Autonomous mobile robot and control method therefor, and computer-readable storage medium

Abstract

An autonomous mobile robot and a control method therefor, and a computer-readable storage medium. The autonomous mobile robot comprises a robot body, a cutting mechanism, and a protection assembly. The robot body comprises a chassis and a traveling assembly; and the traveling assembly is arranged on the chassis and used for driving the chassis to travel. The cutting mechanism comprises cutting assemblies and a driving assembly; the driving assembly is transmittingly connected to the cutting assemblies and used for driving the cutting assemblies to cut an object to be cut; and each cutting assembly comprises a blade disc and cutting blades. The protection assembly is arranged at the bottom of the chassis and comprises accommodating structures formed thereon; the protection assembly is capable of moving up and down relative to the chassis; each blade disc is partially accommodated in the corresponding accommodating structure, and the cutting blades protrude from the accommodating structure so as to cut said object.

Description

Self-moving robot and its control method, computer-readable storage medium

[0001] This application claims priority to the following patent applications, the entire contents of which are incorporated herein by reference:

[0002] A patent application entitled "Self-Moving Robot" was filed with the China Patent Office on February 6, 2025, with application number 2025101335335.

[0003] A patent application entitled "Self-Moving Robot" was filed with the China Patent Office on February 6, 2025, with application number 2025101335316.

[0004] A patent application was filed with the China Patent Office on February 6, 2025, with application number 2025101335301 and invention title "Charging Base Station and Self-Moving Robot";

[0005] A patent application was filed with the China Patent Office on February 6, 2025, with application number 2025101335299 and invention title "Control method for self-moving robot, robot and storage medium".

[0006] A patent application entitled "Self-Moving Robot" was filed with the China Patent Office on February 6, 2025, with application number 202520187517X. Technical Field

[0007] This application relates to the field of self-moving robot technology, and in particular to a self-moving robot and its control method, as well as a computer-readable storage medium. Background Technology

[0008] During use, the bottom of the self-moving robot is easily caught in the debris generated during cutting, causing debris to accumulate on the inside of the cutting disc. If this is not addressed for a long time, the debris will obstruct the rotation of the disc, preventing it from rotating properly and affecting the normal operation of the self-moving robot. It may even cause the disc to jam, reducing the robot's lifespan. Summary of the Invention

[0009] This application provides a self-moving robot and its control method, as well as a computer-readable storage medium, which can prevent debris generated during cutting by the cutting component from entering the cutting component through a protective component, thereby avoiding excessive debris accumulation inside the cutting component and preventing the cutting component from working properly.

[0010] To achieve the above objectives, this application provides a self-moving robot, comprising:

[0011] The main body of the machine includes a vehicle body and a walking assembly, wherein the walking assembly is mounted on the vehicle body and is used to drive the vehicle body to move.

[0012] A cutting mechanism, comprising a cutting component and a driving component, wherein the driving component is connected to the cutting component for driving the cutting component to cut the workpiece, and the cutting component comprises a cutter head and a cutting blade;

[0013] A protective component is disposed at the bottom of the vehicle body and has a receiving structure. The protective component is movable up and down relative to the vehicle body. The cutter head is partially housed in the receiving structure, and the cutting blade protrudes from the receiving structure to cut the object to be cut.

[0014] Furthermore, to achieve the above objectives, this application also provides a control method for a self-moving robot, comprising:

[0015] Obtain self-cleaning instructions;

[0016] In response to the self-cleaning command, the protective components of the self-moving robot are controlled to adjust to a cleaning height that contacts the target object;

[0017] The self-moving robot is controlled to move so that the target object comes into contact with the protective component to clean the debris on the protective component.

[0018] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method for a self-moving robot as described above.

[0019] The technical solution provided in this application embodiment may include the following beneficial effects: The self-moving robot of this application includes a machine body, a cutting mechanism and a protective component. The cutting mechanism includes a cutting component and a driving component. The driving component is connected to the cutting component and is used to drive the cutting component to cut the object to be cut. The protective component is set at the bottom of the vehicle body and forms a receiving structure. The protective component can move up and down relative to the vehicle body. The cutter head of the cutting component is housed in the receiving structure. The cutting blade of the cutting component is exposed from the receiving structure, which can effectively prevent the debris generated during cutting from entering the cutting component, avoid excessive debris accumulation in the cutting component, and prevent the cutting component from working properly, thereby improving the cutting efficiency of the self-moving robot.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 is a structural schematic diagram of a self-moving robot provided in an embodiment of this application;

[0023] Figure 2 is a schematic diagram of the self-moving robot in Figure 1 from another angle;

[0024] Figure 3 is a cross-sectional view of the self-moving robot in Figure 1, in which the protective components are in the highest position;

[0025] Figure 4 is a cross-sectional view of the self-moving robot in Figure 1, in which the protective components are in the lowest position;

[0026] Figure 5 is an exploded view of the self-moving robot in Figure 1;

[0027] Figure 6 is an exploded view of the driving component and the cutting component in Figure 5;

[0028] Figure 7 is a schematic diagram of the protective component in Figure 5;

[0029] Figure 8 is another schematic diagram of the protection component in Figure 5;

[0030] Figure 9 is a cross-sectional schematic diagram of the protection component in Figure 5.

[0031] Figure 10 is a partial enlarged view of the self-moving robot in Figure 2;

[0032] Figure 11 is a structural schematic diagram of a self-moving robot provided in an embodiment of this application;

[0033] Figure 12 is a schematic diagram of the self-moving robot in Figure 11 from one of the angles;

[0034] Figure 13 is an exploded view of the self-moving robot in Figure 11;

[0035] Figure 14 is a schematic diagram of the self-moving robot in Figure 13 from one of the angles;

[0036] Figure 15 is a cross-sectional view of the cutter head in Figure 5;

[0037] Figure 16 is a schematic diagram of the charging base station in Figure 11;

[0038] Figure 17 is an exploded view of the cleaning components in Figure 11;

[0039] Figure 18 is a flowchart illustrating the steps of a control method for a self-moving robot provided in an embodiment of this application;

[0040] Figure 19 is a flowchart illustrating the steps of a control method for a self-moving robot provided in another embodiment of this application;

[0041] Figure 20 is a flowchart illustrating the steps of a control method for a self-moving robot provided in another embodiment of this application;

[0042] Figure 21 is a flowchart illustrating the steps of a control method for a self-moving robot provided in another embodiment of this application;

[0043] Figure 22 is a schematic block diagram of the structure of a self-moving robot provided in an embodiment of this application;

[0044] Explanation of reference numerals in the attached drawings: 10. Machine body; 11. Vehicle body; 12. Walking assembly; 20. Cutting mechanism; 21. Cutting assembly; 211. Cutter head; 2111. First protrusion; 212. Cutting blade; 213. Cutting plane; 22. Base; 221. Base plate; 222. Side panel; 23. Protective assembly; 23a. Protective disc; 23b. Seal; 23c. Protective frame; 231. Receiving structure; 231a. Recessed structure; 2311. First groove; 2312. Second groove; 231b. Through hole structure; 232. Protective component; 233. Second protrusion; 234. Cutting surface; 235. First plane; 24. Drive assembly; 241. First drive assembly; 242. Second drive assembly; 243. Drive frame; 30. Charging base station; 31. Charging stand; 32. Cleaning component; 32a. First scraper structure; 321. Guide part; 32b. Second scraper structure; 322. Scraper part; 33. Ground stake. Detailed Implementation

[0045] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] It should also be understood that the terminology used in this application specification is merely for describing specific realities within the scope 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" or "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.

[0047] In addition to the related technologies of self-moving robots and control methods for self-moving robots described in this application, in some embodiments, Chinese patent applications with application numbers 2025101335335, 2025101335316, 2025101335301, 2025101335299, and 202520187517X are referenced and incorporated herein by reference.

[0048] 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.

[0049] As shown in Figures 1 and 2, this application provides a self-moving robot, including a main body 10 and a cutting mechanism 20. The cutting mechanism 20 is located at the bottom of the main body 10 and is used to cut the 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.

[0050] In one alternative implementation, the self-moving robot includes a vehicle body 11 and a walking component 12. A cutting mechanism 20 is disposed at the bottom of the vehicle body 11, and the walking component 12 is disposed on the vehicle body 11 to drive the vehicle body 11 to move, so that the vehicle body 11 can drive the cutting mechanism 20 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0051] In an optional implementation, as shown in Figures 2 to 4, the cutting mechanism 20 includes a cutting component 21 and a driving component 24. The driving component 24 is connected to the cutting component 21 for driving the cutting component 21 to cut the object to be cut, providing cutting power to the cutting component 21, greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0052] In an optional embodiment, the self-moving robot further includes a protective component 23 disposed at the bottom of the vehicle body 11. At least a portion of the cutting component 21 protrudes from the side of the protective component 23 away from the vehicle body 11 for cutting the object to be cut. A drive component 24 is disposed on the side of the protective component 23 away from the cutting component 21, allowing the protective component 23 to isolate the drive component 24 from the portion of the cutting component 21 protruding from the protective component 23. This prevents debris generated during cutting by the cutting component 21 from entering the bottom of the vehicle body 11. This debris would not only soil the bottom of the vehicle body 11, increasing its overall weight, but also affect the normal operation of the drive component 24, potentially causing motor stall. As shown in Figure 10, the height of the first plane 235 of the protective component 23 facing the ground is greater than the height of the cutting plane 213 of the cutting component 21 from the ground.

[0053] In one optional implementation, the height difference h between the first plane 235 and the cutting plane 213 is no greater than 2 cm; preferably, the height difference h is 0.2 cm to 1 cm. This height difference effectively prevents debris accumulation and ensures smooth operation of the cutting assembly.

