit is a pressure sensor provided on the movable cleaner 2b. When the pressure detected by the pressure sensor reaches a predetermined pressure, it indicates that the movable cleaner 2b has been hit. If the obstacle is small in size and will not continue to jam the movable cleaner 2b after a collision, obstacle avoidance may not be performed. Therefore, the control unit may start timing after the pressure reaches a predetermined pressure. Only when the pressure remains greater than the predetermined pressure for a period of time (for example, within two seconds) will it be determined that the movable cleaner 2b has been jammed by the obstacle, and the movable cleaner 2b will be controlled to move in the direction of the first position to avoid the obstacle.

[0602] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move toward the first position based on the swing displacement detected by the detection unit. The detection unit is a position sensor provided on the movable cleaner 2b, and the control unit can obtain the real-time position of the movable cleaner 2b. The control unit can determine whether the movable cleaner 2b has collided based on the position information of the movable cleaner 2b. For example, if the position sensor detects a pulsed change in the swing displacement of the movable cleaner 2b, this indicates that the movable cleaner 2b has vibrated. When the vibration frequency is greater than a predetermined frequency, the control unit can control the movable cleaner 2b to move toward the first position to avoid the obstacle.

[0603] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the swing angle detected by the detection unit. The detection unit is a code disk provided on the movable cleaner 2b, and the code disk can detect the angle information of the movable cleaner 2b in the swing direction. The control unit can determine whether the movable cleaner 2b has collided based on the angle information fed back by the code disk. For example, the code disk detects a pulsed change in the swing angle of the movable cleaner 2b, which indicates that the movable cleaner 2b has vibrated. When the vibration frequency is greater than a predetermined frequency, the control unit can control the movable cleaner 2b to move in the direction of the first position to avoid obstacles.

[0604] In a specific embodiment of the present application, the control unit is configured to control the movable cleaner 2b to move in the direction of the first position based on the current of the swing motor 24a detected by the detection unit. The control unit can obtain the current of the swing motor 24a in real time. When the movable cleaner 2b is hit, the current of the swing motor 24a will increase accordingly, and the control unit can determine whether the movable cleaner 2b has collided based on the current of the swing motor 24a. For example: the current of the swing motor 24a has undergone a pulsed change, which indicates that the movable cleaner 2b has vibrated in the swing direction. When the vibration frequency is greater than the predetermined frequency, the control unit can control the movable cleane...

Claims

1. A cleaning robot, characterized in that: include: a motion chassis configured to travel on a working surface; a movable cleaner configured to clean the work surface; The movable cleaning device is configured to be movable relative to the movable chassis between a first position and a second position; The cleaning robot has a general working mode at a distance from obstacles and an obstacle avoidance working mode at a distance from obstacles; Wherein, in the obstacle avoidance working mode, the movable cleaner is located at a first position, and in the first position, the movable cleaner is closer to the edge of the moving chassis; In a normal working mode, the movable cleaner is located at a second position. In the second position, the movable cleaner is farther away from the edge of the moving chassis.

2. The cleaning robot according to claim 1, characterized in that: Also includes: A detection unit, wherein the detection unit is configured to detect environmental information in a working environment of the cleaning robot; A control unit, wherein the control unit is configured to determine obstacle information on the original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in the direction of the first position, and / or control the cleaning robot to move in the direction away from the obstacle.

3. The cleaning robot according to claim 2, characterized in that: After determining that the obstacle is on the original moving path of the cleaning robot, the control unit is configured to control the cleaning robot to walk a predetermined distance along the original moving path, control the movable cleaner to move in the direction of the first position, and control the cleaning robot to walk in the direction away from the obstacle.

4. The cleaning robot according to claim 1, characterized in that: Also includes: a detection unit, the detection unit being configured to be triggered when the movable cleaner is subjected to an external force; A control unit is configured to control the movable cleaner to move toward the first position based on a signal triggered by the detection unit.

5. The cleaning robot according to claim 4, characterized in that: The detection unit includes a light shielding member and a light sensor, one of which is disposed on the moving chassis, and the other is disposed on the movable cleaner; the light shielding member is configured to have a plurality of light-transmitting channels spaced apart in the swinging direction of the movable cleaner; The control unit is configured to control the movable cleaner to move toward the first position when the pulse signal detected by the optical sensor within a predetermined time reaches a threshold value; The control unit is further configured to control the movable cleaning device to move in a first position based on the pulse signal detected by the optical sensor. and a second position to swing a predetermined angle therebetween.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that: The cleaning robot comprises two movable cleaning devices, namely: a first movable cleaner configured to clean a work surface; a second movable cleaner, the second movable cleaner being of a different type than the first movable cleaner and being configured to clean the work surface; The first movable cleaner and the second movable cleaner are configured to be able to move between a first position and a second position relative to the moving chassis; wherein the first movable cleaner and the second movable cleaner are closer to the edge of the moving chassis in the obstacle avoidance working mode and farther away from the edge of the moving chassis in the general working mode.

7. The cleaning robot according to claim 6, characterized in that: The cleaning robot further includes a control unit configured to control a speed at which the first movable cleaner and the second movable cleaner swing toward the first position based on a wheel speed difference between two driving wheels disposed on the motion chassis.

8. The cleaning robot according to claim 6, characterized in that: The cleaning robot also includes a control unit, which is configured to control the first movable cleaner and the second movable cleaner to move toward the first position at least until their outer edges are located within the maximum edge of the moving chassis based on obstacle information in the surrounding environment.

