Self-moving device and control method therefor

Abstract

A self-moving device, comprising: a first main body (100), a second main body (200) and connecting arms (300). The first main body (100) comprises a first cleaning module; the second main body (200) comprises a second cleaning module; two ends of each connecting arm (300) are movably connected to the first main body (100) and the second main body (200), respectively; when the first main body (100) and the second main body (200) are in a same plane, the connecting arms (300) are configured to support the first main body (100) and the second main body (200) to move in the same plane; when the first main body (100) and the second main body (200) are not in the same plane, the connecting arms (300) are configured to support the first main body (100) and the second main body (200) to move alternately. The self-moving device is applied to environments such as cleaning multi-level steps and cleaning glass, and can complete obstacle crossing by means of the cooperation of the first main body (100), the second main body (200) and the connecting arms (300), thereby expanding the effective cleaning area. Manual intervention caused by a user carrying a robot vacuum cleaner to other floors is reduced.

Description

Self-moving device and control method thereof

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202410850979.5, filed on June 27, 2024, the disclosure of which is incorporated herein in its entirety as part of the disclosure. TECHNICAL FIELD

[0003] The present disclosure relates to the field of cleaning devices, in particular, to a self-moving device and a control method thereof. BACKGROUND

[0004] The emergence of cleaning devices has to some extent solved the problem of cumbersome cleaning means, and has advantages of convenient use, high cleaning efficiency, etc., and gradually becomes one of the commonly used cleaning tools in work and life. However, the cleaning devices on the market currently usually cannot climb over or climb higher obstacles, and can only clean one plane in general, and for a room with multi-layer layout, the cleaning robot cannot climb the stairs, resulting in that the stairs cannot be cleaned, and the cleaning robot cannot climb over the stairs to clean the room plane of different floor heights. Therefore, it is necessary to solve the above problems to reduce the manual intervention of users caused by carrying the cleaning robot to other floors, and reduce the occurrence of experience. And by cleaning the stair step surface, the effective cleaning area is expanded. SUMMARY

[0005] The present disclosure aims to solve the technical problems in the related art, and provides a self-moving device and a control method thereof. The specific solutions are as follows:

[0006] A first aspect of the embodiments of the present disclosure provides a self-moving device, comprising: a first main body comprising a first cleaning module arranged at the bottom of the first main body; a second main body comprising a second cleaning module arranged at the bottom of the second main body; and a connecting arm, both ends of the connecting arm being movably connected with the first main body and the second main body respectively, wherein when the first main body and the second main body are on the same plane, the connecting arm is configured to support the first main body and the second main body to move on the same plane; and when the first main body and the second main body are not on the same plane, the connecting arm is configured to support the first main body and the second main body to move alternately.

[0007] In some embodiments, a first track is arranged on the side surface of the first main body; a second track is arranged on the side surface of the second main body; and the first track and the second track are movably connected with both ends of the connecting arm.

[0008] In some embodiments, the first track extends in a first direction or a second direction on the first body side; and / or, the second track extends in the first direction or the second direction on the second body side; wherein the first direction is substantially perpendicular to the second direction.

[0009] In some embodiments, the first track extends in a first direction on the first body side, and the second track extends in a second direction on the second body side, the first body and the second body have different heights in the second direction; or, the first track extends in the second direction on the first body side, and the second track extends in the first direction on the second body side, the first body and the second body have different heights in the second direction; wherein the first direction is substantially perpendicular to the second direction.

[0010] In some embodiments, the connecting arm comprises: a first end configured to move along the first track; a second end configured to move along the second track, wherein the first body and the second body are alternately moved in response to the first end moving along the first track and / or the second end moving along the second track.

[0011] In some embodiments, the first end is translated or rotated in the first track; and / or, the second end is translated or rotated in the second track.

[0012] In some embodiments, the connecting arm is a telescopic structure configured to adjust the distance between the first body and the second body.

[0013] In some embodiments, the self-moving device further comprises: a telescopic column telescopically arranged at the bottom of the first body and / or the second body, configured to assist the first body and the second body to alternately move.

[0014] In some embodiments, the self-moving device further comprises: a suction cup arranged on the side of the first body and / or the second body, configured to stably move the first body and the second body alternately.

[0015] In some embodiments, the self-moving device further comprises: a cleaning unit arranged on the side of the first body and / or the second body, configured to clean the operation surface in the vertical direction.

[0016] In some embodiments, the first cleaning module is a dry cleaning module or a wet cleaning module or a drying module; and / or, the second cleaning module is a dry cleaning module or a wet cleaning module or a drying module.

[0017] In a second aspect, the present disclosure provides a control method of a self-moving device, comprising: the self-moving device according to any one of the first aspect of the present disclosure, the method comprising: controlling the self-moving device to overcome an obstacle, so that the first body and the second body are on different operation surfaces; and controlling the self-moving device to move in a third direction, so that the first cleaning module and the second cleaning module clean the different operation surfaces.