[0054] In an optional embodiment, a receiving structure 231 is formed on the protective component 23. The receiving structure 231 is used to partially cover the cutting component 21 and expose the working part of the cutting component 21 for cutting the workpiece. The receiving structure 231 can be a through-hole structure or a groove structure on the protective component 23. This application does not limit the specific type of receiving structure. The main purpose is to ensure that at least a portion of the cutting component 21 can be accommodated in the receiving structure 231, while another portion of the cutting component 21 can be exposed from the receiving structure 231, so that the workpiece can be cut. Simultaneously, it prevents debris generated during cutting from entering the inner side of the cutting component 21, effectively preventing debris from causing a decrease in the rotational speed of the drive component 24 or even causing it to stall.

[0055] In an optional implementation, the protective component 23 can move vertically relative to the vehicle body 11 to clean debris from the protective component 23, preventing debris accumulation that would increase the overall weight of the self-moving robot and even reduce the cutting efficiency of the cutting component 21. This also solves the problem of large amounts of debris accumulating at the bottom of the vehicle body 11, saving manpower and ensuring the self-moving robot remains unaffected during lawn mowing.

[0056] It should be noted that the debris includes, but is not limited to, grass clippings generated by the self-moving robot when mowing the lawn. These grass clippings tend to accumulate at the bottom of the vehicle body 11 when the cutting component 21 is cutting, which not only increases the overall weight of the self-moving robot, but also causes grass clippings to accumulate at the bottom of the vehicle body 11, affecting the rotation of the cutting component 21 and reducing the cutting efficiency.

[0057] For example, when the self-moving robot needs to clean debris from its bottom, it adjusts the position of the protective component 23 to its lowest point, allowing debris on the protective component 23 to be cleaned during the robot's movement. When the protective component 23 is in its lowest position, it can contact the object to be cut, or it can contact a cleaning component fixed to the grass, allowing the object to be cut or the cleaning component to clean the bottom of the self-moving robot. This quickly removes debris from the bottom of the vehicle body 11 without manual cleaning, resulting in fast and efficient cleaning. It also prevents debris buildup on the bottom of the self-moving robot, which could affect its normal operation or even damage it.

[0058] It should be noted that the cutting height can also be adjusted by adjusting the position of the protective component 23, and this application does not impose any limitations on this.

[0059] In an optional embodiment, as shown in Figures 2 to 5, the vehicle body has a base 22 disposed at the bottom of the vehicle body. A cutting mechanism 20 is mounted on the lower end of the base 22 for cutting the object to be cut. A receiving space is formed on the side of the base 22 away from the vehicle body 11. A protective component 23 is disposed in the receiving space. The edge shape of the protective component 23 is adapted to the contour of the receiving space. The base 22 is mounted on the bottom of the vehicle body 11, and the protective component 23 is mounted on the side of the base 22 away from the vehicle body 11. A drive component 2... 4. The protective component 23 is positioned on the side facing the base 22, and the cutting component 21 is exposed on the side of the protective component 23 away from the base 22. This allows the protective component 23 to prevent debris generated during cutting by the cutting component 21 from entering its side away from the base 22, thus avoiding any impact on the drive component 24. Alternatively, the protective component 23 and the base 22 can work together to shield the debris generated during cutting by the cutting component 21, preventing the debris from entering the interior of the self-moving robot, especially into the circuit area of ​​the self-moving robot, causing a short circuit in the circuit area.

[0060] In an optional embodiment, a receiving space is formed on the side of the base 22 away from the vehicle body 11, and the protective component 23 is received in the receiving space, so that the protective component 23 can form a gapless sliding fit with the inner wall of the receiving space. This not only prevents debris from entering the side of the protective component 23 facing the vehicle body 11 through the gap between the inner wall of the receiving space and the protective component 23, but also reduces the processing area of ​​the base 22 and reduces the process difficulty. While ensuring the sealing between the protective component 23 and the inner wall of the base 22, the protective component 23 can move up and down relative to the base 22 without gap. At the same time, the protective component 23 can also clean the inner wall of the receiving space during the up and down movement.

[0061] In an optional embodiment, the base 22 includes a base plate 221 and side panels 222 connected to the periphery of the base plate 221. The base plate 221 is mounted on the bottom of the vehicle body 11. The side panels 222 and the base plate 221 enclose a receiving space, and the protective component 23 is received in the receiving space so that the side panels 222 can protect the protective component 23 and the cutting component 21 on the protective component 23.

[0062] In an optional implementation, the protective component 23 is adapted to the receiving space so that when the protective component 23 moves up and down relative to the base 22, it can clean the side wall of the receiving space, which can effectively prevent the accumulation of debris in the receiving space and also prevent the cutting component from being blocked by the debris accumulated in the receiving space, thus preventing the cutting component from working properly.

[0063] In an optional embodiment, the protective component 23 is configured without gaps in the circumferential direction of the receiving space, thereby preventing the debris generated by the cutting component 21 during cutting from entering the base 22, avoiding excessive debris accumulation in the cutting component 21, which could affect the normal operation of the drive component 24, or even cause the drive component 24 to stall.

[0064] In an optional embodiment, the base 22 includes a base plate 221 and side panels 222 connected to the periphery of the base plate 221. The base plate 221 is installed at the bottom of the vehicle body 11. The side panels 222 and the base plate 221 enclose a receiving space adapted to the protective component 23. The protective component 23 is received in the receiving space and can clean or scrape the inner wall of the receiving space, thereby peeling off the debris attached to the inner wall of the receiving space from the inner wall surface of the receiving space, preventing debris from adhering to the inner wall of the receiving space, and thus achieving the technical effect of cleaning the receiving space.

[0065] For example, when the protective component 23 moves toward the side away from the substrate 221, the protective component 23 can move relative to the inner wall of the receiving space to scrape and clean the inner wall of the receiving space, thereby peeling off the debris attached to the inner wall of the receiving space from the inner wall of the receiving space and preventing the debris from accumulating on the inner wall of the receiving space, thereby achieving the technical effect of cleaning the receiving space.

[0066] For example, the side panel 222 can prevent other personnel from reaching their hands into the cutting component 21 through the gap between the self-moving robot and the ground when the cutting component 21 is performing the cutting action, thus preventing them from being cut by the cutting component 21; or, when the height of the obstacle on the ground (such as a rock, a metal can, or other hard obstacle) is greater than the height of the cutting component 21 off the ground, the side panel 222 can push the obstacle away when the self-moving robot is moving, or prevent the obstacle from entering the receiving space, thereby preventing the cutting component 21 from colliding with the obstacle and causing damage to the cutting component 21.

[0067] In an optional embodiment, as shown in Figures 2 to 9, the protective component 23 includes a seal 23b and a protective disc 23a. The protective disc 23a is installed in the receiving space. The cutting component 21 is disposed on the side of the protective disc 23a away from the substrate 221. The seal 23b is disposed between the protective disc 23a and the side panel 222 to fill the gap between the protective disc 23a and the side panel 222, preventing debris generated by the cutting component 21 from entering the side facing away from the base 22. At the same time, it will not affect the up-and-down movement of the protective disc 23a. It can also scrape off the sticky grass on the seal 23b when the protective component 23 is in the lowest position to prevent grass blockage. During the up-and-down movement, the seal 23b can also scrape off the debris remaining on the side panel 222 to ensure the cleanliness of the side panel 222.

[0068] In an optional embodiment, the outer contour of the protective disk 23a is adapted to the inner contour of the receiving space, and the sealing member 23b is arranged around the outer periphery of the protective disk 23a and abuts against the inner side of the side plate 222. This not only effectively prevents debris from entering the side of the protective disk 23a facing the substrate 221 from the gap between the protective disk 23a and the side plate 222, but also reduces the processing area of ​​the protective disk 23a, reduces the process difficulty, and better ensures the fitting accuracy between the protective disk 23a and the side plate 222.

[0069] In an optional embodiment, the seal 23b includes at least one of a sealing strip and a sealing wool strip, which are received in a receiving space to fill the gap between the side panels 222 of the protective disc 23a, thereby effectively preventing debris generated by the cutting assembly 21 during cutting from entering its side facing away from the base 22, without affecting the vertical movement of the protective disc 23a relative to the receiving space.

[0070] For example, the seal 23b includes a sealing strip that is arranged around the outer periphery of the protective disc 23a. When the protective disc 23a is installed into the receiving space, the sealing strip abuts against the inner side of the side panel 222 to fill the gap between the protective disc 23a and the side panel 222. This effectively prevents the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the base 22, without affecting the vertical movement of the protective disc 23a relative to the receiving space.

[0071] For example, the seal 23b includes a sealing strip, which is arranged around the outer periphery of the protective disc 23a. When the protective disc 23a is installed into the receiving space, the sealing strip abuts against the inner side of the side panel 222 to fill the gap between the protective disc 23a and the side panel 222. This effectively prevents the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the base 22, and does not affect the up-and-down movement of the protective disc 23a relative to the receiving space.

[0072] It should be noted that the sealing strip includes, but is not limited to, the brush or bristle structure set on the protective plate 23a. Its main purpose is to fill the gap between the protective plate 23a and the side panel 222, prevent the debris generated by the cutting component 21 during cutting from entering the side facing away from the base 22, and at the same time, it should not affect the raising and lowering of the protective plate 23a.

[0073] In an optional embodiment, the protective disc 23a has a planar cutting surface 234, which is the side away from the substrate 221. At least a portion of the cutting component 21 is exposed from the cutting surface 234 for cutting the object to be cut. The cutting surface 234 is configured as a planar structure and adapted to the shape of the receiving space, allowing it to completely cover the cutting component 21 with the base 22. This not only prevents grass clippings from splashing onto the inside of the protective disc 23a during cutting, but also reduces grass clipping accumulation compared to a grooved cutting surface 234.

