Autonomous mobile robot, cleaning control method, control method for autonomous mobile robot, and medium

Abstract

An autonomous mobile robot, a cleaning control method, a control method for the autonomous mobile robot, and a medium. The autonomous mobile robot comprises a machine body and a cutting mechanism; the machine body comprises a main body and a movement assembly, wherein the movement assembly is provided on the main body and is used for driving the main body to move; the cutting mechanism comprises a cleaning assembly, a cutting assembly and a driving assembly; the cleaning assembly is used for removing debris from the bottom of the main body; the cutting assembly is used for cutting an object to be cut; the driving assembly is used for driving the cutting assembly to rotate; the autonomous mobile robot has at least two working modes, wherein in a first working mode, the cutting assembly is separated from the cleaning assembly, and the driving assembly provides cutting power solely to the cutting assembly, and in a second working mode, the cutting assembly is coupled to the cleaning assembly, and the driving assembly provides power at least to the cleaning assembly, so that the cleaning assembly can clean the bottom of the main body.

Description

Self-propelled robots, cleaning control methods, control methods and media for self-propelled robots

[0001] This application claims priority to Chinese Patent Application No. 2024118243815, filed on December 11, 2024, with the China National Intellectual Property Administration (CNIPA), and to Chinese Patent Application No. 2024118244837, filed on December 11, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of robotics, and more particularly to a self-moving robot, a cleaning control method, a control method for the self-moving robot, and a medium thereof. Background Technology

[0003] With the development of mobile robot technology, more and more robots have entered people's daily lives in recent years. Intelligent lawnmowers, which can automatically mow lawns, are also gradually becoming more common as a type of self-moving device. A lawnmower, also known as a lawn trimmer, is a mechanical tool used for trimming lawns, vegetation, etc.

[0004] Existing self-propelled lawnmowers are prone to debris accumulation at their bottom during operation, leading to increased drive load or stalling of the drive components. This can affect the robot's normal operation, damage the drive components, and reduce the equipment's lifespan. Furthermore, during the cutting process, the lawnmower's cutting mechanism needs to be adjusted according to the terrain or the varying heights of different lawns and vegetation. However, existing height adjustment devices on lawnmowers are complex in structure, cumbersome to operate, and affect work efficiency. Summary of the Invention

[0005] In view of this, this application proposes a self-moving robot, a cleaning control method, a control method for the self-moving robot, and a medium.

[0006] The first aspect of this application provides a self-moving robot, comprising:

[0007] The main body of the machine includes a vehicle body and a traveling assembly. The traveling assembly is mounted on the vehicle body and is used to drive the vehicle body to move.

[0008] The cutting mechanism includes a cleaning component, a cutting component, and a drive component; the cleaning component is used to remove debris from the bottom of the vehicle body; the cutting component is used to cut the object to be cut; and the drive component is used to drive the cutting component to rotate.

[0009] The self-propelled robot has at least two working modes. In the first working mode, the cutting component and the cleaning component are separated, and the drive component provides cutting power to the cutting component alone. In the second working mode, the cutting component and the cleaning component are coupled, and the drive component provides power to at least the cleaning component so that the cleaning component can clean the bottom of the vehicle body.

[0010] A second aspect of this application provides a cleaning control method applied to a self-moving robot, wherein the self-moving robot includes a cleaning component, a cutting component, and a driving component, and the control method includes:

[0011] The driving component can drive the cutting component to perform cutting actions and adjust the position of the cutting component;

[0012] When debris is detected at the bottom of the self-moving robot, the control drive component drives the cutting component and the cleaning component to couple, so that the cleaning component can rotate and remove the debris at the bottom of the self-moving robot.

[0013] After a preset time, the cutting component and the cleaning component are separated, allowing the drive component to provide cutting power to the cutting component independently.

[0014] A third aspect of this application also provides another self-moving robot, comprising at least:

[0015] The main body of the machine is equipped with a chassis;

[0016] The cutting mechanism is located on the side of the machine body near the chassis and is used to perform the cutting action;

[0017] A cleaning mechanism, which is movable relative to the chassis, and is positioned between the chassis and the cutting mechanism; and

[0018] The controller is used to connect to the cutting mechanism and to control the cutting mechanism to perform corresponding actions according to the current working mode of the self-mobilizing robot. The working modes of the self-mobilizing robot include a switchable cutting mode and a cleaning mode.

[0019] In the cutting mode, the controller controls the cutting mechanism to rotate relative to the chassis and the cleaning mechanism to perform the cutting action;

[0020] In cleaning mode, the controller controls the cutting mechanism to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism are coupled together, and controls the cutting mechanism to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis closest to the cutting mechanism.

[0021] The fourth aspect of this application provides a control method for a self-moving robot, comprising:

[0022] The self-moving robot includes at least: a machine body, a cutting mechanism and a cleaning mechanism. The machine body is equipped with a chassis. The cutting mechanism is movably disposed on the side of the machine body near the chassis and is used to perform cutting actions. The cleaning mechanism is movable relative to the chassis and is disposed between the chassis and the cutting mechanism.

[0023] The methods include:

[0024] The self-moving robot controls the cutting mechanism to perform corresponding actions according to its current working mode. The self-moving robot's working modes include switchable cutting mode and cleaning mode.

[0025] In the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to perform the cutting action;

[0026] In cleaning mode, the cutting mechanism is controlled to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism are coupled together, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis closest to the cutting mechanism.

[0027] The fifth aspect of this application provides a computer storage medium storing a computer program that, when executed by a processor, enables a self-moving robot equipped with a processor to implement any of the control methods provided in the embodiments of this application. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 is a structural schematic diagram of a self-moving robot provided in an embodiment of this application;

[0030] Figure 2 is a cross-sectional schematic diagram of the self-moving robot in Figure 1;

[0031] Figure 3 is an exploded view of the self-moving robot in Figure 2;

[0032] Figure 4 is a cross-sectional schematic diagram of the cutting mechanism in Figure 2;

[0033] Figure 5 is a schematic diagram of one type of scraper assembly shown in Figure 3;

[0034] Figure 6 is another schematic diagram of the scraper assembly in Figure 3.

[0035] Figure 7 is a schematic block diagram of the cleaning control method provided in an embodiment of this application;

[0036] Figure 8 is a schematic block diagram of a control method for a self-moving robot provided in an embodiment of this application;

[0037] Figure 9 is another schematic block diagram of the control method for a self-moving robot provided in an embodiment of this application.

[0038] Explanation of reference numerals in the attached drawings: 100, machine body; 101, vehicle body; 102, walking assembly; 103, chassis; 104, side panel; 200, cutting mechanism; 10, base; 20, cutting assembly; 21, cutter head; 211, output tooth; 211, first tooth groove; 22, cutting blade; 23, drive assembly; 30, cleaning assembly; 31, scraper assembly; 311, scraper section; 3111, first scraper; 3112, second scraper; 3113, third scraper; 312, coupling section; 3121, second tooth groove; 3121, transmission tooth; 32, bearing component; 40, first drive assembly; 41, output shaft; 50, second drive assembly. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] It should also be understood that the terminology used in this specification is merely for describing specific realities within the context of this application. It is important to understand that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] With the development of mobile robot technology, more and more robots have entered people's daily lives in recent years. Intelligent lawnmowers, which can automatically mow lawns, are also gradually becoming more common as a type of self-moving device. A lawnmower, also known as a lawn trimmer, is a mechanical tool used for trimming lawns, vegetation, etc.

[0042] Existing self-propelled lawnmowers are prone to debris accumulation at their bottom during operation, leading to increased drive load or stalling of the drive components. This can affect the robot's normal operation, damage the drive components, and reduce the equipment's lifespan. Furthermore, during the cutting process, the lawnmower's cutting mechanism needs to be adjusted according to the terrain or the varying heights of different lawns and vegetation. However, existing height adjustment devices on lawnmowers are complex in structure, cumbersome to operate, and affect work efficiency.

[0043] Based on this, this application provides a self-moving robot, a cleaning control method, a control method for the self-moving robot, and a medium.

[0044] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0045] As shown in Figure 1, according to a first aspect of this application, this application provides a self-moving robot, including a machine body 100 and a cutting mechanism 200. The cutting mechanism 200 is installed at the bottom of the machine body 100 and is used to cut an object to be cut. The object to be cut includes, but is not limited to, grass on lawns, gardens, and paths; that is, the self-moving robot can cut grass on lawns to ensure the aesthetics of the lawn.