[0018] In some embodiments, the controlling the self-moving device to overcome the obstacle, so that the first body and the second body are on different operation surfaces, comprises: controlling the connecting arm to move along the first body and / or the second body, so that the first body is moved from a first operation surface to a second operation surface, wherein the first operation surface and the second operation surface are not on the same plane, or the first operation surface and the second operation surface are on the same plane.

[0019] In some embodiments, the controlling the connecting arm to move along the first body and / or the second body comprises: controlling the connecting arm to rotate and / or translate along a first track of the first body; and / or, controlling the connecting arm to rotate and / or translate along a second track of the second body.

[0020] In some embodiments, the controlling the self-moving device to overcome the obstacle, so that the first body and the second body are on different operation surfaces, further comprises: controlling a telescopic column of the first body and / or the second body to extend and support the first operation surface and / or the second operation surface.

[0021] In some embodiments, the controlling the self-moving device to overcome the obstacle, so that the first body and the second body are on different operation surfaces, further comprises: controlling the telescopic column to retract.

[0022] In some embodiments, the controlling the self-moving device to overcome the obstacle, so that the first body and the second body are on different operation surfaces, further comprises: controlling a suction cup of the first body and / or the second body to adhere to a vertical surface.

[0023] In some embodiments, the method further comprises: controlling the self-moving device to move in a third direction, so that a cleaning part of the first body and / or the second body cleans an operation surface in a vertical direction.

[0024] Compared with the related art, the above scheme of the present disclosure has at least the following beneficial effects:

[0025] The self-moving device provided by the present disclosure does not need to add wheels or tracks, and only through the self structure of the self-moving device, specifically, the connecting arm drives the first body or the second body to move to realize obstacle crossing, and in the process of obstacle crossing, the connecting arm only needs to bear the weight of the first body or the second body itself, compared with the obstacle crossing mode in the related art, has the characteristics of simple structure and stable function. It can be applied to cleaning multi-level steps, cleaning glass and other environments, through the control method of the self-moving device, the alternating movement of the first body and the second body is realized, and the effective cleaning area is expanded. Reduce the manual intervention of users due to carrying the sweeping robot to other floors, improve the user experience.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. It is obvious that the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor. In the drawings:

[0028] Fig. 1 is a structural schematic view of a first body and a second body in the same plane according to an exemplary embodiment.

[0029] Fig. 2 is a structural schematic view of a first body and a second body in different planes according to an exemplary embodiment.

[0030] Fig. 3 is a structural schematic view of a first body and a second body in the same operation plane according to an exemplary embodiment.

[0031] Fig. 4 is another structural schematic view of a first body and a second body in the same operation plane according to an exemplary embodiment.

[0032] Fig. 5 is a structural schematic view of a first body and a second body in different operation planes according to an exemplary embodiment.

[0033] Fig. 6 is a structural schematic view of a telescopic column extending according to an exemplary embodiment.

[0034] Fig. 7 is a control method flow chart of a self-moving device according to an exemplary embodiment.

[0035] Fig. 8 is a structural schematic view of a self-moving device in an operation plane according to an exemplary embodiment.

[0036] FIG. 9 is a structural schematic diagram of a self-moving device in an obstacle crossing process, according to an exemplary embodiment.

[0037] FIG. 10 is an electronic structure schematic diagram of a self-moving device, according to an exemplary embodiment.

[0038] BRIEF DESCRIPTION OF DRAWINGS: First body 100, first track 110, second body 200, second track 210, connecting arm 300, first end 310, second end 320, first operation surface 410, second operation surface 420, telescopic column 500, self-moving device 1000. DETAILED DESCRIPTION

[0039] In order to make the purposes, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present disclosure.

[0040] The terms used in the embodiments of the present disclosure are merely for the purpose of describing particular embodiments and are not intended to limit the present disclosure. The singular forms "a", "an" and "the" used in the embodiments of the present disclosure and the appended claims are intended to include plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two, and other quantifiers are similar.

[0041] It should be understood that although the terms first, second, third, etc. can be used in the embodiments of the present disclosure to describe, these descriptions should not be limited to these terms. These terms are only used to distinguish the described objects. For example, without departing from the scope of the embodiments of the present disclosure, the first can also be referred to as the second, and similarly, the second can also be referred to as the first. In addition, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0042] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects. The singular forms "a", "said" and "the" are also intended to include plural forms, unless the context clearly indicates otherwise.

[0043] In the description of the present disclosure, it should be explained that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] It should also be noted that the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the goods or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or include elements inherent to such goods or devices. Without more limitation, the element defined by the sentence "including a…" does not exclude the presence of another identical element in the goods or devices including the element.

[0045] In the related art, the cleaning equipment on the market usually cannot climb or climb over higher obstacles, and it can usually only clean one plane. For a room with multiple layouts, the robot cannot climb the stairs, resulting in the inability to clean the stairs, and cannot climb over the stairs to clean the room plane at different floor heights. Therefore, it is necessary to solve the above problems to reduce the manual intervention of the user in carrying the robot to other floors and reduce the occurrence of experience. And by cleaning the stair step surface, the effective cleaning area is expanded. In the prior art, a track structure with strong climbing ability is adopted, and the extending arm only provides support when the track climbs over obstacles. At the same time, the extending arm needs to bear the role of supporting the entire machine body, so the rotating shaft joint motor of the supporting arm needs to have a large torque. Since the position of the whole machine changes when it climbs over obstacles, the supporting point needs to move with the change of the position of the machine body. Since the supporting arm lifts the main machine, the center of gravity of the entire machine will be out of the range of the supporting arm, resulting in the machine falling over. Using the way of increasing the traveling mechanism (wheels or tracks) will make the driving control of the whole machine complex.