[0074] In an optional embodiment, a receiving structure 231 is formed on the cutting surface 234 and corresponds to the projected position of the cutting assembly 21, and the diameter of the receiving structure 231 is adapted to the outer diameter of the cutting assembly 21 to prevent the debris generated by the cutting assembly 21 during cutting from entering the side of the cutting assembly 21 facing away from the base 22 through the gap between the cutting assembly 21 and the protective disk 23a, while not affecting the rotation of the cutting assembly 21.

[0075] In an optional embodiment, the depth of the receiving structure 231 is adapted to the height of the connecting seat of the cutting assembly 21, so that the connecting seat of the cutting assembly 21 can be accommodated in the receiving structure 231, and the cutting disc 211 of the cutting assembly 21 can be exposed from the receiving structure 231 to expose the cutting surface 234. This can effectively prevent debris from entering the inside of the cutting assembly 21, which could cause the output shaft connected to the cutting assembly 21 to jam.

[0076] In an optional embodiment, the cutter head 211 of the cutting assembly 21 is partially housed in the receiving structure 231, and the cutting surface 234 is exposed from the receiving structure 231. In other words, the cutter head 211 protrudes from the receiving structure 231, thereby effectively preventing debris from entering the inside of the cutting assembly 21 and causing the output shaft connected to the cutting assembly 21 to jam.

[0077] In one optional embodiment, the cutting assembly 21 includes a cutter head 211 and a cutting blade 212 for cutting the object to be cut. The cutter head 211 includes a connecting seat and a cutter head 211 body connected to the connecting seat. The connecting seat is drively connected to the output shaft of the drive assembly 24. The cutting blade 212 is mounted on the cutter head 211 body, enabling the drive assembly 24 to drive the cutter head 211 body and the cutting blade 212 to rotate via the connection between the output shaft and the connecting seat, thereby improving cutting efficiency and ensuring a neat cut of the lawn.

[0078] It should be noted that the drive assembly 24 can be, but is not limited to, a drive motor, and the cutter head 211 is connected to the output shaft of the drive motor.

[0079] In an optional embodiment, as shown in Figures 3 to 6, the drive assembly 24 includes a first drive assembly 241 and a second drive assembly 242; wherein, the first drive assembly 241 is used to drive the cutting assembly 21 to rotate relative to the base 22, so that the cutting assembly 21 can cut the workpiece. The second drive assembly 242 is used to drive the protective assembly 23 to move up and down to clean up the debris accumulated on the protective assembly 23.

[0080] For example, the self-moving robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the second drive component 242 controls the protective component 23 to move upward, and the first drive component 241 controls the cutting component 21 to rotate relative to the base 22 and the protective component 23 to perform the cutting action. In the cleaning mode, the second drive component 242 controls the protective component 23 to move downward, so that the protective component 23 can contact the object to be cut or an external cleaning component. This allows the bottom of the self-moving robot to be cleaned by the object to be cut or the cleaning component, quickly removing debris from the protective component 23 without manual cleaning. The cleaning speed is fast and efficient, preventing debris accumulation at the bottom of the self-moving robot from affecting its normal operation or even damaging it.

[0081] In an optional embodiment, a first drive assembly 241 is mounted on the side of the protective assembly 23 facing the base 22 and is connected to the cutting assembly 21 in a transmission manner. A second drive assembly 242 is connected to the first drive assembly 241 in a transmission manner and is used to drive the first drive assembly 241 to move up and down, so that the first drive assembly 241 can drive the protective assembly 23 and the cutting assembly 21 to move up and down.

[0082] For example, the first drive component 241 and the second drive component 242 are independent of each other. In cutting mode, the second drive component 242 drives the first drive component 241 to move upward, thereby causing the protective component 23 and the cutting component 21 to move upward, so that the protective component 23 can be located at the highest position (as shown in Figure 3). Then, the first drive component 241 drives the cutting component 21 to rotate relative to the protective component 23. When the self-moving robot switches from cutting mode to cleaning mode, it is necessary to control the second drive component 242 to drive the first drive component 241 to move downward, thereby causing the protective component 23 and the cutting component 21 to move downward on the first drive component 241, so that the protective component 23 can be located at the lowest position (as shown in Figure 4), so that the object to be cut or the external cleaning component can clean the debris on the protective component 23. During the movement of the protective component 23 between the lowest and highest positions, the first drive component 241 can be controlled to stop driving the cutting component 21 to rotate, or the first drive component 241 can be controlled to drive the cutting component 21 to reduce its rotation speed. It should be understood that reducing the rotation speed of the cutting component 21 also helps to improve the safety of operation and avoid potential safety hazards caused by high-speed rotation. By lowering the protective component 23 to the lowest position, it can pass through the lawn.

[0083] In an optional embodiment, the drive assembly 24 includes a drive frame 243, a first drive assembly 241 fixed to the drive frame 243, and the drive frame 243 can reciprocate along the height direction of the vehicle body 11 under the drive of the second drive assembly 242, so as to drive the first drive assembly 241 and the protection assembly 23 and the cutting assembly 21 connected to the first drive assembly 241 to reciprocate, thereby realizing the automatic cleaning function of the protection assembly 23.

[0084] In an optional embodiment, the outer diameter of the cutter head 211 is adapted to the inner diameter of the receiving structure 231 to prevent grass clippings from entering the inner side of the cutter head 211 through the gap between the cutter head 211 and the receiving structure 231, thereby avoiding the output shaft from jamming due to debris accumulation.

[0085] In an optional embodiment, the cutting diameter of the cutting blade 212 during the cutting action is not less than the diameter of the receiving structure 231. That is, one end of the cutting blade 212 is fixed on the cutter head 211, and the other end of the cutting blade 212 extends radially along the cutter head 211 to the outside of the receiving structure 231. In this way, not only can the material to be cut be cut, but also grass clippings can be prevented from entering the inside of the cutter head 211 from the gap between the cutter head 211 and the receiving structure 231, thus avoiding the output shaft from jamming due to debris accumulation.

[0086] In an alternative embodiment, the receiving structure 231 is two recessed structures 231a formed on the protective disc 23a, the maximum diameter of the recessed structure 231a being adapted to the diameter of the cutter head 211 so that at least a portion of the cutter head 211 can be disposed in the recessed structure 231a.

[0087] For example, the recessed structure 231a has a first groove 2311 and a second groove 2312, with the second groove 2312 located at the bottom of the first groove 2311. The inner diameter of the second groove 2312 is smaller than the inner diameter of the first groove 2311, and the outer diameter of the cutter disc 211 matches the outer diameter of the first groove 2311. This ensures that grass clippings do not enter the inner side of the cutter disc 211 through the gap between the cutter disc 211 and the receiving structure 231, while simultaneously ensuring that the cutter disc 211 can rotate relative to the protective disc 23a to perform the cutting action.

[0088] In an optional embodiment, the depth of the first groove 2311 is adapted to the thickness of the cutter head 211 body, and the connecting seat is connected to the drive assembly 24 and accommodated in the second groove 2312 to ensure that grass clippings do not enter the inner side of the cutter head 211 body from the gap between the cutter head 211 body and the first groove 2311, while ensuring that the cutter head 211 body can rotate relative to the protective disc 23a to perform the cutting action.

[0089] It should be noted that the cutter head 211 body and the connecting seat can be an integral structure. That is, the cutter head 211 body can be a partial structure of the cutter head 211, or it can be an integral structure of the cutter head 211. The connecting seat is the connecting part of the cutter head 211 facing the base 22, and is used to connect with the rotating shaft. The rotating shaft can be an integral structure with the output shaft of the drive assembly 24, or it can be connected to the output shaft for transmission, so as to transmit the torque output by the output shaft to the connecting seat, and then transmit it to the cutter head body through the connecting seat. This application does not impose any limitations.

[0090] In an optional embodiment, a first protrusion 2111 is formed on the side of the cutter head 211 body facing the second groove 2312, and a second protrusion 233 is formed on the side of the second groove 2312 facing the cutter head 211 body. The first protrusion 2111 is arranged around the outside of the second protrusion 233 to prevent grass clippings from entering the inner side of the cutter head 211 body from the gap between the cutter head 211 body and the second groove 2312.

[0091] In an optional embodiment, the receiving structure 231 is two through-hole structures 231b formed on the protective disk 23a. The two through-hole structures 231b are spaced apart along the width direction of the vehicle body 11. The cutting components 21 are installed in each through-hole structure 231b respectively, so that the self-moving robot can drive the two cutting components 21 to cut the object to be cut, ensuring the cutting efficiency of the self-moving robot.

[0092] In an optional embodiment, the protective component 23 includes a protective frame 23c, which is mounted on the first drive component 241 and can move up and down with the lifting and lowering of the first drive component 241. The protective disk 23a is connected to the protective frame 23c. At least a portion of the cutting component 21 passes through the through hole structure 231b and is connected to the first drive component 241 so that the first drive component 241 can drive the cutting component 21 to cut the object to be cut.

[0093] In an optional embodiment, the protective component 23 includes a protective member 232 disposed on the side of the protective disk 23a away from the substrate 221. At least a portion of the structure of the cutting component 21 is located inside the protective member 232, which can effectively prevent obstacles from entering the cutting component 21 from both sides of the protective disk 23a, thereby improving the safety of the cutting component 21.

[0094] In an optional embodiment, the protective member 232 includes a protective protrusion and a protective strip. The protective protrusion is disposed outside the protective strip, and at least a portion of the protective strip covers the cutting assembly 21 and is connected to the cutting surface 234 to prevent obstacles from entering the cutting assembly 21 from both sides of the protective disc 23a, thereby improving the safety of the cutting assembly 21.