[0046] In an optional implementation, as shown in Figures 1 to 3, the machine body 100 includes a vehicle body 101 and a walking component 102. The walking component 102 is mounted on the vehicle body 101 and is used to drive the vehicle body 101 to move, so that the vehicle body 101 can drive the cutting component 20 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0047] In an optional embodiment, the cutting mechanism 200 includes a cutting assembly 20 and a drive assembly. The drive assembly drives the cutting assembly 20 to rotate, enabling it to cut the object to be cut. The cutting assembly 20 includes a cutter head 21 and cutting blades 22 for cutting the object. The cutter head 21 is located at the bottom of the vehicle body 101 and is connected to the output shaft 41 of the drive assembly. The cutting blades 22 are mounted on the cutter head 21, allowing the drive assembly to rotate the cutter head 21 and cutting blades 22 via the output shaft 41, thereby improving cutting efficiency and ensuring a neat cut of the lawn. The drive assembly 40 can be, but is not limited to, a drive motor, and the cutter head 21 is connected to the output shaft 41 of the drive motor.

[0048] In an optional embodiment, the cutting blade 22 includes multiple mowing blades that are detachably mounted on the cutter head 21 so that the drive assembly can drive the cutter head 21 to rotate via the output shaft 41, thereby driving the multiple mowing blades to perform mowing operations on the lawn. This allows the multiple mowing blades to work together to mow the lawn, improving cutting efficiency and ensuring a neat cut of the lawn.

[0049] In an optional embodiment, the cutting mechanism 200 further includes a cleaning component 30 for removing debris from the bottom of the vehicle body 101. The self-moving robot has at least two operating modes. In a first operating mode, the cutting component 20 and the cleaning component 30 are separated, allowing the drive component 40 to provide cutting power to the cutting component 20 independently, ensuring the cutting effect of the cutting component 20. In a second operating mode, the cutting component 20 and the cleaning component 30 are coupled, and the drive component 40 provides power to at least the cleaning component 30, enabling the cleaning component 30 to clean debris from the bottom of the vehicle body 101, preventing debris accumulation that would increase the drive load on the drive component or cause the output shaft 41 of the drive component to stall.

[0050] By adopting the above technical solution, not only is the transmission structure between the cleaning component 30 and the cutting component 20 simplified and the power transmission path shortened, but the power of the cutting blade 22 during cutting is also ensured to be unaffected by the cleaning component 30. Simultaneously, the cleaning component 30 can clean the debris accumulated at the bottom of the vehicle body 101, preventing the cutting blade 22 from becoming stuck in the cutter head 21 due to debris accumulation. This eliminates the need for manual cleaning and does not affect the rotation of the drive component 40, thus improving the cutting efficiency of the self-moving robot.

[0051] In an optional embodiment, the cutter head 21 can be selectively coupled or decoupled from the cleaning component 30. When the cleaning component 30 is coupled to the cutter head 21, at least a portion of the structure in the cleaning component 30 can rotate synchronously with the cutter head 21 to clean debris accumulated at the bottom of the vehicle body 101, preventing debris accumulation from increasing the drive load on the drive component or causing the output shaft 41 of the drive component to stall. When the cleaning component 30 is decoupled from the cutter head 21, the cutter head 21 will not drive the rotation of the cleaning component 30, thereby allowing the drive component 40 to provide cutting power to the cutting blade 22 independently, ensuring the cutting effect of the cutting blade 22. This not only simplifies the transmission structure between the cleaning component 30 and the cutting component 20 and shortens the power transmission path, but also ensures that the power of the cutting blade 22 during cutting is not affected by the cleaning component 30. Meanwhile, the cleaning component 30 can clean the debris accumulated at the bottom of the vehicle body 101, avoiding the problem of the cutting blade 22 becoming blocked due to debris accumulation. It does not require manual cleaning and will not affect the rotation of the cutting disc 21, thus improving the cutting efficiency of the self-moving robot.

[0052] It should be noted that the debris includes, but is not limited to, grass clippings generated by the autonomous robot during lawn mowing. These clippings tend to accumulate at the bottom of the vehicle body 101 during cutting by the cutting component 20. This not only increases the overall weight of the autonomous robot but also causes grass clippings to accumulate at the bottom of the vehicle body 101, affecting the rotation of the cutter head 21 and reducing cutting efficiency. Simultaneously, this solution addresses the problem of large amounts of metal grass clippings accumulating at the bottom of the vehicle body 101, making cleaning difficult and saving manpower. It also ensures that the autonomous robot remains unaffected during lawn mowing.

[0053] By adopting the above technical solution, the self-mobilizing robot is equipped with a cleaning component 30 for cleaning up debris accumulation. This avoids the problem of debris adhering to the bottom of the vehicle body 101 during use, which would lead to debris accumulation and cleaning difficulties, and prevent long-term excessive accumulation from affecting the normal operation of the self-mobilizing robot. Therefore, this application couples the cutter head 21 with the cleaning component 30, so that at least a portion of the structure in the cleaning component 30 can rotate synchronously with the cutter head 21, thereby cleaning the debris at the bottom of the vehicle body 101, reducing the trouble of manual cleaning, and avoiding the problem of drive component blockage due to debris accumulation. When the self-mobilizing robot needs to cut the object, the cleaning component 30 separates from the cutter head 21, allowing the cutter head 21 to independently provide cutting power to the cutting blade 22, ensuring the cutting effect of the cutting blade 22. The entire operation process is very simple and convenient, without affecting the rotation of the cutter head 21, and improving the cutting efficiency of the self-mobilizing robot.

[0054] In one optional embodiment, the cutter head 21 has a highest point and a lowest point and can reciprocate between the highest and lowest points. When the cutter head 21 is at its highest point, it is coupled with the cleaning component 30, allowing the drive component to rotate the cleaning component 30 via the cutter head 21 to clean the grass clippings accumulated at the bottom of the vehicle body 101. When the cutter head 21 is at its lowest point, it is separated from the cleaning component 30, thus providing cutting power to the cutting blade 22 independently to ensure the cutting effect of the cutting blade 22. The structure is simple, and the cutting work of the cutting blade 22 and the cleaning work of the cleaning component 30 are achieved through the operation of a single drive component. The clever use of coupling or decoupling between the cutter head 21 and the cleaning component 30 to control the operation of the cleaning component 30 makes the structure of the self-mobilizing robot more compact, the design of the self-mobilizing robot more reasonable, and significantly reduces the production cost of the self-mobilizing robot.

[0055] In one optional embodiment, the drive assembly has a first rotational speed and a second rotational speed, the second rotational speed being greater than the first rotational speed. When the cleaning assembly 30 is coupled to the cutter head 21, the set rotational speed of the drive assembly 40 is reduced to the first rotational speed, thereby effectively reducing the wear of the cleaning assembly 30, extending the service life of the cleaning assembly 30, and reducing the frequency of replacement of the cleaning assembly 30 and maintenance costs. When the cleaning assembly 30 is separated from the cutter head 21, the set rotational speed of the drive assembly is increased to the second rotational speed, which is beneficial to the cutting operation, speeds up the cutting process, and improves work efficiency.

[0056] For example, when debris is detected at the bottom of the vehicle body 101, the self-moving robot controls the cutter head 21 to stop cutting and then moves the cutter head 21 from the lowest point to the highest point, allowing it to couple with the cleaning component 30. After coupling the cleaning component 30 with the cutter head 21, the drive component controls the cleaning component 30 to rotate at a first rotational speed via the cutter head 21 to clean the accumulated grass clippings at the bottom of the vehicle body 101. When the cleaning component 30 has finished cleaning the debris at the bottom of the vehicle body 101, the self-moving robot controls the cutter head 21 to separate from the cleaning component 30, allowing the drive component to provide cutting power solely to the cutting component 20. At this time, the drive component drives the cutting component 20 to rotate at a second rotational speed to ensure the cutting effect of the cutting component 20. By stopping the cutter head 21 before coupling it with the cleaning component 30 and then rotating it at the first rotational speed, the difficulty of coupling the cutter head 21 with the cleaning component 30 during rotation is reduced, and damage to the cutter head 21 and the cleaning component 30 is avoided.

[0057] In an optional embodiment, as shown in Figures 3 to 6, the cleaning component 30 includes a scraper assembly 31, which is rotatably mounted on the bottom of the vehicle body 101 and is separated from the cutter disc 21. When the cutter disc 21 moves to its highest point, the cutter disc 21 is coupled with the cleaning component 30 so that the scraper assembly 31 can clean the debris between the cutter disc 21 and the vehicle body 101, reducing the trouble of manual cleaning and avoiding the problem of the cutter disc 21 becoming blocked due to debris accumulation.