[0046] The embodiment of the present disclosure provides a self-moving device, comprising: a first main body comprising a first cleaning module arranged at the bottom of the first main body; a second main body comprising a second cleaning module arranged at the bottom of the second main body; a connecting arm, both ends of the connecting arm are movably connected with the first main body and the second main body respectively, wherein when the first main body and the second main body are in the same plane, the connecting arm is configured to support the first main body and the second main body to move in the same plane; when the first main body and the second main body are not in the same plane, the connecting arm is configured to support the first main body and the second main body to move alternately.

[0047] The self-moving device provided by the present disclosure does not need to be additionally provided with wheels or tracks, and only through the self structure of the self-moving device, specifically, the connecting arm drives the first main body or the second main body to move to realize obstacle crossing, and in the process of obstacle crossing, the connecting arm only needs to bear the weight of the first main body or the second main body itself, compared with the obstacle crossing mode in the related art, has the characteristics of simple structure and stable function. It can be applied to cleaning multi-level steps, cleaning glass and other environments, through the control method of the self-moving device, the alternating movement of the first main body and the second main body is realized, and the effective cleaning area is expanded. Reduce the user's manual intervention caused by carrying the sweeping robot to other floors to improve the user's use experience.

[0048] Therefore, the optional embodiments of the present disclosure will be described in detail below in combination with the drawings.

[0049] The first aspect of the embodiment of the present disclosure provides a self-moving device 1000, comprising a first main body 100, a second main body 200 and a connecting arm 300.

[0050] The self-moving device 1000 described in the present disclosure can be a mopping robot, a sweeping and mopping integrated robot, etc., and the self-moving device 1000 at least contains a moving platform and a cleaning module arranged at the bottom of the moving platform. The moving platform can be configured to automatically move along the target direction on the operation surface. The operation surface can be the surface to be cleaned by the self-moving device 1000. In some embodiments, the self-moving device 1000 can be a mopping robot, then the automatic self-moving device 1000 works on the ground, and the ground is the operation surface; the self-moving device 1000 can also be a window cleaning robot, then the self-moving device 1000 works on the outer surface of the glass of the building, and the glass is the operation surface; the self-moving device 1000 can also be a pipeline cleaning robot, then the self-moving device 1000 works on the inner surface of the pipeline, and the inner surface of the pipeline is the operation surface. The following description in the present disclosure takes the mopping robot as an example for description.

[0051] To more clearly describe the behavior of the self-moving device 1000, the following directional definitions are made with the self-moving device 1000 as the reference: the lateral axis Y, the front-back axis X, and the central vertical axis Z. The direction opposite to the arrow along the front-back axis X is the backward movement direction of the self-moving device 1000 in normal operation, which is marked as "backward", and the direction of the arrow along the front-back axis X is the forward movement direction of the self-moving device 1000 in normal operation, which is marked as "forward", where the direction of the front-back axis X is the first direction. The lateral axis Y is substantially the direction along the width of the self-moving device 1000, the direction opposite to the arrow along the lateral axis Y is marked as "rightward", and the direction of the arrow along the lateral axis Y is marked as "leftward", where the direction of the lateral axis Y is the third direction. The vertical axis Z is the direction extending along the vertical direction of the self-moving device, the direction opposite to the arrow along the vertical axis Z is marked as "downward", and the direction of the arrow along the vertical axis Z is marked as "upward", where the direction of the vertical axis Z is the second direction. As shown in FIG. 1, the first body 100 includes a first cleaning module arranged at the bottom of the first body and facing the operation surface, configured to clean the operation surface, which can be a dry cleaning module or a wet cleaning module or a drying module. The second body 200 includes a second cleaning module arranged at the bottom of the second body and facing the operation surface, configured to clean the operation surface, which can be a dry cleaning module or a wet cleaning module configured to clean the operation surface.

[0052] The two ends of the connecting arm 300 are respectively connected with the first body 100 and the second body 200, so that the first body 100 and the second body 200 always have a connection relationship, and are configured to support the first body and the second body to move in the same plane. When the first body 100 and the second body 200 are in the same plane, the connecting arm 300 is configured to support the first body 100 and the second body 200 to move in the same plane; when the first body 100 and the second body 200 are not in the same plane, the connecting arm 300 is configured to support the first body 100 and the second body 200 to move alternately.

[0053] Specifically, when the first body 100 and the second body 200 are in the same plane, the first body 100 and the second body 200 can move synchronously on the operation surface. As shown in FIG. 1, on the operation surface, the first body 100 and the second body 200 can be regarded as a whole to clean the operation surface under the connection of the connecting arm 300. For example, the first body 100 is a dry cleaning module, such as a dust collection module, and the second body 200 is a wet cleaning module, such as a washing and mopping integrated module. The first body 100 and the second body 200 are arranged in front of and behind each other to clean the operation surface.