9. The cleaning robot according to claim 1, characterized in that: The moving chassis is provided with a detection module; the detection module is used to detect the moving state of the moving chassis; The cleaning robot further comprises a control unit, which controls the movable cleaning device to swing from the first position to the second position according to the motion state; The motion state includes: a change in the moving speed of the moving chassis and / or an increase or decrease in the distance between the moving chassis and an obstacle.

10. A self-propelled robot, characterized in that: include: Host; The mopping module comprises a driving assembly and a rag plate, wherein the driving assembly is connected between the main machine and the rag plate, and is used to drive the rag plate to swing between a first position and a second position relative to the main machine, and generate a corresponding counting signal, wherein the rag plate is normally located at the first position, and the edge of the rag plate extends beyond the edge of the main machine by a cleaning distance, and the cleaning distance is reduced when the rag plate swings toward the second position; as well as A control module is disposed in the host, and is used to control the driving assembly to drive the rag plate to swing, and The staying position of the rag plate between the first position and the second position is controlled according to the counting signal to dynamically adjust the cleaning distance.

11. A self-moving cleaning device, characterized in that: include: Main body; A drag and wipe module is arranged on the main body; The mopping module comprises a driving component and a cleaning component; The cleaning assembly includes a cleaning component, and the cleaning component is used to clean the working surface to be cleaned; The control device is electrically connected to the driving component and is used to dynamically control the driving component according to the behavior information of the main body, so that the driving component drives the cleaning component to move relative to the main body to change the position of the cleaning component relative to the main body.

12. The self-moving cleaning device according to claim 11, characterized in that: The cleaning assembly is a roller assembly, and the cleaning component included in the roller assembly is a roller; and the roller assembly also includes a dirt collecting tray and a scraper; the scraper is arranged above the dirt collecting tray, and one end of the scraper is in interference contact with the roller, and is used to scrape off dirt on the roller; the dirt collecting tray is arranged on one side of the roller, and is used to collect dirt drained from the roller.

13. A method for controlling a self-moving cleaning device, characterized in that: The self-moving cleaning device has a driving component and a cleaning component connected to the driving component; the method comprises: Determine behavioral information of self-mobile cleaning equipment; Dynamically controlling the driving component according to the behavior information, so that the driving component drives the cleaning component to follow the behavior of the self-moving cleaning device and make corresponding movements, so as to change the position of the cleaning component relative to the self-moving cleaning device; Wherein, the cleaning component moves along its own axis or a set arc relative to the self-moving cleaning device.

14. The method according to claim 13, characterized in that The behavior information includes differential speed information of two driving wheels of the self-moving cleaning device; as well as Dynamically controlling the driving component according to the behavior information includes: The drive assembly is dynamically controlled based on the differential speed information.

15. A method for operating a self-moving robot, characterized in that: include: Determine the behavior of the self-moving robot; Dynamically controlling the driving component according to the behavioral action so that the turntable changes position following the behavioral action; The self-propelled robot comprises a host, a driving component and the turntable, wherein the driving component is arranged on the The mainframe is used to drive the turntable to rotate relative to the mainframe and to change between a first position and a second position relative to the mainframe, thereby changing the amount by which the edge of the turntable extends beyond the edge of the mainframe.

16. The method according to claim 15, characterized in that Dynamically controlling the driving component according to the behavioral action so that the turntable changes position following the behavioral action includes: If the behavior action is a turn to avoid an obstacle performed by the host in a scene with obstacles, the retracted position is determined to be a position when the extension amount of the turntable is a first value; If the behavior action is edge travel performed by the host in a scene with edge objects, the retracted position is determined to be a position when the extension amount of the turntable is a third value; If the behavior action is an escape action performed by the host in a narrow space scenario, determining the retracted position to be a position when the extension amount of the turntable is a fourth value; Wherein, when the rotating disk is at the second position, the extension amount of the rotating disk is a second value; The absolute value of the first value is smaller than the absolute value of the second value, the absolute value of the third value is smaller than or equal to the absolute value of the first value; and the absolute value of the fourth value is smaller than or equal to the absolute value of the third value.

17. The method according to claim 15, characterized in that Also includes: If the behavior is turning to avoid obstacles, determining the turning radius of the host; Determining the first value according to the turning radius; Among them, the extension amount corresponding to the large turning radius is greater than the extension amount corresponding to the small turning radius.

18. The method according to any one of claims 15 to 17, characterized in that Also includes: According to the behavior action, a scaling speed adapted to the execution speed of the host behavior action is determined.

19. The method according to claim 18, characterized in that Determining the behavior of the self-moving robot and dynamically controlling the driving component according to the behavior, including: When preparing to travel along the straight track of the bow-shaped track with a constant pitch, the driving assembly is controlled to drive the turntable to a set position, wherein the set position is a position between the first extreme position and the second extreme position; During the process of traveling along the straight track of the bow-shaped track with a constant spacing, the turntable is at the set position to clean the surface to be cleaned.

20. The method according to claim 19, characterized in that Also includes: When preparing to turn in a bow-shaped trajectory, the driving assembly is controlled to drive the turntable to expand outward to the second extreme position; During the bow-shaped turning process of the self-mobile robot, the turntable is in the second extreme position; After the bow-shaped turning is completed, the driving component is controlled to drive the turntable to be recovered to the set position, and continue to move along the straight track of the bow-shaped track with a constant spacing to clean the surface to be cleaned.

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