[0058] In an optional embodiment, the scraper assembly 31 includes a scraper portion 311 and a coupling portion 312 that can rotate and separate synchronously with the cutter head 21. The scraper portion 311 is disposed around the coupling portion 312 and is used to clean the debris accumulated on the bottom of the vehicle body 101 by the cutting blade 22 during cutting, thus avoiding the problem of the cutter head 21 being blocked due to debris accumulation. At the same time, the operation of a drive component 40 can be realized through the coupling portion 312 to realize the cutting work of the cutting blade 22 and the cleaning work of the cleaning component 30. The coupling or separation of the cutter head 21 and the cleaning component 30 is cleverly used to control the operation of the cleaning component 30, making the structure of the self-moving robot more compact, the design of the self-moving robot more reasonable, and significantly reducing the production cost of the self-moving robot.

[0059] It should be noted that the coupling part 312 can be a component of a synchronizer, an electromagnetic coupler, or a clutch. The specific arrangement of this component is not limited in this application, as long as it can connect or disconnect the cutter head 21 from the scraper part 311. For example, the cutter head 21 may have a transmission plate, and the coupling part 312 may be a friction plate that cooperates with the transmission plate. When the cutter head 21 reaches its highest point, the transmission plate and the friction plate engage, allowing the cutter head 21 to drive the scraper part 311 to rotate. This cleans the debris between the cutter head 21 and the vehicle body 101, reducing the need for manual cleaning and preventing the cutter head 21 from becoming stuck due to debris accumulation. Other structures for the coupling part 312 will not be described in detail in this application.

[0060] In an optional embodiment, as shown in FIG5, the scraper portion 311 includes a first scraper 3111 and a second scraper 3112. The coupling portion 312 has a first extension and a second extension extending in a relatively distant direction on both sides. The first scraper 3111 and the second scraper 3112 are respectively disposed at both ends of the first extension and the second extension, respectively, for cleaning debris from the bottom of the vehicle body 101. This not only ensures the force balance of the scraper assembly 31 during rotation but also improves the cleaning efficiency of the scraper assembly 31. The shape of the first scraper 3111 and the second scraper 3112 can be, but is not limited to, a rectangular structure.

[0061] In an optional embodiment, as shown in FIG6, the scraper portion 311 includes a third scraper 3113, and the coupling portion 312 has a third extension and a fourth extension extending in a relatively far apart direction on both sides. The third scraper 3113 is disposed at the upper end of the third extension and the fourth extension for cleaning debris from the bottom of the vehicle body 101. The shape of the third scraper 3113 may be, but is not limited to, a conical structure.

[0062] The first scraper 3111, the second scraper 3112 and the third scraper 3113 may include, for example, a brush or a soft rubber strip.

[0063] In an optional embodiment, as shown in Figures 4 to 6, the coupling part 312 is provided with multiple transmission teeth 3121 (i.e., second tooth grooves 3121) for transmitting power. The cutter head 21 is provided with multiple output teeth 211 (i.e., first tooth grooves 211) opposite to the multiple transmission teeth 3121 on the side facing away from the cutting blade 22. The output teeth 211 mesh with the transmission teeth 3121 when the cutter head 21 moves to the highest point, so that the power of the scraper assembly 31 when cleaning debris can be provided by the drive assembly for controlling the cutting work of the cutting blade 22. The operation of one drive assembly 40 realizes the cutting work of the cutting blade 22 and the cleaning work of the cleaning assembly 30. The coupling or separation of the cutter head 21 and the cleaning assembly 30 is cleverly used to control the operation of the cleaning assembly 30, making the structure of the self-moving robot more compact, the design of the self-moving robot more reasonable, and significantly reducing the production cost of the self-moving robot.

[0064] In an optional embodiment, the scraper assembly 31 includes a first scraper 3111 and a second scraper 3112, which are symmetrically arranged with respect to the axis of the coupling portion 312 so as to use opposite balancing torques to make the scraper assembly 31 as a whole achieve balance, which can also reduce noise.

[0065] In an optional embodiment, the cutting mechanism 200 includes a base 10 disposed at the bottom of the vehicle body 101, and a cutting assembly 20 and a cleaning assembly 30 disposed below the base 10. The cleaning assembly 30 includes a bearing 32, and a scraper assembly 31 is rotatably mounted on the vehicle body 101 via the bearing 32 and coaxially arranged with the cutter head 32 to ensure smooth rotation of the scraper assembly 31.

[0066] In an alternative implementation, the base 10 can be a protective component of the cutting mechanism 200, which can prevent objects from penetrating from the side of the self-moving robot, thereby improving the safety of the self-moving robot.

[0067] In an alternative embodiment, the bearing 32 includes a crossed roller bearing having an outer ring portion and an inner ring portion concentrically disposed with respect to the outer ring portion. The inner ring portion is fixed to the base 10, and the scraper assembly 31 is fixed to the outer ring portion so as to withstand the load of the scraper assembly 31 in all directions and ensure the service life of the cleaning assembly 30.

[0068] In an optional embodiment, the self-moving robot also includes a speed regulator electrically connected to the drive assembly 40 for adjusting the speed of the drive assembly at the highest and lowest points. This allows the drive assembly 40 to control the output speed of the cutter head 21 at the highest point to be lower than the output speed at the lowest point, thereby reducing the rotational speed of the cutter head 21. This helps improve the safety of the coupling between the cutter head 21 and the cleaning assembly 30, and avoids potential safety hazards caused by the high-speed rotation of the cutter head 21.

[0069] It should be noted that the speed regulator can adjust the speed of the drive component according to the control signal. The control signal includes, but is not limited to, the control signal sensed by the detection component, such as the coupling status signal between the blade disc 21 and the cleaning component 30, or the signal that the blade disc 21 is close to the highest point or the lowest point, so that the drive component 40 can automatically rotate, realize the fully automatic cleaning process, reduce manual intervention, and improve the user experience.

[0070] For example, when the blade disc 21 is coupled with the cleaning component 30, the detection component automatically detects the coupling state of the blade disc 21, and then switches the speed of the drive component to a preset low-speed mode, i.e., the first speed, through the speed regulator. The speed regulator can quickly respond and stably control the speed of the drive component, avoiding poor cleaning effect or equipment damage caused by speed fluctuation.

[0071] In an optional embodiment, the self-moving robot further includes a detection component electrically connected to a speed regulator. This component detects the coupling state between the cutter head 21 and the scraper assembly 31, and / or the accumulation of debris. When debris accumulates and clogs the self-moving robot, the cutter head 21 can automatically rise to its highest point and couple with the cleaning assembly 30. This allows the cleaning assembly 30 to clean the clogged grass under the drive of the cutter head 21, and also remove grass debris from the chassis. Once the detection component detects that the debris has been cleared, the cutter head 21 automatically lowers to its lowest point and separates from the cleaning assembly 30, allowing the cutter head 21 to drive the cutting blade 22 independently for cutting.

[0072] In an optional embodiment, the self-moving robot further includes a seal. The base 10 has a base hole, and a drive motor is mounted on the side of the base 10 opposite to the cleaning assembly 30. The output shaft 41 of the drive motor passes through the base hole and connects to the cutter head 21. The seal is disposed between the base 10 and the drive motor 30 to seal the gap between the base hole and the drive motor, preventing debris, dust, and other impurities from entering the vehicle body 101 and / or the interior of the drive motor. The cleaning assembly 30 is disposed on the outside of the seal.

[0073] As shown in Figures 1 to 7, according to a second aspect of this application, this application provides a cleaning control method applied to a self-moving robot, the self-moving robot including a cleaning component 30, a cutting component 20, and a driving component. The control method includes:

[0074] The driving component can drive the cutting component 20 to perform cutting actions and adjust the position of the cutting component 20;

[0075] When debris is detected at the bottom of the self-moving robot, the control drive component drives the cutting component 20 to couple with the cleaning component 30, so that the cleaning component 30 can rotate and remove the debris at the bottom of the self-moving robot.

[0076] After a preset time, the cutting component 20 is separated from the cleaning component 30, so that the drive component 40 provides cutting power to the cutting component 20 alone, ensuring the cutting effect of the cutting blade 22. The whole operation process is very simple and convenient, which will not affect the rotation of the cutting component 20 and can improve the cutting efficiency of the self-moving robot.