[0054] When the first body 100 and the second body 200 are in different planes, as shown in FIG. 2, the connecting arm 300 drives the second body 200 to move away from the original operation plane, at this time, the second body 200 is in a different plane from the first body 100. Specifically, the second body 200 takes the connecting part of the connecting arm 300 as a fulcrum and moves away from the operation plane under the driving of the connecting arm 300. It is realized that only the first body 100 is placed alone on the operation plane. At this time, the first body 100 can still move freely on the operation plane. After the connecting arm 300 lifts the second body 200, the second body 200 can be transported from one side of the obstacle to the other side of the obstacle, realizing the crossing of the obstacle on the surface of the operation plane. Further, the connecting arm 300 can make the first body 100 and the second body 200 move alternately on the operation plane.

[0055] In some embodiments, the side of the first body 100 is provided with a first track 110, which extends along the length direction of the side wall of the first body 100, that is, the first track 110 extends along the first direction. The side of the second body 200 is provided with a second track 210, which extends along the length direction of the side wall of the second body 200, that is, the second track 210 extends along the first direction. The first track 110 and the second track 210 are respectively movably connected with both ends of the connecting arm 300, which are configured to enable the first body 100 and the second body 200 to stably and alternately move relative to each other.

[0056] In other embodiments, the first track 110 extends along the width direction of the side wall of the first body 100, that is, the first track 110 extends along the second direction; the second track 210 extends along the width direction of the side wall of the second body 200, that is, the second track 210 extends along the second direction. Both ends of the connecting arm 300 move along the second direction in the first track 110 and the second track 210, respectively.

[0057] In other embodiments, the first track 110 or the second track 210 extends along the first direction; the second track 210 or the first track 110 extends along the second direction, wherein the first direction is substantially perpendicular to the second direction.

[0058] In some embodiments, the connecting arm 300 comprises a first end portion 310 and a second end portion 320, which are movably arranged in the first track 110 and the second track 210 respectively, and move in parallel along the extension direction of the first track 110 or the second track 210. The connecting arm 300 can rotate in a circumferential direction relative to the first body 100 and the second body 200. When the second body 200 moves relative to the first body 100, the first end portion 310 moves in parallel in the first track 110 to ensure that the second body 200 maintains a stable center of gravity during movement. As the second body 200 gradually moves away from the operation surface where the first body 100 is located, the connecting arm 300 rotates synchronously with the movement of the second body 200 with the first end portion 310 as the rotation center. Similarly, to adjust the stability of the second body 200 during movement, the second end portion 320 can move freely in the second track 210 to change the fulcrum of the first body 100 or the second body 200, and at the same time, the distance between the first body 100 and the second body 200 can be changed to ensure that the second body 200 maintains a relatively stable center of gravity relative to the first body 100 during movement, thereby avoiding the instability of the center of gravity causing the device to overturn or failing to complete the alternating action of the first body 100 and the second body 200.

[0059] In some embodiments, the first track 110 extends along a first direction on the side of the first body 100, and the second track 210 extends along a second direction on the side of the second body 200, and the height of the first body 100 and the second body 200 in the second direction is different; or, the first track 110 extends along the second direction on the side of the first body 100, and the second track 210 extends along the first direction on the side of the second body 200, and the height of the first body 100 and the second body 200 in the second direction is different; wherein the first direction and the second direction are substantially perpendicular. It can be understood that in the embodiments of the present disclosure, substantially perpendicular means that the included angle between the two directions is greater than or equal to 75° and less than or equal to 105°, for example, 85°, 90°, 95°, etc.

[0060] In some embodiments, based on the active connection between the connecting arm 300 and the first body 100 and the second body 200, as shown in FIG. 1, when the first body 100 and the second body 200 are located on the same operation surface, and the first body 100 and the second body 200 are placed side by side on the operation surface, if the projection area of the first body 100 and the second body 200 in the second direction exceeds one third of the edge of the operation surface, at this time, the position of the self-moving device 1000 on the surface of the operation surface is unstable, in order to make the self-moving device 1000 stable on the operation surface to clean the operation surface, as shown in FIG. 3, the side of the first body 100 or the second body 200 can be in contact with the operation surface, so that the self-moving device 1000 keeps the position stable on the operation surface, at this time, the height of the first body 100 and the second body 200 in the second direction is different, and the self-moving device 1000 can move in the third direction on the operation surface to clean the operation surface.

[0061] In some embodiments, the self-moving device 1000 can move up or down the steps, and the following route is taken as an example in this embodiment. As shown in FIG. 4, when the first body 100 and the second body 200 are in the same plane, the first operation surface 410 can be cleaned at the same time, when the first body 100 and the second body 200 complete the cleaning of the first operation surface 410, the second body 200 can be supported by the connecting arm 300 to descend from the first operation surface 410 to the second operation surface 420, and then clean the second operation surface 420.