[0095] In an optional implementation, as shown in Figures 3 to 5, the protective disc 23a has a highest position and a lowest position and is capable of reciprocating between the highest and lowest positions. The cutting component 21 performs a cutting action when the protective disc 23a is in the highest position. The bottom of the machine body 10 performs a cleaning action when the protective disc 23a is in the lowest position, which avoids the accumulation of debris on the bottom of the machine body 10, reduces the frequency of manual maintenance, extends the service life of the self-moving robot, and also improves the working efficiency of the self-moving robot.

[0096] For example, as shown in Figure 3, when the protective disc 23a moves from the lowest position to the highest position, the self-moving robot can drive the cutting mechanism 20 to perform cutting operations on the object to be cut. The protective disc 23a can prevent grass clippings generated by the cutting mechanism 20 during grass cutting operations from entering the interior of the cutting component 21 and the machine body 10. The side panel 222 of the base 22 can prevent other personnel from reaching their hands into the position of the cutting component 21 through the gap between the self-moving robot and the ground when the cutting component 21 performs cutting operations, thus preventing them from being cut by the cutting component 21.

[0097] For example, as shown in Figure 4, after the self-moving robot completes the mowing action, the protective disc 23a moves from the highest position to the lowest position so that the protective disc 23a can contact the object to be cut or the external cleaning component. This allows the object to be cut or the cleaning component to clean the bottom of the self-moving robot, thereby quickly removing debris from the protective disc 23a without manual cleaning. This cleaning speed is fast and efficient, preventing debris from accumulating on the bottom of the self-moving robot, which could affect the normal operation of the self-moving robot or even damage it.

[0098] In an optional embodiment, the protective disc 23a moves between the highest and lowest positions by a distance of 15 mm to 70 mm, so that the cutting mechanism 20 can perform cutting operations on the object to be cut when the protective disc 23a is in the highest position, and can perform cleaning when the protective disc 23a is in the lowest position to prevent debris from accumulating at the bottom of the vehicle body 11.

[0099] In an optional embodiment, as shown in Figures 3 to 5, the self-moving robot further includes a detection component disposed on the bottom of the vehicle body 11. This detection component detects the accumulation of debris on the protective disc 23a, enabling the self-moving robot to raise and lower the protective disc 23a based on the debris accumulation detected by the detection component. Specifically, when the detection component detects debris on the protective disc 23a, it controls the protective disc 23a to move from its highest position to its lowest position to remove the debris.

[0100] In an optional embodiment, the detection component includes a pressure sensor mounted on the protective disc 23a to monitor changes in the weight of the cutter disc 211. This allows the self-moving robot to detect these changes. When the value detected by the pressure sensor exceeds a preset threshold, the self-moving robot controls the cutting component 21 to stop rotating, moves the protective disc 23a from its highest position to its lowest position, and the walking component 12 drives the vehicle body 11 to continue moving, cleaning the grass clippings off the cutter disc 211.

[0101] 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.

[0102] In other embodiments, the detection component can also detect whether there are grass clippings on the cutter head 211 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.

[0103] For example, an infrared sensor is mounted on the side panel 222 and below the lowest position of the cutter head 211 so as to obtain the grass clipping accumulation of the cutter head 211 without being damaged by the movement of the cutter head 211; 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.

[0104] 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.

[0105] In an alternative implementation, the optical sensor can also be a camera, which acquires real-time images of the cutter head 211 and uses image processing algorithms to analyze the accumulation of grass clippings.

[0106] In an alternative implementation, the self-moving robot also includes a control system that controls the protective disc 23a to move between a highest and lowest position based on the debris accumulation detected by the detection components, so as to clean up the accumulated grass clippings on the protective disc 23a.

[0107] For example, the detection component is connected to the control system via a cable. The detection component transmits the collected pressure change signal to the control system. The control system determines whether grass clippings are accumulating on the cutter head 211 based on a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clippings accumulating and then control the cutting component 21 to stop rotating. Then, the cutter head 211 is moved from the highest position to the lowest position so that the cutter head 211 can clean up the grass clippings during the movement of the self-moving robot.

[0108] In one optional implementation, the control system includes an amplifier circuit and a filter circuit. The output signal terminal of the detection component is connected to the input signal terminal of the amplifier circuit, and the output signal terminal of the amplifier circuit is connected to the input signal terminal of the filter circuit. This allows the amplifier circuit to amplify the pressure change signal acquired by the detection component and the filter circuit to filter out signal interference in the pressure change signal, thereby enabling the detection of weak signals and ensuring data accuracy.

[0109] For example, when the detection component transmits the collected pressure change signal to the control system, the control system amplifies and filters the pressure change signal through an amplification circuit and a filtering circuit to ensure the accuracy of the data. Then, the control system determines whether grass clippings are accumulating on the cutter head 211 based on a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clipping accumulation.

[0110] When the control system confirms that there is grass clippings accumulating on the cutter head 211, the control system will issue a control command to adjust the position of the cutter head 211 to the lowest position, and then start the cleaning program to ensure that the operation of the cutter head 211 will not be affected by grass clippings during long-term operation of the self-moving robot.

[0111] In one optional implementation, when the self-moving robot performs the cutting action, the detection component continuously monitors the pressure changes on the cutter head 211, so that the control system continuously receives pressure change signals from the detection component and analyzes these pressure change signals in real time; when the pressure change signal exceeds a preset pressure threshold, the control system will determine that too much grass clippings have accumulated. At this time, the control system will pause the mowing operation and prepare to start the cleaning program.

[0112] When the control system starts the cleaning program, it adjusts the cutter head 211 to the lowest position and then drives the self-moving robot to continue moving so as to clean up the grass clippings accumulated on the cutter head 211. After the grass clippings accumulated on the cutter head 211 are cleaned up, the self-moving robot returns to the position where the cleaning program was started, ends the cleaning program, and starts the cutting action.

[0113] It should be noted that the preset pressure threshold can be a multi-level pressure threshold. For example, the first-level pressure threshold can trigger a warning, and the second-level pressure threshold can trigger a cleaning program to prevent the control system from misjudging and frequently starting the cleaning program.

[0114] In an optional embodiment, as shown in Figures 11 to 17, the self-moving robot further includes a charging base station 30, which has a cleaning component 32. The cleaning component 32 can automatically remove debris from the bottom of the self-moving robot, preventing debris accumulation from causing a deterioration in the cutting effect of the self-moving robot, or even causing the cutting mechanism 20 of the self-moving robot to jam. With the cleaning component 32, manual cleaning is not required, and the bottom of the self-moving robot can be thoroughly cleaned, with fast cleaning speed and high efficiency.

[0115] In an optional implementation, the charging base station 30 includes a charging base 31 capable of charging the self-propelled robot. The cleaning component 32 can be positioned on the self-propelled robot's return path, or it can be positioned on the charging base 31. When the self-propelled robot returns to the charging base station 30, and the cutting mechanism 20 is adjusted to a position in contact with the cleaning component 32, the cleaning component 32 can clean the debris on the cutting mechanism 20, preventing debris accumulation that could reduce the cutting speed of the cutting mechanism 20, leading to a poorer cutting effect, and in severe cases, causing the cutting mechanism 20 to jam.

[0116] This application, by placing the cleaning component 32 on the moving surface of the self-mobile robot's return path to the charging base station or on the charging seat 31, allows the cleaning component 32 to clean the bottom of the self-mobile robot when it returns to the charging base station 30, after the cutting mechanism 20 is adjusted to a position in contact with the cleaning component 32. This quickly removes debris from the bottom of the vehicle body 11, ensuring the cutting mechanism 20 is thoroughly cleaned without manual cleaning. The cleaning speed is fast and efficient. It also prevents debris from accumulating on the bottom of the self-mobile robot during cutting, which could clog the grass discharge area of ​​the cutting mechanism 20 or even damage the self-mobile robot.

[0117] It should be noted that the movable surface may include, but is not limited to, grass, that is, the cleaning component 32 may be directly fixed on the grass, and this application does not impose any restrictions.

[0118] For example, when the self-moving robot finishes cutting and returns to the charging base station 30, the self-moving robot adjusts the cutting mechanism 20 to the lowest position so that the cleaning component 32 can contact the cutting mechanism 20 when the self-moving robot returns to the charging base station 30, thereby pushing out the debris accumulated on the cutting mechanism 20, so as to achieve the effect of cleaning the cutting mechanism 20. This avoids the accumulation of debris at the bottom of the self-moving robot due to the cutting action, which could cause blockage in the grass discharge area of ​​the cutting mechanism 20 or even damage to the self-moving robot.

[0119] It should be noted that at least part of the structure of the cleaning component 32 can be made of elastic material. When the self-moving robot returns to the charging base station 30, the self-moving robot adjusts the cutting mechanism 20 to a position slightly lower than the cleaning component 32, so that the cleaning component 32 can contact and bend with the self-moving robot. This allows the cleaning component 32 to scrape and wipe away debris or adhering substances on the cutting mechanism 20 as the self-moving robot passes by. This can push out the debris accumulated on the cutting mechanism 20 without damaging it, thereby achieving the effect of cleaning the cutting mechanism 20. This avoids the accumulation of debris at the bottom of the self-moving robot when it performs the cutting action, which could cause blockage in the grass discharge area of ​​the cutting mechanism 20 or even damage to the self-moving robot.