[0077] Specifically, the self-propelled robot has at least two switchable operating modes. In the first operating mode, the cutting component 20 and the cleaning component 30 are separated, allowing the drive component to provide cutting power to the cutting component 20 independently, ensuring the cutting power and cutting effect of the cutting component 20. In the second operating mode, the cutting component 20 and the cleaning component 30 are coupled, and the drive component provides power to at least the cleaning component 30, so that the cleaning component 30 can clean the debris at the bottom of the vehicle body 101, avoiding debris accumulation that would increase the drive load on the drive component 40 or cause the output shaft 41 of the first drive component 40 to stall.

[0078] For example, as shown in Figure 7, controlling the cutting component 20 to perform corresponding actions according to the current working mode of the self-moving robot includes at least the following two independent steps:

[0079] Step S101: In the first working mode, control the cutting component 20 to rotate relative to the cleaning component 30 and the bottom of the vehicle body 101 to perform the cutting action;

[0080] Step S102: In the second working mode, control the cutting component 20 to move towards the cleaning component 30 so that the cutting component 20 and the cleaning component 30 are coupled together, and control the cutting component 20 to drive the cleaning component 30 to rotate relative to the bottom of the vehicle body 101 so that the cleaning component 30 cleans the bottom of the vehicle body 101.

[0081] In one optional implementation, the driving component includes at least:

[0082] The first drive assembly 40 is used to drive the cutting assembly 20 to rotate;

[0083] The second drive assembly 50 is used to drive the cutting assembly 20 to move in a direction toward or away from the cleaning assembly 30.

[0084] In one optional implementation, the control method includes

[0085] In the first working mode, the first drive component 40 is controlled to drive the cutting component 20 to rotate in order to perform the cutting action;

[0086] In the second working mode, the second drive assembly 50 is controlled to drive the cutting assembly 20 to move toward the cleaning assembly 30 so that the cutting assembly 20 and the cleaning assembly 30 are coupled, and the first drive assembly is controlled to drive the cutting assembly 20 to rotate so that the cleaning assembly 30 can rotate so that the cleaning assembly 30 can clean the bottom of the vehicle body 101.

[0087] It should be noted that the first drive component 40 and the second drive component 50 are independent of each other. In the first working mode, only the first drive component 40 needs to be controlled to drive the cutting component 20 to rotate. When switching from the first working mode to the second working mode, the second drive component 50 needs to be controlled to drive the cutting component 20 to move towards the cleaning component 30. During the process of the cutting component 20 moving towards the cleaning component 30, the first drive component can be controlled to keep the cutting component 20 rotating or stop rotating. It can also be controlled to reduce the rotation speed of the cutting component 20. It should be understood that reducing the rotation speed of the cutting component 20 also helps to improve the safety of operation, facilitates the coupling and docking of the cutting component 20 and the cleaning component 30, and avoids potential safety hazards caused by high-speed rotation.

[0088] In an optional implementation, the control method further includes:

[0089] When the self-moving robot switches from the second working mode to the first working mode, the cutting component 20 is controlled to move away from the cleaning component 30 so as to separate the cutting component 20 from the cleaning component 30.

[0090] For example, after a preset time, the self-moving robot switches from the second working mode to the first working mode. The cutter head 21 in the cutting component 20 needs to be separated from the cleaning component 30. The cutter head 21 will not drive the rotation of the cleaning component 30. The first drive component can provide cutting power to the cutting blade 22 separately to ensure the cutting effect of the cutting blade 22.

[0091] In an optional implementation, the control method further includes:

[0092] In the first working mode, the cutting assembly 20 is controlled to rotate at the second rotation speed;

[0093] In the second working mode, the cutting component 20 is controlled to rotate at a first speed, wherein the second speed is greater than the first speed.

[0094] It should be noted that in the first working mode, the cutting component 20 needs to rotate at high speed to achieve a better cutting effect. In the second working mode, the cutting component 20 is lifted and coupled with the cleaning component, and drives the cleaning component 30 to rotate together to clean the bottom of the vehicle body 101. Since the cutting component 20 and the cleaning component 30 are coupled in the second working mode, the energy required for the cutting component 20 to maintain the same rotation speed is large, which will have a significant impact on the battery life of the self-moving robot. Therefore, in this embodiment, the cutting component 20 is set to rotate at a relatively low speed in the second working mode.

[0095] Meanwhile, the cutting component 20 operates at a reduced speed in the second working mode, which effectively reduces wear on the scraper in the cleaning component 30, extends the scraper's service life, and reduces replacement frequency and maintenance costs.

[0096] In an optional implementation, the control method further includes:

[0097] When the coupling between the cutting component 20 and the cleaning component 30 is detected, the cutting component 20 is controlled to rotate at a first rotation speed;

[0098] When the cutting component 20 is detected to be completely separated from the cleaning component 30, the cutting component 20 is controlled to perform cutting at a second rotation speed.

[0099] For example, the self-moving robot also includes a detection component, which is used at least to detect the coupling state between the cutting component 20 and the cleaning component 30. For example, the detection component may employ pressure detection or optical detection.

[0100] In an optional embodiment, the self-moving robot further includes a speed regulator. The detection component is electrically connected to the speed regulator, which in turn is electrically connected to the first drive component. The speed regulator is used to adjust the rotational speed of the cutting component 20 based on the coupling condition between the cutting component 20 and the cleaning component 30 detected by the detection component. Specifically, the speed regulator controls the rotational speed of the cutter head 21 in cleaning mode to be lower than its rotational speed in the first operating mode, thereby improving the safety of the coupling between the cutter head 21 and the cleaning component and avoiding potential safety hazards caused by the high-speed rotation of the cutter head 21.

[0101] In an optional implementation, the control method further includes:

[0102] The sensor data is obtained by detecting the accumulation of debris at the bottom of the mobile robot.

[0103] The self-moving robot is controlled to switch between cutting mode and cleaning mode based on sensor data.

[0104] Specifically, the detection component is also used to detect the debris accumulation on the bottom of the mobile robot to obtain corresponding sensor data. For example, the debris accumulation includes, but is not limited to, at least one of the weight and volume of debris accumulation on the bottom of the mobile robot. For example, the detection component can use pressure sensing and / or optical sensing to detect the debris accumulation.

[0105] In one optional implementation, controlling the self-mobile robot to switch to a first working mode or a second working mode based on sensor data includes:

[0106] The weight of debris accumulation at the bottom of the self-moving robot is determined based on sensor data;

[0107] When the weight of accumulated debris exceeds the weight threshold, the self-moving robot is controlled to switch to the second working mode.

[0108] When the weight of the accumulated debris does not exceed the weight threshold, the self-moving robot is controlled to switch to the first working mode.

[0109] And / or,

[0110] The volume of debris accumulation at the bottom of the self-moving robot is determined based on sensor data;

[0111] When the volume of accumulated debris exceeds the volume threshold, the self-moving robot is controlled to switch to the second working mode.

[0112] When the volume of debris accumulation does not exceed the volume threshold, the self-moving robot is controlled to switch to the first working mode.

[0113] It should be understood that if the weight of the accumulated debris exceeds the weight threshold and / or the volume of the accumulated debris exceeds the volume threshold, indicating that too much debris (e.g., grass clippings) has been detected accumulated from the bottom of the mobile robot, the robot will switch to a second working mode. The cutting component 20 will be controlled to move toward the cleaning component 30 so that the cutter head 21 in the cutting component 20 is coupled with the cleaning component 30. The speed regulator will control the output speed of the cutter head 21 in the second working mode to be lower than the output speed in the first working mode.

[0114] For example, the detection component includes a pressure sensor, which can detect the pressure carried by the cutting component 20 or the pressure carried by the output shaft 41 of the drive motor to obtain sensing data, and determine whether the weight of the accumulated debris exceeds the weight threshold based on the pressure represented by the sensing data, thereby controlling the self-mobile robot to switch to the second working mode or the first working mode.

[0115] For example, the detection component includes an optical sensor, which can optically detect the space between the chassis 111 and the cutting mechanism 20 to obtain sensing data, and determine whether the volume of debris accumulation exceeds a volume threshold based on the sensing data, thereby controlling the self-mobile robot to switch to a second working mode or a first working mode. The optical sensor includes, but is not limited to, an infrared sensor.

[0116] By detecting the volume and / or weight of the debris, this solution can control the self-moving robot to switch to the second working mode or the first working mode at the appropriate time, thereby intelligently controlling the cutting mechanism 20 to perform rotary cutting when there is less debris accumulation, and actively controlling the cutting component 20 to couple with the cleaning component 30 when there is more debris accumulation, and together with the cutting component 20 driving the cleaning component 30 to clean up the accumulated debris.