[0062] Specifically, the second end portion 320 moves to a suitable position of the center of gravity in the second track 210, so that the second body 200 is lifted in a direction away from the first operation surface 410 and rotates circumferentially around the first body 100. Wherein, the second end portion 320 of the connecting arm 300 rotates circumferentially around the first end portion 310 as the center of rotation. With the change of the position of the second body 200, the first end portion 310 and the second end portion 320 move on the first track 110 and the second track 210 respectively, so that the second body 200 keeps the center of gravity stable during the rotation around the first body 100. Further, as shown in FIG. 5, the second body 200 is moved from the first operation surface 410 to the second operation surface 420. When the second body 200 is transported to the second operation surface 420 by the connecting arm 300, the first body 100 and the second body 200 can move laterally on the respective operation surfaces to clean the first operation surface 410 and the second operation surface 420 respectively. After cleaning, the first body 100 and the second body 200 can be transported to the second operation surface 420 by the connecting arm 300 to clean the second operation surface 420 together. Further, after the first body 100 and the second body 200 respectively complete the cleaning of the first operation surface 410 and the second operation surface 420, the first body 100 can be moved to the next operation surface of the second operation surface, so that the first body 100 and the second body 200 move alternately on the steps, and the self-moving device 1000 moves downward on the steps.

[0063] In some embodiments, the connecting arm 300 is a telescopic structure configured to adjust the distance between the first body 100 and the second body 200.

[0064] In practical applications, for example, in a step cleaning environment, the first body 100 and the second body 200 alternately clean the operation surface. Specifically, as shown in FIG. 4, when the first body 100 and the second body 200 are in the same plane, the first operation surface 410 can be cleaned at the same time. When the first body 100 and the second body 200 complete the cleaning of the first operation surface 410, the second body 200 can be lowered from the first operation surface 410 to the second operation surface 420 under the support of the connecting arm 300, and then clean the second operation surface 420. During the process of lowering the second body 200 from the first operation surface 410 to the second operation surface 420, if the height of the step is high, the connecting arm 300 cannot deliver the second body 200 to the second operation surface 420, at this time, the telescopic property of the connecting arm 300 is used to extend the connecting arm 300, so that the second body 200 can be delivered to the second operation surface 420 by the connecting arm 300. As shown in FIG. 5, when the second body 200 is delivered to the second operation surface 420 by the connecting arm 300, the first body 100 and the second body 200 can move in the third direction of the operation surface where they are respectively located to clean the first operation surface 410 and the second operation surface 420 respectively. After cleaning, the first body 100 can also be delivered to the second operation surface 420 by the connecting arm 300 in the same way of transfer, so that the first body 100 and the second body 200 clean the second operation surface 420 together.

[0065] In some embodiments, the first body 100 or the second body 200 includes a telescopic column 500, as shown in FIG. 6, which is telescopically arranged at the bottom of the first body 100 or the second body 200, and is configured to assist the first body 100 and the second body 200 to move alternately.

[0066] In other embodiments, the telescopic column 500 can be arranged at the bottom of the first body 100 and the second body 200, and is configured to assist the first body 100 and the second body 200 to move alternately.

[0067] Specifically, in the process of the second body 200 descending from the first operation surface 410 to the second operation surface 420, it is possible that the connecting arm 300 cannot send the second body 200 to the second operation surface 420 after being stretched due to the height of the step being too high. At this time, the telescopic column 500 arranged at the bottom of the first body 100 and the second body 200 needs to be used to reduce the transportation path of the second body 200. That is, when the second body 200 moves to a position parallel to the second operation surface 420, the telescopic column 500 of the second body 200 contacts the second operation surface 420 first, thereby reducing the path that the second body 200 needs to move to be transferred from the first operation surface 410 to the second operation surface 420, enabling the second body 200 to be safely transferred from the first operation surface 410 to the second operation surface 420, and avoiding the self-moving device 1000 from being stuck at the edge of the step or the whole machine from overturning during the transfer process.

[0068] Further, when the second body 200 and the second operation surface 420 remain relatively stable, the telescopic column 500 gradually withdraws into the second body 200, and when the telescopic column 500 is contracted to the maximum distance at which the connecting arm 300 can be stretched, the contraction speed of the telescopic column 500 is slowed down, and at the same time, the connecting arm 300 moves in the first track 110 and the second track 210, so that the first body 100 moves around the second body 200 to transfer the first body 100 to the next operation surface.

[0069] In some embodiments, the bottom surface of the first body 100 and the second body 200 is further provided with a universal wheel, which can be a Mecanum wheel, so that the first body 100 and the second body 200 can realize omnidirectional movement. Specifically, the Mecanum wheel can enable the first body 100 and the second body 200 equipped with the Mecanum wheel to freely move in any required direction without changing the direction of the first body 100 and the second body 200. No matter what operation surface the self-moving device 1000 is on, the universal wheel can drive the self-moving device 1000 to freely move relative to the operation surface.