[0120] In an optional implementation, as shown in Figures 12, 13, and 16, the cleaning component 32 includes at least one first scraper structure 32a. The first scraper structure 32a is disposed on the charging base 31 and extends from the rear end of the charging base 31 to the front end of the charging base 31. When the self-mobile robot returns to the charging base 31, the first scraper structure 32a can clean the debris on the cutting mechanism 20, quickly removing the debris from the bottom of the vehicle body 11, so that the cutting mechanism 20 can be thoroughly cleaned without manual cleaning. The cleaning speed is fast and efficient. At the same time, it also avoids the accumulation of debris at the bottom of the self-mobile robot due to the cutting action, which could cause blockage in the grass discharge area of ​​the cutting mechanism 20 or even damage to the self-mobile robot.

[0121] In an optional embodiment, the height of the first scraper structure 32a is not less than the minimum height of the cutting mechanism 20 from the moving surface, so that when the self-mobile robot returns to the charging base station 30 and passes over the first scraper structure 32a, the first scraper structure 32a can at least partially contact the cutting mechanism 20, and may even lift the cutting mechanism 20; when the self-mobile robot continues to move in the direction of the first scraper structure 32a, the first scraper structure 32a can scrape off and push out the adhering material and grass clippings on the cutting mechanism 20, thereby achieving the effect of cleaning the cutting mechanism 20.

[0122] In one optional embodiment, there are multiple first scraper structures 32a arranged in parallel to allow for multiple cleanings of grass clippings accumulated at the bottom of the vehicle body 11, ensuring the cleaning effect of the cleaning component 32. The multiple first scraper structures 32a extend along the width direction of the vehicle body 11 and are arranged parallel to its length direction, so that when the self-propelled robot returns to the charging base station 30, the multiple first scraper structures 32a can sequentially scrape the cutting mechanism 20 to push out the grass clippings, thereby achieving the effect of cleaning the cutting mechanism 20.

[0123] In an optional embodiment, at least a portion of the first scraper structure 32a near the cutting mechanism is made of an elastic material, which can deform when the first scraper structure 32a comes into contact with at least a portion of the cutting mechanism 20, thus preventing damage to the cutting mechanism 20 and the vehicle body 11. Furthermore, the main body of the first scraper structure 32a or the connection portion between the first scraper structure 32a and the charging base 31 can be made of a rigid material, so that the first scraper structure 32a can be securely fixed to the charging base 31.

[0124] In an optional embodiment, the end of the first scraper structure 32a near the cutting mechanism 20 is brush-shaped so that when the first scraper structure 32a scrapes off the adhering material and grass clippings on the cutting mechanism 20, it will not damage the surface of the cutting mechanism 20, and it can also avoid obstructing the movement of the vehicle body 11. After the scraper removes the adhering material and grass clippings, the surface of the cutting mechanism 20 is wiped, thereby effectively improving the cleaning effect.

[0125] In an optional embodiment, the first scraper structure 32a is provided with a guide portion 321. The height of the guide portion 321 gradually increases along the direction of return of the self-moving robot, so that after the first scraper structure 32a contacts the cutting mechanism 20, it can scrape the debris on the cutting mechanism 20, thereby pushing out the grass clippings on the cutting mechanism 20, thus achieving the effect of cleaning the cutting mechanism 20. Specifically, the guide portion 321 can guide the vehicle body 11 to pass over the first scraper structure 32a when it moves, so that when the vehicle body 11 contacts the guide portion 321, the guide portion 321 is naturally pressed against the opposite side of the vehicle body 11's movement. After the first scraper structure 32a completely enters the bottom of the vehicle body 11, it can recover its deformation and contact the cutting mechanism 20, then push the cutting mechanism 20 out, thereby scraping the debris on the cutting mechanism 20 and pushing out the grass clippings.

[0126] It should be noted that the guide part 321 can be an inclined surface or an arc-shaped surface that is inclined relative to the horizontal plane. It is mainly a transition connection between the front end surface and the upper end surface of the first scraper structure 32a, so that when the vehicle body 11 passes over the first scraper structure 32a, it can come into contact with the cutting mechanism 20 without damaging the cutting mechanism 20. It can also lift the cutting mechanism 20, so that the grass clippings on the cutting mechanism 20 can be pushed out during the movement of the vehicle body 11.

[0127] In an optional embodiment, the guide portion 321 is an arc-shaped surface connecting the front end face and the upper end face of the first scraper structure 32a, so that after the cutting mechanism 20 contacts the guide portion 321 of the first scraper structure 32a, the first scraper structure 32a can contact the cutting mechanism 20 and lift the cutting mechanism 20 as the vehicle body 11 moves, thereby pushing out the grass clippings on the cutting mechanism 20.

[0128] In an alternative implementation, as shown in Figures 11, 14 and 17, the cleaning assembly 32 includes at least one second scraper structure 32b disposed at the front end of the charging base 31 so that the second scraper structure 32b can clean debris from the cutting mechanism 20 when the self-mobile robot returns to the charging base.

[0129] For example, when the self-mobilizing robot returns to the charging base station 30, the self-mobilizing robot first passes over the upper end of the second scraper structure 32b and then returns to the charging base station 30, so that the second scraper structure 32b can clean up the grass clippings accumulated at the bottom of the vehicle body 11 before the self-mobilizing robot returns to the charging base station 30.

[0130] In an optional implementation, as shown in Figures 11, 13 and 14, the extension direction of the first scraper structure 32a is set at an angle to the extension direction of the second scraper structure 32b, so that the first scraper structure 32a and the second scraper structure 32b can clean the cutting mechanism 20 from different angles, thereby improving the cleaning effect on the bottom of the self-moving robot.

[0131] For example, the extension direction of the first scraper structure 32a is perpendicular to the extension direction of the second scraper structure 32b. When the self-mobile robot returns to the charging base station 30, the second scraper structure 32b can scrape off the adhesive and debris on the cutting mechanism 20 in a large area in the direction of movement towards the vehicle body 11. When the self-mobile robot enters the charging station 31, the first scraper structure 32a can scrape off the adhesive and debris on the cutting mechanism 20 in a small area, so that the adhesive and debris on the cutting mechanism 20 can be concentrated and pushed to the waste collection area of ​​the charging station 31.

[0132] In an optional implementation, as shown in Figures 11, 14, and 17, the second scraper structure 32b includes ground stakes 33. The second scraper structure 32b is fixed to the moving surface of the self-moving robot by the ground stakes 33 to ensure a firm connection of the second scraper structure 32b and to facilitate the assembly and disassembly of the first scraper structure 32a. The moving surface can be, but is not limited to, grass, such as when the second scraper structure 32b is fixed to the grass by the ground stakes 33.

[0133] In an alternative embodiment, the end of the second scraper structure 32b near the cutting mechanism 20 is made of at least an elastic material, which can deform when the second scraper structure 32b comes into at least partial contact with the cutting mechanism 20, thereby avoiding damage to the cutting mechanism 20 and the vehicle body 11.

[0134] In an optional embodiment, the end of the second scraper structure 32b near the cutting mechanism 20 is brush-shaped so that when the second scraper structure 32b scrapes off the adhering material and grass clippings on the cutting mechanism 20, it will not damage the surface of the cutting mechanism 20, and it can also avoid obstructing the movement of the vehicle body 11. After the scraper removes the adhering material and grass clippings, the surface of the cutting mechanism 20 is wiped, thereby effectively improving the cleaning effect.

[0135] For example, the second scraper structure 32b has a scraper portion 322 near the cutting mechanism 20. The scraper portion 322 may be made of an elastic material or a brush. The lower end of the scraper portion 322 is connected to a fixed end made of a rigid material so that the ground nail 33 can pass through the fixed end and be fixed to the moving surface.

[0136] In an optional implementation, the height of the second scraper structure 32b is not less than the minimum height of the cutting mechanism 20 from the moving surface, so that when the self-mobile robot returns to the charging base station 30 and passes over the second scraper structure 32b, the second scraper structure 32b can at least partially contact the cutting mechanism 20, or even lift the cutting mechanism 20; when the self-mobile robot continues to move toward the direction of the second scraper structure 32b, the second scraper structure 32b can push out the grass clippings on the cutting mechanism 20, thereby achieving the effect of cleaning the cutting mechanism 20.

[0137] In one optional embodiment, there are multiple second scraper structures 32b arranged in parallel to allow for multiple cleanings of grass clippings accumulated at the bottom of the vehicle body 11, ensuring the cleaning effect of the second scraper structures 32b. The multiple second scraper structures 32b extend along the width of the vehicle body 11, so that when the self-propelled robot returns to the charging base station 30, the multiple second scraper structures 32b can sequentially scrape the cutting mechanism 20 to push out the grass clippings on the cutting mechanism 20, thereby achieving the effect of cleaning the cutting mechanism 20.

[0138] In an alternative implementation, the width D2 of the second scraper structure 32b is not greater than the distance D1 in the width direction between the two wheels of the walking assembly 12, so that the self-moving robot can pass over the cleaning assembly 32.

[0139] For example, the width D2 of the second scraper structure 32b is adapted to the distance D1 in the width direction between the two wheels of the walking assembly 12, so that not only can the grass clippings accumulated at the bottom of the vehicle body 11 be cleaned, but also the two wheels of the self-moving robot can be cleaned.

[0140] In an alternative implementation, when the self-mobile robot returns to the charging base station 30, the blade disc 211 is adjusted to its lowest position so that the cleaning component 32 can contact the blade disc 211 and push out the debris accumulated on the blade disc 211, thereby cleaning the blade disc 211.

[0141] In an optional embodiment, the cutter head 211 has a highest position and a lowest position and is capable of reciprocating between the highest and lowest positions. When the cutter head 211 is in the highest position, the drive component 24 can drive the cutting component 232 to perform a cutting action. When the cutter head 211 is in the lowest position, the cleaning component 32 can contact the cutter head 211, thereby pushing out the grass clippings accumulated under the base 22 to achieve the effect of cleaning the cutter head 211.