[0117] In an optional implementation, the control method further includes:

[0118] When the self-moving robot operates in cutting mode for more than a preset cutting time threshold, and / or when a first operation command is received instructing the self-moving robot to switch to a second working mode, the self-moving robot is controlled to switch from the first working mode to the second working mode.

[0119] Specifically, the triggering conditions for the self-moving robot provided in this application embodiment to switch from the first working mode to the second working mode include at least one of the following conditions: working in the first working mode for more than a preset cutting time threshold; receiving a first operation instruction based on user input.

[0120] It should be noted that if the cutting time exceeds the preset threshold in the first working mode, the self-moving robot can automatically switch to the second working mode. This prevents excessive debris from accumulating at the bottom of the vehicle body 101 due to the continuous cutting action of the cutting component 20 for an extended period, which could lead to jamming of the cutting component 20. Furthermore, the user can also input a first operation command to actively control the self-moving robot to switch to cleaning mode. It should be understood that the above two triggering conditions are compatible to enhance the intelligence of the self-moving robot.

[0121] In an optional implementation, the control method further includes:

[0122] When the self-moving robot operates in the second working mode for more than a preset cleaning time threshold, and / or when a second operation command is received instructing the self-moving robot to switch to the first working mode, the self-moving robot is controlled to switch from the second working mode to the first working mode.

[0123] Specifically, the triggering conditions for the self-moving robot provided in this application embodiment to switch from the second working mode to the first working mode include at least one of the following conditions: working in the cleaning mode for more than a preset cleaning time threshold; receiving a second operation instruction based on user input.

[0124] It should be noted that if the second working mode exceeds the preset cutting time threshold, meaning the cleaning component 30 has cleaned the bottom of the vehicle body 101 for a sufficient period of time, the self-moving robot can automatically switch to the first working mode. This ensures the self-moving robot has enough time to perform cutting actions, improving cutting efficiency. Furthermore, the user can also input a second operation command to actively control the self-moving robot to switch to the first working mode. It should be understood that the above two triggering conditions are compatible to enhance the intelligence of the self-moving robot.

[0125] This application also provides a control method for a self-moving robot, a self-moving robot, and a storage medium, which aims to achieve automatic cleaning of the chassis of the self-moving robot and obtain better cleaning results.

[0126] In an optional embodiment, the cutting blade 22 includes multiple mowing blades that are detachably mounted on the cutter head 21 so that the first drive assembly 40 can drive the cutter head 21 to rotate via the output shaft 41, thereby driving the multiple mowing blades to perform mowing operations on the lawn. This allows the multiple mowing blades to work together to mow the lawn, improving cutting efficiency and ensuring a neat cut of the lawn.

[0127] In an optional embodiment, the chassis 103 further includes side panels 104 disposed around the cutting mechanism 200, which are used to protect the cutting mechanism 200 from cutting the human body or other objects that are not suitable for cutting, thereby improving the safety of the cutting operation.

[0128] In one optional implementation, the self-moving robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the cutting mechanism 200 is controlled to rotate relative to the chassis 103 and the cleaning component 30 to perform a cutting action. In the cleaning mode, the cutting mechanism 200 is controlled to move toward the cleaning component 30 so that the cutting mechanism 200 and the cleaning component 30 are coupled together, and the cutting mechanism 200 is controlled to drive the cleaning component 30 to rotate relative to the chassis 103 so that the cleaning component 30 cleans the side of the chassis 103 closest to the cutting mechanism 200.

[0129] Specifically, in cutting mode, the cutting component 20 is separated from the cleaning component 30, allowing the first drive component 40 to provide cutting power to the cutting component 20 independently, ensuring the cutting effect of the cutting component 20. In cleaning mode, the cutting component 20 and the cleaning component 30 are coupled, and the first drive component 40 provides power for the rotation of the cutting component 20 and the cleaning component 30, so that the cleaning component 30 can clean foreign objects from the bottom of the vehicle body 101, especially foreign objects between the cutting mechanism 200 and the chassis 103.

[0130] In an optional embodiment, the cutter head 21 can be selectively coupled or decoupled from the cleaning assembly 30. When the cleaning assembly 30 is coupled to the cutter head 21, at least a portion of the structure in the cleaning assembly 30 can rotate synchronously with the cutter head 21 to clean foreign objects accumulated at the bottom of the vehicle body 101. When the cleaning assembly 30 is decoupled from the cutter head 21, the cutter head 21 will not drive the rotation of the cleaning assembly 30, and the first drive assembly 40 can provide cutting power to the cutting blade 22 independently.

[0131] It should be noted that foreign objects include, but are not limited to, grass clippings generated by self-moving robots during lawn mowing operations.

[0132] In an optional embodiment, the cutting mechanism 200 further includes a second drive assembly 50 for driving the cutting assembly 20 to move in a direction toward or away from the chassis 103. The controller can control the second drive assembly 50 to drive the cutting assembly 20 toward the cleaning assembly 30 so that the cutting assembly 20 is coupled to the cleaning assembly 30, specifically the blade disc 21 is coupled to the cleaning assembly 30.

[0133] In one alternative implementation, the cutter head 21 has a highest point and a lowest point and is capable of moving between the highest and lowest points. In cleaning mode, the cutter head 21 is at its highest point and is coupled to the cleaning component 30, so that the drive component 23 can drive the cleaning component 30 to rotate through the cutter head 21 to clean the foreign objects accumulated at the bottom of the vehicle body 101. In cutting mode, the cutter head 21 is at its lowest point and is separated from the cleaning component 30, so that it can provide cutting power to the cutting blade 22 independently to ensure the cutting effect of the cutting blade 22.

[0134] In an optional embodiment, as shown in Figures 3 to 6, the cleaning assembly 30 includes a scraper assembly 31, which is rotatably mounted on the bottom of the vehicle body 101 and is separated from the cutter disc 21. When the cutter disc 21 moves to its highest point, the cutter disc 21 is coupled to the cleaning assembly 30 so that the scraper assembly 31 can clean the foreign objects between the cutter disc 21 and the vehicle body 101.

[0135] In an optional embodiment, the scraper assembly 31 includes a scraper portion 311 and a coupling portion 312 that can rotate and separate synchronously with the cutter head 21. The scraper portion 311 is disposed on the periphery of the coupling portion 312 and is used to clean foreign objects accumulated on the bottom of the vehicle body 101 by the cutting blade 22 during cutting.

[0136] It should be noted that the specific arrangement of the coupling part 312 is not limited in this application, as long as it can connect or disconnect the cutter head 21 and the scraper part 311. For example, the cutter head 21 is provided with a first toothed groove 211, and the coupling part 312 is a second toothed groove 3121 that cooperates with the first toothed groove 211. When the cutter head 21 moves to its highest point, the first toothed groove 211 and the second toothed groove 3121 form a coupling lock, so that the cutter head 21 can drive the scraper part 311 to rotate, thereby cleaning the foreign objects between the cutter head 21 and the vehicle body 101. Other structures for the coupling part 312 will not be described in detail in this application.

[0137] In an optional embodiment, the cutting assembly 20 and the cleaning assembly 30 are disposed below the chassis 103. The cleaning assembly 30 includes a bearing 32, and the scraper assembly 31 is rotatably mounted on the vehicle body 101 via the bearing 32 and coaxially arranged with the cutter head 21 to ensure smooth rotation of the scraper assembly 31.

[0138] In an alternative embodiment, the bearing 32 includes a crossed roller bearing having an outer ring portion and an inner ring portion concentrically disposed with respect to the outer ring portion. The inner ring portion is fixed to the chassis 103, and the scraper assembly 31 is fixed to the outer ring portion so as to withstand the load of the scraper assembly 31 in all directions and ensure the service life of the cleaning assembly 30.

[0139] The following describes the specific ways in which the control method is applied to the aforementioned self-moving robot. However, it should be noted that this control method is not limited to the application of the aforementioned self-moving robot.

[0140] As shown in Figure 7, the control method provided in this application embodiment includes:

[0141] The self-moving robot controls the cutting mechanism 200 to perform corresponding actions according to its current working mode. The working modes of the self-moving robot include a switchable cutting mode and a cleaning mode.

[0142] The process of controlling the cutting mechanism 200 to perform corresponding actions based on the current working mode of the self-moving robot includes at least the following two independent steps:

[0143] Step S201: In the cutting mode, control the cutting mechanism 200 to rotate relative to the chassis 103 and the cleaning component 30 to perform the cutting action;

[0144] Step S202: In cleaning mode, control the cutting mechanism 200 to move toward the cleaning component 30 so that the cutting mechanism 200 and the cleaning component 30 are coupled together, and control the cutting mechanism 200 to drive the cleaning component 30 to rotate relative to the chassis 103 so that the cleaning component 30 cleans the side of the chassis 103 close to the cutting mechanism 200.