[0070] In some embodiments, the first body 100 or the second body 200 further comprises a suction cup arranged on the side surface of the first body 100 or the second body 200. When the self-moving device 1000 is in the scenario of ascending or descending the step, the suction cup can adsorb the first body 100 or the second body 200 to the side surface of the step, support the first body 100 or the second body 200 to be more stable on the operation surface, and ensure that the first body 100 and the second body 200 can stably alternate movement to realize the action of ascending or descending the step.

[0071] In some embodiments, the first body 100 and / or the second body 200 can be provided with a cleaning part configured to clean a vertical contact surface. When the self-moving device 1000 is in a scenario of moving up or down a step, the cleaning part can be used to clean the side surface of the step, so that the first body 100 and the second body 200 can clean the side surface of the step during the moving up or down the step. In this way, the cleaning of the three surfaces of the step is realized, and the cleaning area of the self-moving device 1000 is increased.

[0072] In some embodiments, the first body 100 and / or the second body 200 can be provided with a cleaning part configured to clean a vertical contact surface. When the self-moving device 1000 is in a scenario of moving up or down a step, the cleaning part can be used to clean the side surface of the step, so that the first body 100 and the second body 200 can clean the side surface of the step during the moving up or down the step. In this way, the cleaning of the three surfaces of the step is realized, and the cleaning area of the self-moving device 1000 is increased.

[0073] The self-moving device 1000 provided by the present disclosure can be applied not only to the moving up or down a step, but also to the application scenarios of plane obstacle avoidance, vertical wall cleaning, door and window cleaning, etc.

[0074] In some embodiments, as shown in FIG. 7, the present disclosure provides a control method of a self-moving device 1000, the self-moving device 1000 comprising a first body 100, a second body 200 and a connecting arm 300. The control method comprises the following steps:

[0075] Step S102: controlling the self-moving device 1000 to overcome obstacles, so that the first body 100 and the second body 200 are in different operation surfaces;

[0076] Step S104: controlling the self-moving device 1000 to move in a third direction, and cleaning the different operation surfaces by the first cleaning module and the second cleaning module. In some embodiments, step S102 comprises the following steps:

[0077] Step S1021: controlling the connecting arm 300 to move along the first body 100 and / or the second body 200, so that the first body 100 moves from a first operation surface 410 to a second operation surface 420, wherein the first operation surface 410 and the second operation surface 420 are not in the same plane, or the first operation surface 410 and the second operation surface 420 are in the same plane.

[0078] As shown in FIG. 1, the connecting arm 300 can move along the first body 100 and the second body 200 to change the distance between the first body 100 and the second body 200.

[0079] In some embodiments, as shown in FIG. 4 and FIG. 5, the first operation surface 410 and the second operation surface 420 are not in the same plane. At this time, after the first body 100 and the second body 200 complete the cleaning of the first operation surface 410, the second body 200 can be lowered from the first operation surface 410 to the second operation surface 420 under the support of the connecting arm 300, and then clean the second operation surface 420. The specific implementation of the self-moving device 1000 lowering from the step has been described in detail in the foregoing, and will not be repeated here.

[0080] In some embodiments, as shown in FIG. 8, when the self-moving device 1000 is applied to clean an operation surface with an obstacle, such as in a home scenario, a movable door body can be arranged between the living room and the kitchen. Due to the slide of the movable door body arranged on the operation surface, the operation surface is divided into the first operation surface 410 and the second operation surface 420. After the self-moving device 1000 completes the cleaning of the first operation surface 410, the self-moving device 1000 cannot move horizontally from the first operation surface 410 to the second operation surface 420 due to the blockage of the slide. At this time, as shown in FIG. 9, the first body 100 can be lifted away from the first operation surface 410 under the support of the connecting arm 300, and rotated circumferentially around the second body 200. At this time, the second body 200 can continue to move towards the obstacle direction to make the first body 100 pass over the obstacle. After the first body 100 passes over the obstacle, the first body 100 can be placed on the second operation surface 420. In the obstacle-crossing environment shown in FIG. 9, the first operation surface 410 and the second operation surface 420 are substantially in the same plane.

[0081] In some embodiments, the step S1021 further comprises the following steps:

[0082] Step S10211: control the connecting arm 300 to rotate and / or translate along the first track 110 of the first body 100; and / or, control the connecting arm 300 to rotate and / or translate along the second track 210 of the second body 200.

[0083] In some embodiments, as shown in FIG. 2, the first end 310 and the second end 320 of the connecting arm 300 are respectively arranged to move in the first track 110 and the second track 210, and move parallel to the extension direction of the first track 110 or the second track 210. The connecting arm 300 can rotate circumferentially relative to the first body 100 and the second body 200. Based on the first body 100 being stationary, the second body 200 moves relative to the first body 100. At this time, the first end 310 moves in the first track 110 to ensure that the second body 200 keeps stable center of gravity during movement. As the second body 200 gradually moves away from the operation surface where the first body 100 is located, the connecting arm 300 rotates synchronously with the movement of the second body 200 with the first end 310 as the rotation center.

[0084] Similarly, to adjust the stability of the second body 200 during movement, the second end 320 can move in the second track 210 to change the fulcrum of the first body 100 or the second body 200, and at the same time, the distance between the first body 100 and the second body 200 can be changed to ensure that the second body 200 keeps relatively stable center of gravity with the first body 100 during movement, avoiding the instability of the center of gravity causing the device to overturn or failing to complete the alternating action of the first body 100 and the second body 200.