[0142] For example, when the self-mobilizing robot completes the mowing action and returns to the charging base station 30, the drive component 24 can adjust the position of the cutter head 211 so that the cutter head 211 is in the lowest position, so that when the self-mobilizing robot passes over the cleaning component 32, the cleaning component 32 can contact the cutter head 211, thereby pushing out the debris accumulated at the bottom of the vehicle body 11 to achieve the cleaning effect. This avoids the debris generated by the self-mobilizing robot during the cutting action from accumulating at the bottom of the vehicle body 11, causing blockage in the grass discharge area at the bottom of the vehicle body 11, or even damaging the self-mobilizing robot.

[0143] Simultaneously, when the self-mobilizing robot returns to the charging base station, the cleaning component 32 can clean the debris on the cutter head 211 without manual cleaning, resulting in fast and efficient cleaning. When the self-mobilizing robot switches from cleaning mode to cutting mode, the second drive component 242 controls the cutter head 211 to move towards the base 22, causing the cutter head 211 to separate from the cleaning component 32, so that the self-mobilizing robot can continue to perform cutting operations after leaving the charging base station 30.

[0144] After briefly introducing the structure of the self-moving robot provided in the embodiments of this application, some implementation methods of the control method for the self-moving robot provided in this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other. Please refer to Figure 18, which is a schematic flowchart of a control method for a self-moving robot provided in an embodiment of this application. This control method for a self-moving robot is applied to the self-moving robot described in the above embodiments, and can also be applied to terminal devices or servers. Its specific structure can be referred to the above embodiments, and will not be repeated here.

[0145] The terminal devices can include fixed terminals such as mobile phones, tablets, and personal digital assistants (PDAs). The server can be a single server or a server cluster.

[0146] The following will describe the specific process of a self-moving robot's operation by taking the control method of a self-moving robot as an example.

[0147] As shown in Figure 18, the control method for the self-moving robot may include steps S101 to S103.

[0148] Step S101: Obtain the self-cleaning command.

[0149] As shown in Figures 2 and 3, the self-cleaning command is used to instruct the self-moving robot to perform self-cleaning on the protective component 23.

[0150] Specifically, users can send self-cleaning commands via mobile terminals (such as mobile applications or remote controllers). The commands are transmitted to the self-mobile robot via a wireless communication module, or the user can detect the accumulation of debris in the protection component 23 by setting a detection component to determine whether the protection component 23 needs to be cleaned, thereby triggering the cleaning mode and generating a self-cleaning command.

[0151] For example, a self-cleaning command can be sent to the self-moving robot by setting a button on the self-moving robot, so that the self-moving robot can receive the self-cleaning command; a self-cleaning command can also be sent to the self-moving robot by a terminal device that is connected to the self-moving robot, so that the self-moving robot can receive the self-cleaning command; or the self-moving robot can detect the debris accumulation state of the protection component 23 and generate a self-cleaning command based on the debris accumulation state.

[0152] It should be noted that the specific structure of the self-moving robot can be referred to the above embodiments, and will not be repeated here.

[0153] As shown in Figures 2 to 4, in some embodiments, the debris accumulation state of the protective component 23 is obtained; it is determined whether the protective component 23 needs to be cleaned based on the debris accumulation state; if the protective component 23 needs to be cleaned, a self-cleaning command is generated.

[0154] As shown in Figure 19, specifically, "obtaining the self-cleaning command of the self-moving robot" may include steps S201 to S204.

[0155] S201. Obtain the debris accumulation status of the protection component.

[0156] S202. Determine whether the protective components need to be cleaned based on the state of debris accumulation.

[0157] S203. If the debris accumulation is in a dense or dispersed state, it is determined that the protective components need to be cleaned.

[0158] S204. If the debris accumulation state is a sparse debris state, then it is determined that cleaning of the protective components is not required.

[0159] The debris accumulation state is used to indicate the amount of debris accumulated on the protective component 23, and generally includes a dense debris state, a dispersed debris state, and a sparse debris state. The dense debris state indicates that a large amount of debris has accumulated on the protective component 23, the dispersed debris state indicates that a considerable amount of debris has accumulated on the protective component 23, and the sparse debris state indicates that a small amount of debris has accumulated on the protective component 23. That is, the amount of debris accumulated in the dense debris state is greater than the amount of debris accumulated in the dispersed debris state, and the amount of debris accumulated in the dispersed debris state is greater than the amount of debris accumulated in the sparse debris state.

[0160] Specifically, the debris accumulation state of the protective component 23 is first detected; based on the debris accumulation state, it is determined whether the protective component 23 needs to be cleaned; if cleaning is required, a self-cleaning command is generated to control the self-moving robot to clean the accumulated grass clippings on the protective component 23; if cleaning is not required, no self-cleaning command is generated, and the cutting component 21 continues to perform the cutting action. This allows the self-moving robot to intelligently detect the debris accumulation state of the protective component 23, accurately determining whether cleaning is necessary without manual control, thus enabling timely cleaning of debris on the protective component 23, reducing the tediousness of debris cleaning, and improving cleaning efficiency.

[0161] In some embodiments, the protection component 23 is detected to obtain real-time status information of the protection component 23; the debris accumulation state of the protection component 23 is determined based on the real-time status information.

[0162] The real-time status information can be used to provide feedback on the real-time status of the protection component 23, specifically including information such as the pressure value, light reflection intensity, light reflection angle, and real-time image of the protection component 23.

[0163] Specifically, the protection component 23 can be detected by the detection component to obtain the real-time status information of the protection component 23; and the debris accumulation state of the protection component 23 can be determined based on the real-time status information.

[0164] For example, the detection component can be installed on the self-moving robot and correspondingly set with the protection component 23 to detect the state of the protection component 23, obtain real-time status information of the protection component 23, and analyze the real-time status information to determine the debris accumulation state of the protection component 23. Thus, the detection component enables the self-moving robot to accurately detect the debris accumulation state of the protection component 23, thereby accurately determining whether the protection component 23 needs cleaning. This effectively avoids false detections, eliminates the need for manual control of debris cleaning, and allows for timely cleaning of debris on the protection component 23, improving debris cleaning efficiency.

[0165] In some embodiments, if the detection component is a pressure sensor, the pressure sensor is disposed on the protection component 23 and used to detect the pressure value of the protection component 23. If the pressure value of the protection component 23 exceeds a first pressure threshold, the debris accumulation state of the protection component 23 is determined to be a dense debris state. If the pressure value of the protection component 23 exceeds a second pressure threshold but does not exceed the first pressure threshold, the debris accumulation state of the protection component 23 is determined to be a dispersed debris state, where the first pressure threshold is greater than the second pressure threshold. If the pressure value of the protection component 23 does not exceed the second pressure threshold, the debris accumulation state of the protection component 23 is determined to be a sparse debris state.

[0166] The first pressure threshold and the second pressure threshold can be any pressure value, and the specific value can be set according to the actual situation. As long as the first pressure threshold is greater than the second pressure threshold, no specific limitation is made here.

[0167] For example, the pressure sensor can detect the pressure value of the protective component 23. The higher the detected pressure value of the protective component 23, the more debris accumulates on the protective component 23. Therefore, if the detected pressure value of the protective component 23 exceeds the first pressure threshold, it indicates that there is a lot of debris accumulated on the protective component 23, and the debris accumulation state of the protective component 23 is determined to be a dense debris state; if the pressure value of the protective component 23 exceeds the second pressure threshold but does not exceed the first pressure threshold, it indicates that there is a relatively large amount of debris accumulated on the protective component 23, and the debris accumulation state of the protective component 23 is determined to be a dispersed debris state; if the pressure value of the protective component 23 does not exceed the second pressure threshold, it indicates that there is a small amount of debris accumulated on the protective component 23, and the debris accumulation state of the protective component 23 is determined to be a sparse debris state.

[0168] In some embodiments, if the detection component is an optical sensor, the optical sensor is disposed on the vehicle body 11 and is used to send light to the location of the protection component 23, and determine the debris accumulation state of the protection component 23 according to the light reflection intensity and / or light reflection angle corresponding to the light.

[0169] The optical sensors may include infrared sensors and laser sensors. Infrared sensors emit infrared light that reflects or absorbs differently depending on the material, allowing them to detect the intensity of reflected light from the grass clippings and thus determine the debris accumulation state of the protective component 23. Laser sensors can determine the debris accumulation state of the protective component 23 by measuring the reflection time and angle of the laser beam.

[0170] For example, the infrared sensor can be installed on the side panel and below the lowest position of the protective component 23 so as to obtain the grass clipping accumulation of the protective component 23 without being damaged by the movement of the protective component 23; 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.

[0171] For example, the laser sensor determines the debris accumulation state of the protection component 23 by emitting a laser beam and measuring parameters such as the reflection intensity, reflection time, and reflection angle of the laser beam.

[0172] It should be noted that by detecting the protective component 23 with an optical sensor, it is possible to accurately determine whether the debris accumulation state of the protective component 23 is at least one of the following: dense debris state, dispersed debris state, or sparse debris state.

[0173] In some embodiments, if the detection component is a camera, the camera is mounted on the vehicle body 11 and used to acquire real-time images of the protection component 23, feature extraction is performed on the real-time images of the protection component 23 to obtain debris feature information, and the debris accumulation state of the protection component 23 is determined based on the debris feature information.

[0174] Among them, the real-time image can be a picture of the protective component 23 and its surrounding environment, and the debris feature information can be the image features of the debris accumulated on the protective component 23.

[0175] For example, a real-time image of the protection component 23 is acquired, and features are extracted from the real-time image and irrelevant features are filtered out to obtain debris feature information. Then, the debris feature information is identified and statistically processed based on an image feature recognition algorithm to determine the debris accumulation on the protection component 23, thereby accurately determining the debris accumulation state of the protection component 23.