[0145] Specifically, in the cutting mode, the cutting component 20 is separated from the cleaning component 30. At this time, the cutting component 20 is rotated independently to perform the cutting action, so as to ensure the cutting power and cutting effect of the cutting component 20.

[0146] In cleaning mode, the cutting mechanism 200 is controlled to move toward the cleaning component 30 so that the cutting mechanism 200 and the cleaning component 30 are coupled together. Then the cutting mechanism 200 is controlled to rotate, which in turn drives the rotation of the cleaning component 30 coupled with it to clean the side of the chassis 103 near the cutting mechanism 200.

[0147] In one alternative implementation, the rotation of the cutting mechanism 200 relative to the chassis 103 and the cleaning component 30 specifically means that at least a portion of the structure in the cutting mechanism 200 rotates relative to the chassis 103 and the cleaning component 30; similarly, the rotation of the cleaning component 30 relative to the chassis 103 caused by the cutting mechanism 200 specifically means that at least a portion of the structure in the cutting mechanism 200 rotates, while simultaneously causing the cleaning component 30 to rotate relative to the chassis 103.

[0148] In an optional embodiment, the cutting mechanism 200 includes at least a cutting assembly 20 and a first drive assembly 40. The first drive assembly 40 drives the cutting assembly 20 to rotate, enabling the cutting assembly 20 to cut the object to be cut. The cutting assembly 20 includes a cutter head 21 and cutting blades 22 for cutting the object. The cutter head 21 is disposed at the bottom of the vehicle body 101 and is drively connected to the output shaft 41 of the first drive assembly 40.

[0149] In one optional implementation, the cutting mechanism 200 includes at least:

[0150] The cutting component 20 is movably disposed on the side of the machine body 100 near the chassis 103, and the cutting component 20 can be coupled or separated from the cleaning component 30;

[0151] The first drive assembly 40 is used to drive the cutting assembly 20 to rotate relative to the chassis 103;

[0152] The second drive assembly 50 is used to drive the cutting assembly 20 to move in a direction toward or away from the chassis 103;

[0153] As shown in Figure 8, the method also includes:

[0154] Step S301: In the cutting mode, control the first drive component 40 to drive the cutting component 20 to rotate relative to the chassis 103;

[0155] Step S302: In cleaning mode, control the second drive component 50 to drive the cutting component 20 to move toward the cleaning component 30 so that the cutting component 20 and the cleaning component 30 are coupled, and control the first drive component 40 to drive the cutting component 20 to rotate relative to the chassis 103 so that the cleaning component 30 rotates relative to the chassis 103 so that the cleaning component 30 cleans the side of the chassis 103 near the cutting mechanism 200.

[0156] Specifically, the first drive assembly 40 and the second drive assembly 50 are independent of each other. In the cutting mode, only the first drive assembly 40 needs to be controlled to drive the cutting assembly 20 to rotate relative to the chassis 103. When switching from the cutting mode to the cleaning mode, the second drive assembly 50 needs to be controlled to drive the cutting assembly 20 to move towards the cleaning assembly 30. During the movement of the cutting assembly 20 towards the cleaning assembly 30, the first drive assembly 40 can be controlled to keep the cutting assembly 20 rotating or stop rotating. It can also be controlled to reduce the rotation speed of the cutting assembly 20. It should be understood that reducing the rotation speed of the cutting assembly 20 also helps to improve the safety of operation, facilitates the coupling and docking of the cutting assembly 20 and the cleaning assembly 30, and avoids potential safety hazards caused by high-speed rotation.

[0157] The above technical solution not only simplifies the transmission structure between the cleaning component 30 and the cutting component 20 and shortens the power transmission path, but also ensures that the power of the cutting blade 22 during cutting is not affected by the cleaning component 30. At the same time, the cleaning component 30 can also clean up foreign objects accumulated at the bottom of the vehicle body 101, avoiding the problem of the cutting blade 22 becoming blocked due to the accumulation of foreign objects. It eliminates the need for manual cleaning and does not affect the rotation of the drive component 23, thus improving the cutting efficiency of the self-moving robot.

[0158] In an optional implementation, the method further includes:

[0159] When the self-moving robot switches from cleaning mode to cutting mode, the cutting mechanism 200 is controlled to move away from the cleaning component 30 so as to decouple the cutting mechanism 200 from the cleaning component 30.

[0160] It should be understood that when the self-mobile robot switches to cutting mode, the cutter head 21 in the cutting mechanism 200 needs to be separated from the cleaning component 30. The cutter head 21 will not drive the rotation of the cleaning component 30. The first drive component 40 can provide cutting power to the cutting blade 22 independently to ensure the cutting effect of the cutting blade 22.

[0161] In an optional implementation, the method further includes:

[0162] In cutting mode, the cutting mechanism 200 is controlled to rotate relative to the chassis 103 at a first rotational speed;

[0163] In cleaning mode, the cutting mechanism 200 is controlled to rotate relative to the chassis 103 at a second rotational speed, wherein the second rotational speed is less than the first rotational speed.

[0164] It should be noted that in the cutting mode, the cutting component 20 needs to rotate at high speed to achieve a better cutting effect. In the cleaning mode, the cutting component 20 is lifted and coupled with the cleaning component 30, and drives the cleaning component 30 to rotate together with the chassis 103. Since the cutting component 20 and the cleaning component 30 are coupled in the cleaning mode, the energy required for the cutting component 20 to maintain the same rotation speed is large, which will have a significant impact on the battery life of the self-moving robot. Therefore, in this embodiment, the cutting mechanism 200 is set to rotate at a relatively low speed in the cleaning mode.

[0165] Moreover, the cutting mechanism 200 reduces its rotation speed in cleaning mode, which can effectively reduce the wear of the scraper in the cleaning component 30, extend the service life of the scraper, and reduce the frequency of replacement and maintenance costs.

[0166] In an optional implementation, the method further includes:

[0167] When the coupling between the cutting mechanism 200 and the cleaning component 30 is detected, the cutting mechanism 200 is controlled to rotate at a second rotation speed;

[0168] When the cutting mechanism 200 is detected to be decoupled from the cleaning component 30, the cutting mechanism 200 is controlled to perform cutting at a first rotation speed.

[0169] For example, the self-moving robot also includes a detection component, which is used at least to detect the coupling between the cutting mechanism 200 and the cleaning component 30. For example, the detection component may employ pressure detection or optical detection.

[0170] In an optional embodiment, the self-moving robot further includes a speed regulator. The detection component is electrically connected to the speed regulator, which in turn is electrically connected to the first drive component 40. The speed regulator is used to adjust the rotational speed of the cutting component 20 based on the coupling condition between the cutting mechanism 200 and the cleaning component 30 detected by the detection component. Specifically, the speed regulator controls the rotational speed of the cutter head 21 in cleaning mode to be lower than its rotational speed in cutting mode, thereby improving the safety of the coupling between the cutter head 21 and the cleaning component 30 and preventing potential safety hazards caused by the high-speed rotation of the cutter head 21.

[0171] In an optional implementation, the method further includes:

[0172] The system detects the accumulation of foreign objects between the chassis 103 and the cutting mechanism 200, and obtains the corresponding sensor data.

[0173] The self-moving robot is controlled to switch between cutting mode and cleaning mode based on sensor data.

[0174] Specifically, the detection component is also used to detect the accumulation of foreign objects between the chassis 103 and the cutting mechanism 200 to obtain corresponding sensing data. For example, the accumulation of foreign objects includes, but is not limited to, at least one of the weight and volume of the accumulated foreign objects between the chassis 103 and the cutting mechanism 200. For example, the detection component can use pressure sensing and / or optical sensing to detect the accumulation of foreign objects.

[0175] In one optional implementation, controlling the self-mobile robot to switch between cutting mode and cleaning mode based on sensor data includes:

[0176] The weight of the foreign object accumulation between the chassis 103 and the cutting mechanism 200 is determined based on sensor data.

[0177] When the weight of the accumulated foreign objects exceeds the weight threshold, the self-moving robot is controlled to switch to cleaning mode.

[0178] When the weight of the accumulated foreign objects does not exceed the weight threshold, the self-moving robot is controlled to switch to cutting mode.

[0179] And / or,

[0180] The volume of foreign matter accumulation between chassis 103 and cutting mechanism 200 is determined based on sensor data.