[0085] In some embodiments, the step S1021 further includes the following steps:

[0086] Step S10212: controlling the telescopic column 500 of the first body 100 and / or the second body 200 to extend and support the first operation surface 410 and / or the second operation surface 420.

[0087] As shown in FIG. 6, during the movement of the second body 200 from the first operation surface 410 to the second operation surface 420, it can occur that the connecting arm 300 cannot send the second body 200 to the second operation surface 420 after being stretched due to the height of the step being too high. At this time, the telescopic column 500 needs to be used to reduce the transport path of the second body 200. When the second body 200 moves to a position parallel to the second operation surface 420, the telescopic column 500 of the second body 200 contacts the second operation surface 420 before the second body 200, thereby reducing the path that the second body 200 needs to move to be transported from the first operation surface 410 to the second operation surface 420, making the second body 200 safe to be transported from the first operation surface 410 to the second operation surface 420, and avoiding the self-moving device 1000 being stuck at the edge of the step or the whole machine overturning during the transport process.

[0088] In some embodiments, the step S1021 further comprises the following steps:

[0089] S10213: controlling the telescopic column 500 of the first body 100 and / or the second body 200 to retract into the first body 100 and / or the second body 200.

[0090] When the telescopic column 500 of the second body 200 is in stable contact with the second operation surface 420, and the first body 100 remains relatively stable with the first operation surface 410, the telescopic column 500 gradually retracts into the second body 200, while the connecting arm 300 moves in the first track 110 and the second track 210, so that the first body 100 moves around the second body 200 to transfer the first body 100 to the next operation surface.

[0091] In some embodiments, the step S1021 further comprises the following steps:

[0092] Step S10214: controlling the suction cup of the first body 100 and / or the second body 200 to be adsorbed to a vertical surface.

[0093] The suction cup is arranged on the side of the first body 100 or the second body 200. When the self-moving device 1000 is in the up-and-down step scene, the suction cup can adsorb the first body 100 or the second body 200 to the side of the step, supporting the first body 100 or the second body 200 to be more stable on the operation surface, ensuring that the first body 100 and the second body 200 can stably alternate to move to realize the action of going up or down the steps.

[0094] In some embodiments, as shown in FIG. 5, in step S104, after the second body 200 is transported to the second operation surface 420 by the connecting arm 300, the self-moving device 1000 can move laterally on the operation surface, i.e., move in the third direction, so that the first body 100 and the second body 200 correspondingly clean the first operation surface 410 and the second operation surface 420, respectively. After cleaning, the first body 100 can be sent to the second operation surface 420 by the connecting arm 300 through the same transfer mode, so that the first body 100 and the second body 200 jointly clean the second operation surface 420.

[0095] In some embodiments, the control method further comprises the following steps:

[0096] Step S106: controlling the self-moving device 1000 to move in the third direction, and cleaning the operation surface in the vertical direction by the cleaning part of the first body 100 and / or the second body 200.

[0097] Specifically, the cleaning part is arranged on the side of the first body 100 and / or the second body 200, and is configured to clean the vertical contact surface. As shown in FIG. 5 and FIG. 6, when the self-moving device 1000 is in the scene of ascending or descending the steps, the cleaning part can be used to clean the side contact of the steps. Further, as the telescopic column 500 extends or retracts, the cleaning part moves in the second direction to clean the side of the steps. Alternatively, when the second body 200 is stabilized on the second operation surface 420, the self-moving device 1000 can be moved in the third direction, so that the cleaning part moves in the third direction to clean the side of the steps in the vertical direction. The cleaning of the three surfaces of the steps is realized, and the cleaning area of the self-moving device 1000 is increased.

[0098] The self-moving device 1000 and the control method thereof provided by the present disclosure can not only be applied to the ascending or descending movement of the steps, but also be applied to the application scenarios such as flat obstacle avoidance, vertical wall cleaning, and door and window cleaning. Compared with the related art, the above scheme of the embodiment of the present disclosure has the characteristics of simple structure and stable function, and can complete obstacle crossing through the cooperation of the first body 100, the second body 200, and the connecting arm 300, thereby expanding the effective cleaning area. The artificial intervention of the user caused by carrying the sweeping robot to other floors is reduced, and the user experience is improved.

[0099] The specific structure, working principle, and beneficial effects of the self-moving device and the control method of the self-moving device provided by the embodiment of the present disclosure can refer to the self-moving device and the control method of the self-moving device described in any of the above embodiments, which will not be repeated here.

[0100] Some embodiments of the present disclosure provide a self-moving device, comprising a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to implement the method steps of any of the above embodiments.

[0101] Some embodiments of the present disclosure provide a non-transitory computer readable storage medium, which stores computer program instructions, and the computer program instructions are called and executed by a processor to implement the method steps of any of the above embodiments.