[0176] It should be noted that by detecting the protective component 23 through the camera, it is also possible to accurately determine whether the debris accumulation state of the protective component 23 is at least one of the following: dense debris state, dispersed debris state, or sparse debris state.

[0177] In some embodiments, if the debris accumulation is in a dense or dispersed state, it is determined that the protective component 23 needs to be cleaned; if the debris accumulation is in a sparse state, it is determined that the protective component 23 does not need to be cleaned.

[0178] For example, if the debris accumulation is in a dense or scattered state, it indicates that there is a lot of debris accumulated on the protective component 23, and the debris needs to be cleaned to avoid affecting the normal operation of the cutting component 21. Therefore, it is determined that the protective component 23 needs to be cleaned.

[0179] For example, if the debris accumulation state is a sparse debris state, it means that there are few debris accumulated on the protective component 23, and the cutting component 21 can be maintained normally without cleaning the debris. Therefore, it is determined that the protective component 23 does not need to be cleaned.

[0180] In some embodiments, if the debris accumulation state is a debris dispersion state, a debris accumulation alarm is triggered on the self-moving robot.

[0181] For example, if the debris accumulation is in a dense debris state, the self-moving robot is directly triggered to perform self-cleaning on the protective component 23; if the debris accumulation is in a scattered debris state, the self-moving robot is triggered to trigger a debris accumulation alarm, prompting the user to determine whether the protective component 23 needs to be cleaned. This can prevent the self-moving robot from misjudging and avoid frequent self-cleaning of the protective component 23.

[0182] As shown in Figures 3 and 4, in some embodiments, the self-moving robot includes at least a cleaning mode and a cutting mode. The protective component 23 is in a first position in the cleaning mode and in a second position in the cutting mode; wherein the height of the first position is less than the height of the second position.

[0183] The self-moving robot is used to clean the protective component 23 when it is in cleaning mode, and to perform cutting operations on the object to be cut when it is in cutting mode.

[0184] As shown in Figures 3 to 5, since cleaning debris from the protective component 23 requires contact with the target object, and the target object is generally low in height, the height of the first position is also generally low, meaning the first position of the protective component 23 can be as shown in Figure 3. However, when the self-moving robot cuts the object, it generally adjusts the height according to the height of the object to be cut. Since the object is generally not too low, the height of the cutting component 21 is relatively high, meaning the first position of the protective component 23 can be as shown in Figure 4. Because the cutting component 21 is mounted on the protective component 23, the height of the protective component 23 is also relatively high, therefore the height of the first position is less than the height of the second position.

[0185] Specifically, the detection component can acquire the debris accumulation status of the protection component 23 in real time, and determine the working mode of the self-moving robot in real time based on the debris accumulation status.

[0186] For example, if the working mode of the self-moving robot is switched from cleaning mode to cutting mode based on the state of debris accumulation, it means that the grass clippings accumulated at the bottom of the protection component 23 have been cleaned up. The protection component 23 can be controlled to move upward relative to the vehicle body 11 to the cutting position and perform the corresponding cutting operation.

[0187] For example, if the working mode of the self-moving robot is switched from cutting mode to cleaning mode based on the state of debris accumulation, it means that there is a lot of grass debris accumulated at the bottom of the protective component 23. The debris needs to be cleaned to avoid affecting the normal operation of the cutting component 21. The protective component 23 can be controlled to move downward relative to the vehicle body 11 to the cleaning position and perform the corresponding cleaning operation.

[0188] This application provides a control method for a self-moving robot that can also detect the debris accumulation state of the protective component 23, thereby accurately determining whether the protective component 23 needs to be self-cleaned. This eliminates the need for manual control to clean the debris, enabling timely cleaning of the debris on the protective component 23, reducing the tediousness of debris cleaning, and improving the efficiency of debris cleaning, thus realizing the intelligent self-cleaning of the self-moving robot.

[0189] Step S102: In response to the self-cleaning command, control the protective components of the self-moving robot to adjust to the cleaning height that contacts the target object.

[0190] As shown in Figure 2, since the protective component 23 is mounted on the vehicle body 11 and can move up and down relative to the vehicle body 11, the protective component 23 can be controlled to move downward relative to the vehicle body 11 to a cleaning height that contacts the target object; the protective component 23 can also be controlled to move upward relative to the vehicle body 11 to a cleaning height that contacts the target object, but no specific limitation is made here.

[0191] The specific structure of the self-moving robot can be referred to in the above embodiments, and will not be repeated here.

[0192] As shown in Figures 3 and 4, and referring to the above embodiments, the protective component 23 can move vertically relative to the vehicle body 11. For example, when the self-moving robot needs to clean debris from the bottom, it adjusts the protective component 23 to a cleaning height that contacts the target object. This cleaning height can be any height, or it can be adjusted according to the height of the target object. The cleaning height from the ground is lower than the height of the target object to ensure that the protective component can fully contact the target object, allowing the debris on the protective component to be cleaned effectively. Optionally, the height of the protective component 23 can be adjusted to the minimum height, i.e., the height corresponding to the protective component 23 in Figure 4, which is not specifically limited here.

[0193] For example, after receiving a self-cleaning command, the self-moving robot will adjust the position of the protective component 23 to the lowest level, so that the debris on the protective component 23 can be cleaned during the self-moving robot's movement.

[0194] In some embodiments, before the protective component 23 of the self-moving robot adjusts to a cleaning height that contacts the target object, image information corresponding to the target object is acquired; based on the image information corresponding to the target object, features of the target object are extracted to determine its height; and based on the height of the target object, a cleaning height is determined. This allows the cleaning height to be adjusted according to the height of the target object, thereby improving the cleaning effect and efficiency of debris removal on the protective component 23.

[0195] For example, the height of the target object can be determined by acquiring the image information corresponding to the target object and extracting the feature information of the target object. Then, the cleaning height can be adjusted according to the height of the target object to ensure that the protection component 23 can contact the target object in different environments at the cleaning height.

[0196] In some embodiments, in response to a self-cleaning command, if the self-moving robot is detected to be in cutting mode, the self-moving robot is controlled to stop performing cutting actions.

[0197] As shown in Figure 20, specifically, “in response to the self-cleaning command, controlling the protective components of the self-moving robot to adjust to a cleaning height that contacts the target object” may include steps S301 to S304.

[0198] S301, Self-cleaning command received.

[0199] S302. Determine whether the self-moving robot is in cutting mode.

[0200] S303. If the self-moving robot is detected to be in cutting mode, control the self-moving robot to stop performing the cutting action.

[0201] S304. If it is detected that the self-moving robot is not in cutting mode, control the protective components of the self-moving robot to adjust to the cleaning height that contacts the target object.

[0202] For example, if the self-moving robot receives a self-cleaning command, it means that there are too many debris on the protective component 23, reaching the point where cleaning is required. In order to prevent further accumulation of debris on the protective component 23, the self-moving robot can be controlled to stop performing the cutting action and switch the cutting mode to the cleaning mode.

[0203] Step S103: Control the self-moving robot to move so that the target object comes into contact with the protective component to clean the debris on the protective component.

[0204] By controlling the movement of the self-moving robot, the protective component 23 can maintain continuous contact with the target object, thereby removing debris from the protective component 23 during the movement of the self-moving robot, thus achieving the cleaning of debris from the protective component 23.

[0205] Specifically, the surface characteristics of the target object enable it to form contact friction with the protective component 23 to remove debris. For example, the target object can be the object to be cut or a cleaning component, etc.

[0206] As shown in Figure 4, taking the lowest position of the protective component 23 as an example, the self-moving robot can adjust the protective component 23 to its lowest height and then control the robot to continue moving so as to clean up the grass clippings accumulated at the bottom of the protective component 23. When the protective component 23 is in its lowest position, it can contact the object to be cut, or it can contact the cleaning component fixed on the grass, allowing the object to be cut or the cleaning component to clean the bottom of the self-moving robot. This quickly removes debris from the bottom of the self-moving robot without manual cleaning, resulting in fast and efficient cleaning. This prevents debris from accumulating at the bottom of the self-moving robot, which could affect its normal operation or even damage it.

[0207] In some embodiments, the self-moving robot is controlled to move within a cleaning area such that a target object in the cleaning area comes into contact with the protective component 23.

[0208] The cleaning area can be an area that includes a target object used to clean debris from the protective component 23. For example, the target object can be the object to be cut or the cleaning component. For instance, the cleaning area can be an area where debris can be cleaned using the object to be cut, or it can be an area equipped with a cleaning component capable of cleaning debris.

[0209] As shown in Figure 4, taking the first position as the lowest position of the protective component 23 as an example, when the protective component 23 is in the lowest position, the self-moving robot can be controlled to move within the cleaning area, so that the object to be cut or the cleaning component can clean the bottom of the self-moving robot, thereby quickly removing the debris from the bottom of the self-moving robot without manual cleaning, and the cleaning speed is fast and efficient.

[0210] In some embodiments, a cleaning area corresponding to the self-moving robot is determined; the real-time position of the self-moving robot is obtained, and a cleaning path is generated based on the real-time position and the cleaning area; the self-moving robot is controlled to move within the cleaning area based on the cleaning path, so that the target object in the cleaning area comes into contact with the protective component 23.

[0211] As shown in Figure 21, specifically, “controlling the self-moving robot to move within the cleaning area so that the target object in the cleaning area comes into contact with the protective component” may include steps S401 to S403.

[0212] S401. Determine the cleaning area corresponding to the self-moving robot.

[0213] S402. Obtain the real-time position of the mobile robot and generate a cleaning path based on the real-time position and the cleaning area.