[0181] When the volume of foreign objects exceeds the volume threshold, the self-moving robot is controlled to switch to cleaning mode.

[0182] When the volume of the foreign object accumulation does not exceed the volume threshold, the self-moving robot is controlled to switch to cutting mode.

[0183] It should be understood that if the weight of the foreign matter accumulation exceeds the weight threshold and / or the volume of the foreign matter accumulation exceeds the volume threshold, it indicates that there is too much foreign matter (e.g., grass clippings) accumulated between the detection chassis 103 and the cutting mechanism 200. In this case, the system switches to cleaning mode, controls the cutting mechanism 200 to move towards the cleaning component 30, so that the cutter head 21 in the cutting mechanism 200 and the cleaning component 30 in the cleaning component 30 are coupled together. The speed regulator controls the cutter head 21 to reduce its rotation speed. At this time, the rotation speed of the cutter head 21 is lower than the output speed of the cutter head 21 in the cutting mode.

[0184] For example, the detection component includes a pressure sensor, which can detect the pressure carried by the cutting mechanism 200 or the pressure carried by the output shaft 41 of the drive motor to obtain sensing data, and determine whether the weight of the foreign object accumulation exceeds the weight threshold based on the pressure magnitude represented by the sensing data, thereby controlling the self-mobile robot to switch to cleaning mode or cutting mode.

[0185] For example, the detection component includes an optical sensor, which can optically detect the space between the chassis 103 and the cutting mechanism 200 to obtain sensing data, and determine whether the volume of the foreign object accumulation exceeds a volume threshold based on the sensing data, thereby controlling the self-propelled robot to switch to cleaning mode or cutting mode. The optical sensor includes, but is not limited to, an infrared sensor.

[0186] In an optional embodiment, the detection component includes a pressure sensor, which is disposed on the cutter head 21 or the output shaft 41 of the drive motor, for monitoring the weight change of the cutter head 21. This allows the self-moving robot to monitor the weight change of the cutter head 21. When the value detected by the pressure sensor exceeds a preset threshold, the self-moving robot switches to cleaning mode, controls the cutting mechanism 200 to move towards the cleaning component 30, so that the cutter head 21 in the cutting mechanism 200 and the cleaning component 30 in the cleaning component 30 are coupled together, and controls the speed regulator to control the cutter head 21 to reduce its rotation speed.

[0187] In one alternative implementation, the pressure sensor includes, but is not limited to, a thin-film pressure sensor, which has high sensitivity and anti-interference capabilities, and can further improve the accuracy of detecting grass clipping accumulation.

[0188] In other embodiments, the detection component can also detect whether there are grass clippings on the cutter head 21 using other sensors, such as infrared sensors and optical sensors; wherein, the infrared light of the infrared sensor will produce different reflection or absorption characteristics when it encounters different substances, so that the intensity of the reflected light of the grass clippings can be detected by the infrared sensor, thereby determining the accumulation of grass clippings.

[0189] For example, an infrared sensor is mounted on the side panel 104 and below the lowest position of the cutter head 21 so as to obtain the grass clipping accumulation of the cutter head 21 without being damaged by the movement of the cutter head 21; when the infrared sensor emits light and receives reflected light, the grass clipping accumulation will change the surface properties, causing the intensity of the reflected light to change, so that the infrared sensor can determine the degree of grass clipping accumulation by detecting this change.

[0190] In an alternative implementation, the optical sensor can be a laser sensor, which determines the degree of grass clipping accumulation by emitting a laser beam and measuring the time and angle at which it is reflected back.

[0191] In an alternative implementation, the optical sensor can also be a camera, which acquires real-time images of the cutter head 21 and uses image processing algorithms to analyze the accumulation of grass clippings.

[0192] By detecting the volume and / or weight of foreign objects, this solution can control the self-moving robot to switch to cleaning mode or cutting mode at appropriate times. This allows the cutting mechanism 200 to be intelligently controlled to rotate and cut when there are few foreign objects, and to actively control the cutting mechanism 200 to couple with the cleaning component 30 when there are many foreign objects, so that the cutting mechanism 200 can drive the cleaning component 30 to clean up the accumulated foreign objects.

[0193] In an optional implementation, the method further includes:

[0194] When the self-moving robot operates in cutting mode for more than a preset cutting time threshold, and / or when a first operation command is received instructing the self-moving robot to switch to cleaning mode, the self-moving robot is controlled to switch from cutting mode to cleaning mode.

[0195] Specifically, the triggering conditions for the self-moving robot provided in this application embodiment to switch from cutting mode to cleaning mode include at least one of the following conditions: working in cutting mode for more than a preset cutting time threshold; receiving a first operation instruction based on user input.

[0196] It should be noted that when the cutting mode operates for more than the preset cutting time threshold, the self-moving robot can automatically enter the cleaning mode to prevent excessive foreign matter from accumulating between the chassis 103 and the cutting mechanism 200 due to prolonged continuous cutting actions, which could lead to blockage of the cutting mechanism 200. Furthermore, the user can also input a first operation command to actively control the self-moving robot to switch to cleaning mode. It should be understood that the above two triggering conditions are compatible to enhance the intelligence of the self-moving robot.

[0197] In an optional implementation, the method further includes:

[0198] When the self-moving robot operates in cleaning mode for more than a preset cleaning time threshold, and / or when a second operation command is received instructing the self-moving robot to switch to cutting mode, the self-moving robot is controlled to switch from cleaning mode to cutting mode.

[0199] Specifically, the triggering conditions for the self-moving robot provided in this application embodiment to switch from cleaning mode to cutting mode include at least one of the following conditions: working in cleaning mode for more than a preset cleaning time threshold; receiving a second operation instruction based on user input.

[0200] It should be noted that when the self-moving robot operates in cleaning mode for more than the preset cutting time threshold, meaning that the cleaning component 30 has cleaned the space between the chassis 103 and the cutting mechanism 200 for a sufficient period of time, the self-moving robot can automatically enter cutting mode. This ensures that the self-moving robot has enough time to perform cutting actions, thereby improving cutting efficiency. Furthermore, the user can also input a second operation command to the self-moving robot to actively control it to switch to cutting mode. It should be understood that the above two triggering conditions are compatible to enhance the intelligence level of the self-moving robot.

[0201] This application also provides a computer storage medium for computer-readable storage, which stores one or more programs that can be executed by one or more processors to implement the steps of any of the self-moving robot control methods provided in the embodiments of this application.

[0202] The computer storage medium can be the internal storage unit of the self-moving robot described in the aforementioned embodiments, such as the hard drive or memory of the self-moving robot. The storage medium can also be an external storage device of the self-moving robot, such as a plug-in hard drive, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the self-moving robot.

[0203] In summary, the self-moving robot of this application embodiment controls the movement of the cutting mechanism 200 to couple or decouple the cutting mechanism 200 from the cleaning component 30, and drives the cutting mechanism 200 to rotate to clean the chassis 103 of the machine body 100 when the cutting mechanism 200 is coupled to the cleaning component 30. This achieves automatic cleaning of the chassis 103 without manual operation by the user and has a better cleaning effect, improving the user experience of self-moving robots such as lawnmowers.

[0204] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0205] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0206] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0207] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A self-moving robot, comprising: The machine body includes a vehicle body and a walking assembly, the walking assembly being mounted on the vehicle body for driving the vehicle body forward; A cutting mechanism, comprising a cleaning component, a cutting component, and a driving component; the cleaning component is used to remove debris from the bottom of the vehicle body; the cutting component is used to cut the object to be cut; and the driving component is used to drive the cutting component to rotate. The self-moving robot has at least two working modes. In the first working mode, the cutting component is separated from the cleaning component, and the driving component provides cutting power to the cutting component alone. In the second operating mode, the cutting component is coupled to the cleaning component, and the driving component provides power to at least the cleaning component so that the cleaning component can clean the bottom of the vehicle body.

2. The self-moving robot according to claim 1, wherein, The cutting assembly includes a cutting blade and a blade disc for selectively coupling or separating from the cleaning assembly. The cutting blade is fixed below the blade disc. After the cleaning assembly is coupled to the blade disc, at least a portion of the structure in the cleaning assembly is capable of rotating synchronously with the blade disc.