[0102] As shown in FIG. 10, the self-moving device can include a processing device (e.g., a central processor, a graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1002 or loaded from a storage device 1008 into a random access memory (RAM) 1003. Various programs and data required for the self-moving device to operate are also stored in the RAM 1003. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0103] Generally, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1008 including, for example, a hard disk, etc.; and communication devices 1009. The communication devices 1009 can allow the self-moving device to communicate wirelessly or wiredly with other devices to exchange data.

[0104] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowcharts and block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0105] Finally, it should be noted that the various embodiments described herein are described in progressive order of implementation, and each embodiment emphasizes the differences from other embodiments. The same or similar parts among the embodiments can be mutually referred to. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method.

[0106] The above examples are only used to illustrate the technical solutions of the present disclosure, rather than limit them; although the present disclosure has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A self-moving device, comprising: The first main body includes a first cleaning module disposed at the bottom of the first main body; The second body includes a second cleaning module, which is disposed at the bottom of the second body; A connecting arm, the two ends of which are movably connected to the first main body and the second main body, respectively. When the first body and the second body are on the same plane, the connecting arm is configured to support the movement of the first body and the second body within the same plane; When the first body and the second body are not on the same plane, the connecting arm is configured to support the alternating movement of the first body and the second body.

2. The self-moving device according to claim 1, wherein, A first track is provided on the side of the first main body; The second main body has a second track on its side; The first track and the second track are configured to be movably connected to both ends of the connecting arm.

3. The self-moving device according to claim 2, wherein, The first track extends along a first direction or along a second direction on the side of the first body; and / or, the second track extends along a first direction or along a second direction on the side of the second body; The first direction is approximately perpendicular to the second direction.

4. The self-moving device according to claim 2, wherein, The first track extends along a first direction on the side of the first body, and the second track extends along a second direction on the side of the second body, wherein the heights of the first body and the second body in the second direction are different; or, the first track extends along the second direction on the side of the first body, and the second track extends along the first direction on the side of the second body, wherein the heights of the first body and the second body in the second direction are different. The first direction is approximately perpendicular to the second direction.

5. The self-moving device according to any one of claims 2-4, wherein, The connecting arm includes: The first end is configured to move along the first track; The second end is configured to move along the second track. In response to the first end moving along the first track and / or the second end moving along the second track, the first body and the second body move alternately.

6. The self-moving device according to claim 5, wherein, The first end moves or rotates within the first track; and / or, the second end moves or rotates within the second track.

7. The self-moving device according to claim 1, wherein, The connecting arm is a telescopic structure configured to adjust the distance between the first main body and the second main body.

8. The self-moving device according to claim 1, further comprising: A telescopic column is telescopically disposed at the bottom of the first body and / or the second body, configured to assist the first body and the second body in alternating movement.

9. The self-moving device according to claim 1, further comprising: A suction cup is disposed on the side of the first body and / or the second body, configured to allow the first body and the second body to move stably and alternately.

10. The self-moving device according to claim 1, further comprising: A cleaning unit is disposed on the side of the first body and / or the second body, and is configured to clean the operating surface in the vertical direction.

11. The self-moving device according to claim 1, wherein, The first cleaning module is a dry cleaning module, a wet cleaning module, or a drying module; The second cleaning module is a dry cleaning module, a wet cleaning module, or a drying module.

12. A control method for a self-moving device, wherein the self-moving device is a self-moving device as described in any one of claims 1-11, the method comprising: Control the self-moving device to overcome obstacles, so that the first main body and the second main body are on different operating surfaces; The self-moving device is controlled to move along a third direction, and different operating surfaces are cleaned through the first cleaning module and the second cleaning module.

13. The control method for a self-moving device according to claim 12, wherein, The control of the self-moving device to overcome obstacles, enabling the first subject and the second subject to operate on different surfaces, includes: Controlling the connecting arm to move along the first body and / or the second body, causing the first body to move from the first operating surface to the second operating surface. Wherein, the first operating surface and the second operating surface are not on the same plane, or the first operating surface and the second operating surface are on the same plane.

14. The control method for a self-moving device according to claim 13, wherein, The control of the connecting arm to move along the first body and / or the second body includes: Control the connecting arm to rotate and / or translate along the first track of the first body; and / or control the connecting arm to rotate and / or translate along the second track of the second body.

15. The control method for a self-moving device according to claim 13, wherein, The method of controlling the self-moving device to overcome obstacles, enabling the first subject and the second subject to operate on different surfaces, further includes: The telescopic column of the first body and / or the second body is controlled to extend and be supported on the first operating surface and / or the second operating surface.

16. The control method for a self-moving device according to claim 15, wherein, The method of controlling the self-moving device to overcome obstacles, enabling the first subject and the second subject to operate on different surfaces, further includes: Control the retraction of the telescopic column.

17. The control method for a self-moving device according to claim 13, wherein, The method of controlling the self-moving device to overcome obstacles, enabling the first subject and the second subject to operate on different surfaces, further includes: Control the suction cups of the first and / or second bodies to adhere to the vertical surface.

18. The control method for a self-moving device according to claim 12, further comprising: The self-moving device is controlled to move along a third direction, and the vertical operating surface is cleaned by the cleaning part of the first body and / or the second body.

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