3. The self-moving robot according to claim 1, wherein, The cutting component has a highest point and a lowest point and is capable of reciprocating between the highest point and the lowest point. When the cutting component is at the highest point, the cutting component is coupled to the cleaning component. When the cutting component is at the lowest point, the cutting component separates from the cleaning component; And / or, The drive assembly has a first rotational speed and a second rotational speed. When the cleaning assembly is coupled to the cutting assembly, the set rotational speed of the drive assembly is reduced to the first rotational speed. When the cleaning component separates from the cutting component, the set rotation speed of the drive component increases to a second rotation speed, which is greater than the first rotation speed.

4. The self-moving robot according to claim 2, wherein, The cleaning assembly includes a scraper assembly, which is rotatably mounted on the bottom of the vehicle body and separated from the cutter disc. When the cutter disc moves to the highest point, the cutter disc couples with the cleaning assembly.

5. The self-moving robot according to claim 4, wherein, The scraper assembly includes a scraper section and a coupling section that can rotate synchronously with and separate from the cutter head. The scraper section is disposed on the periphery of the coupling section and is used to clean debris from the bottom of the vehicle body.

6. The self-moving robot according to claim 5, wherein, The coupling part is provided with multiple transmission teeth for transmitting power, and the cutter head is provided with multiple output teeth on the side opposite to the cutting assembly. The output teeth engage with the transmission teeth when the cutter head moves to the highest point.

7. The self-moving robot according to claim 5, wherein, The scraper assembly includes a first scraper member and a second scraper member, which are symmetrically arranged with respect to the axis of the coupling portion.

8. The self-moving robot according to claim 4, wherein, The cutting mechanism includes a base disposed at the bottom of the vehicle body, the cleaning component includes a bearing component, and the scraper assembly is rotatably mounted on the base via the bearing component and coaxially disposed with the cutter disc.

9. The self-moving robot according to claim 8, wherein, The bearing component includes a crossed roller bearing having an outer ring portion and an inner ring portion concentrically disposed with respect to the outer ring portion. The inner ring portion is fixed on the base, and the scraper assembly is fixed on the outer ring portion.

10. The self-moving robot according to claim 3, wherein, The self-moving robot also includes a speed regulator, which is electrically connected to the drive assembly and is used to adjust the speed of the drive assembly at the highest and lowest points.

11. The self-moving robot according to claim 10, wherein, The self-moving robot also includes a detection component, which is electrically connected to the speed regulator and is used to detect the coupling state of the cutter head and the scraper assembly and / or the accumulation of debris.

12. A cleaning control method applied to a self-moving robot, wherein, The self-moving robot includes a cleaning component, a cutting component, and a driving component, and the control method includes: The driving component can drive the cutting component to perform cutting actions and adjust the position of the cutting component; When debris is detected at the bottom of the self-moving robot, the drive component is controlled to couple the cutting component with the cleaning component, so that the cleaning component can rotate and remove the debris at the bottom of the self-moving robot. After a preset time, the cutting component and the cleaning component are separated, so that the driving component provides cutting power to the cutting component alone.

13. A self-moving robot, wherein, At least including: The main body of the machine is equipped with a chassis; A cutting mechanism is movably disposed on the side of the machine body near the chassis and is used to perform cutting actions; A cleaning mechanism, which is movable relative to the chassis, and is disposed between the chassis and the cutting mechanism; and A controller, at least for connection to the cutting mechanism, is used to control the cutting mechanism to perform corresponding actions according to the current working mode of the self-mobilizing robot. The working mode of the self-mobilizing robot includes a switchable cutting mode and a cleaning mode. In the cutting mode, the controller controls the cutting mechanism to rotate relative to the chassis and the cleaning mechanism to perform the cutting action; In the cleaning mode, the controller controls the cutting mechanism to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism are coupled together, and controls the cutting mechanism to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

14. The self-moving robot as described in claim 13, wherein, The cutting mechanism includes at least a cutting component and a first driving component, wherein the first driving component is used to drive the cutting component to rotate in order to perform a cutting action; The cutting assembly includes a cutter head and a cutting blade for cutting the object to be cut. The cutter head is located at the bottom of the machine body and is connected to the output shaft of the first drive assembly. The side of the cutter head near the cleaning mechanism can be coupled with the cleaning mechanism. The cutting blade is mounted on the cutter head.

15. The self-moving robot as described in claim 14, wherein, The cleaning mechanism includes a scraper assembly, which is rotatably mounted on the bottom of the machine body and separately disposed from the cutter disc, and in the cutting mode, the cutting mechanism is coupled to the cutter disc; The scraper assembly includes a scraper section and a coupling section that can rotate synchronously with and separate from the cutter head. The scraper section is disposed on the periphery of the coupling section.

16. A control method for a self-moving robot, wherein, The self-moving robot includes at least: a machine body, a cutting mechanism, and a cleaning mechanism. The machine body is provided with a chassis. The cutting mechanism is movably disposed on the side of the machine body near the chassis and is used to perform cutting actions. The cleaning mechanism is movable relative to the chassis and is disposed between the chassis and the cutting mechanism. The method includes: The self-moving robot controls the cutting mechanism to perform corresponding actions according to its current working mode. The working modes of the self-moving robot include a switchable cutting mode and a cleaning mode. In the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to perform the cutting action; In the cleaning mode, the cutting mechanism is controlled to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism are coupled together, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

17. The method of claim 16, wherein, The method further includes: When the self-moving robot switches from the cleaning mode to the cutting mode, it controls the cutting mechanism to move away from the cleaning mechanism so as to decouple the cutting mechanism from the cleaning mechanism.

18. The method of claim 16, wherein, The method further includes: In the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis at a first rotational speed; In the cleaning mode, the cutting mechanism is controlled to rotate relative to the chassis at a second rotational speed, wherein the second rotational speed is less than the first rotational speed.

19. The method of claim 18, wherein, The method further includes: When the coupling between the cutting mechanism and the cleaning mechanism is detected, the cutting mechanism is controlled to rotate at the second rotation speed; When the cutting mechanism is detected to be decoupled from the cleaning mechanism, the cutting mechanism is controlled to perform cutting operations at a first rotational speed.

20. The method of claim 16, wherein, The method further includes: The accumulation of foreign objects between the chassis and the cutting mechanism is detected, and corresponding sensor data is obtained; The self-moving robot is controlled to switch between the cutting mode and the cleaning mode based on the sensor data.

21. The method of claim 20, wherein, The step of controlling the self-moving robot to switch to the cutting mode or the cleaning mode based on the sensor data includes: The weight of the foreign object accumulation between the chassis and the cutting mechanism is determined based on the sensor data. When the weight of the accumulated foreign matter exceeds a weight threshold, the self-moving robot is controlled to switch to the cleaning mode; When the weight of the accumulated foreign object does not exceed the weight threshold, the self-moving robot is controlled to switch to the cutting mode. And / or, The volume of foreign matter accumulation between the chassis and the cutting mechanism is determined based on the sensor data. When the volume of the foreign object accumulation exceeds a volume threshold, the self-moving robot is controlled to switch to the cleaning mode; When the volume of the foreign object accumulation does not exceed the volume threshold, the self-moving robot is controlled to switch to the cutting mode.

22. The method of claim 16, wherein, The method further includes: When the self-moving robot operates in the cutting mode for more than a preset cutting time threshold, and / or when a first operation instruction is received instructing the self-moving robot to switch to the cleaning mode, the self-moving robot is controlled to switch from the cutting mode to the cleaning mode.

23. The method of claim 16, wherein, The method further includes: When the self-moving robot operates in the cleaning mode for more than a preset cleaning time threshold, and / or when a second operation instruction is received instructing the self-moving robot to switch to the cutting mode, the self-moving robot is controlled to switch from the cleaning mode to the cutting mode.

24. The method of claim 16, wherein, The cutting mechanism includes at least: The cutting assembly is movable relative to the chassis, and the cutting assembly can be coupled to or detached from the cleaning mechanism; A first drive assembly is used to drive the cutting assembly to rotate relative to the chassis; The second drive assembly is used to drive the cutting assembly to move in a direction toward or away from the chassis; The method further includes: In the cutting mode, the first driving component is controlled to drive the cutting component to rotate relative to the chassis; In the cleaning mode, the second drive component is controlled to drive the cutting component to move toward the cleaning mechanism so that the cutting component is coupled with the cleaning mechanism, and the first drive component is controlled to drive the cutting component to rotate relative to the chassis so that the cleaning mechanism rotates relative to the chassis so that the cleaning mechanism cleans the side of the chassis near the cutting mechanism.

25. A computer storage medium, wherein, The computer-readable storage medium stores a computer program that, when executed by a processor, causes a self-moving robot equipped with the processor to implement the control method as described in any one of claims 12, 16 to 24.

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