[0214] S403. Control the self-moving robot to move within the cleaning area based on the cleaning path, so that the target object in the cleaning area comes into contact with the protective component.

[0215] The real-time position can be the location of the self-moving robot when it receives the self-cleaning command, or it can be the location where the cutting action of the self-moving robot is interrupted; no specific limitation is made here. The cleaning path is the path along which the self-moving robot performs its self-cleaning movement.

[0216] For example, after determining the cleaning area of ​​the self-moving robot, a cleaning path can be generated based on the real-time position of the self-moving robot and the cleaning area; the self-moving robot is controlled to move according to the cleaning path, so that the objects to be cut or cleaning components on the cleaning path can clean the bottom of the self-moving robot, thereby quickly removing debris from the bottom of the vehicle body without manual cleaning, resulting in fast cleaning speed and high efficiency.

[0217] In some embodiments, image information and / or work path information collected by the mobile robot are acquired; based on the image information and / or the work path information, the area to be cut by the mobile robot is determined, and the area to be cut is designated as the cleaning area. This allows for accurate identification of the area to be cut as the cleaning area to remove debris from the protective component 23.

[0218] For example, the position of the object to be cut can be determined based on the acquired image information, and then the area to be cut can be determined based on the position of the object to be cut, and the area to be cut can be used as the cleaning area; alternatively, the position of the cleaning component can be determined based on the acquired image information, and then the area to be cut can be determined based on the position of the cleaning component, and the area to be cut can be used as the cleaning area.

[0219] For example, the cut area can be determined based on the work path information. The cut area indicates that there is no object to be cut in the area. Then, the area to be cut is determined based on the environmental map and the cut area, and the area to be cut is designated as the cleaning area.

[0220] In some embodiments, if the self-mobile robot switches its working mode from cleaning mode to cutting mode, the control protection component 23 adjusts to the cutting height and controls the self-mobile robot to move to the working position to perform the cutting action.

[0221] As shown in Figures 3 and 4, the self-moving robot is used to clean the protective component 23 when in cleaning mode, and to perform cutting operations on the object to be cut when in cutting mode. The cutting height can be the height corresponding to the second position, generally the highest height of the protective component 23, i.e., the height corresponding to the protective component 23 in Figure 3, and is not specifically limited here. The working position can be the latest cutting position of the task, or the position where the self-moving robot's cutting action is interrupted, and is not specifically limited here.

[0222] For example, if the self-mobile robot switches its working mode from cleaning mode to cutting mode, it means that the grass clippings accumulated at the bottom of the protective component 23 have been cleaned up. The protective component 23 can be controlled to adjust to the cutting height, wait for the subsequent cutting operation, and control the self-mobile robot to move to the latest working position. After the self-mobile robot moves to the working position and the protective component 23 is adjusted to the cutting height, the cutting action is then performed.

[0223] For example, if the self-moving robot switches its working mode from cleaning mode to cutting mode, it means that the grass clippings accumulated at the bottom of the protective component 23 have been cleaned up. The protective component 23 can be controlled to adjust to the cutting height and wait to perform the subsequent cutting operation. The self-moving robot is then controlled to return to the position where the cutting action was interrupted based on the cleaning path. After the self-moving robot returns to the position where the cutting action was interrupted and the protective component 23 moves to the cutting position, the cutting action is then performed.

[0224] This application provides a control method for a self-moving robot. In response to a self-cleaning command, the method controls the protective component 23 of the self-moving robot to adjust to a cleaning height that contacts the target object. The method also controls the self-moving robot to move so that the target object contacts the protective component 23 to clean the debris on the protective component 23. This allows for self-cleaning of debris on the bottom of the robot body by moving the protective component 23 up and down, reducing the tediousness of debris cleaning and improving the efficiency of debris cleaning. This enables timely cleaning of debris on the protective component 23, preventing debris generated by the cutting component 21 from entering the cutting component 21. This avoids excessive debris accumulation in the cutting component 21, which could cause the cutting component 21 to malfunction, thereby reducing the frequency of manual maintenance and extending the service life of the self-moving robot.

[0225] Please refer to Figure 22, which is a schematic block diagram of the structure of a self-moving robot 100 provided in an embodiment of this application. In Figure 22, the self-moving robot 100 includes a processor 200 and a memory 300, wherein the processor 200 and the memory 300 are connected by a bus, which can be any applicable bus such as an I2C (Inter-integrated Circuit) bus.

[0226] The memory 300 may include a storage medium and internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor to perform the control method for the self-moving robot described in any embodiment.

[0227] The processor 200 provides computing and control capabilities to support the operation of the entire self-moving robot 100.

[0228] The processor 200 can be a Central Processing Unit (CPU), but it can also be a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0229] The processor 200 is used to run a computer program stored in the memory 300, and performs the following steps when executing the computer program:

[0230] Obtain self-cleaning instructions;

[0231] In response to the self-cleaning command, the protective components of the self-moving robot are controlled to adjust to a cleaning height that contacts the target object;

[0232] The self-moving robot is controlled to move so that the target object comes into contact with the protective component to clean the debris on the protective component.

[0233] In some embodiments, when the processor 200 acquires the self-cleaning instruction of the self-moving robot, it is configured to:

[0234] Obtain the debris accumulation state of the protective component; determine whether the protective component needs to be cleaned based on the debris accumulation state; if the protective component needs to be cleaned, generate a self-cleaning command.

[0235] In some embodiments, when the processor 200 acquires the debris accumulation state of the protected component, it is configured to:

[0236] The protection component is detected to obtain its real-time status information; the debris accumulation state of the protection component is determined based on the real-time status information.

[0237] In some embodiments, when the processor 200 determines whether the protective component needs to be cleaned based on the debris accumulation state, it is configured to:

[0238] If the debris accumulation is in a dense or dispersed state, then the protective component needs to be cleaned; if the debris accumulation is in a sparse state, then the protective component does not need to be cleaned.

[0239] In some embodiments, the self-moving robot includes at least a cleaning mode and a cutting mode, wherein the protective component is in a first position in the cleaning mode and in a second position in the cutting mode; wherein the height of the first position is less than the height of the second position.

[0240] In some embodiments, when the processor 200 determines the debris accumulation state of the protection component based on the real-time status information, it is configured to:

[0241] The pressure value of the protection component is obtained; if the pressure value of the protection component exceeds a first pressure threshold, the debris accumulation state of the protection component is determined to be a dense debris state; if the pressure value of the protection component exceeds a second pressure threshold but does not exceed the first pressure threshold, the debris accumulation state of the protection component is determined to be a dispersed debris state, where the first pressure threshold is greater than the second pressure threshold; if the pressure value of the protection component does not exceed the second pressure threshold, the debris accumulation state of the protection component is determined to be a sparse debris state.

[0242] In some embodiments, when the processor 200 determines the debris accumulation state of the protection component based on the real-time status information, it is configured to:

[0243] Obtain the light reflection intensity and / or light reflection angle corresponding to the protective component; determine the debris accumulation state of the protective component based on the light reflection intensity and / or light reflection angle.

[0244] In some embodiments, when the processor 200 determines the debris accumulation state of the protection component based on the real-time status information, it is configured to:

[0245] A real-time image of the protection component is acquired, and feature extraction is performed on the real-time image to obtain debris feature information; the debris accumulation state of the protection component is determined based on the debris feature information.

[0246] In some embodiments, after implementing the self-cleaning instruction, the processor 200 is further configured to implement:

[0247] If the self-moving robot is detected to be in cutting mode, the self-moving robot is controlled to stop performing the cutting action.

[0248] In some embodiments, when the processor 200 controls the movement of the self-moving robot to bring the target object into contact with the protective component, it is configured to:

[0249] The self-moving robot is controlled to move within the cleaning area, so that the target object in the cleaning area comes into contact with the protective component.

[0250] In some embodiments, when the processor 200 controls the self-moving robot to move within a cleaning area such that a target object in the cleaning area comes into contact with the protective component, it is configured to:

[0251] The cleaning area corresponding to the self-moving robot is determined; the real-time position of the self-moving robot is obtained, and a cleaning path is generated based on the real-time position and the cleaning area; the self-moving robot is controlled to move within the cleaning area based on the cleaning path, so that the target object in the cleaning area comes into contact with the protective component.

[0252] In some embodiments, when determining the cleaning area corresponding to the self-moving robot, the processor 200 is configured to:

[0253] Acquire image information and / or work path information collected by the self-moving robot; determine the area to be cut by the self-moving robot based on the image information and / or the work path information, and use the area to be cut as the cleaning area.

[0254] In some embodiments, the processor 200 is further configured to implement:

[0255] If the self-moving robot switches its working mode from cleaning mode to cutting mode, the protective component is adjusted to the cutting height, and the self-moving robot is moved to the working position to perform the cutting action.

[0256] In some embodiments, before implementing the adjustment of the protective components of the self-moving robot to a cleaning height that contacts the target object, the processor 200 is further configured to:

[0257] Obtain image information corresponding to the target object; extract features from the target object based on the image information corresponding to the target object to determine the height of the target object; determine the cleaning height based on the height of the target object.

[0258] In some embodiments, the surface properties of the target object can form contact friction with the protective component to remove debris.

[0259] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. A processor executes these instructions to implement any of the self-moving robot control methods provided in this application. For example, when the computer program is loaded by a processor, it can perform the following steps:

[0260] Obtain a self-cleaning command; in response to the self-cleaning command, control the protective component of the self-moving robot to adjust to a cleaning height that contacts the target object; control the self-moving robot to move so that the target object contacts the protective component to clean the debris on the protective component.

[0261] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0262] The computer-readable storage medium can be an internal storage unit of the robot in the aforementioned embodiments, such as the robot's hard drive or memory. Alternatively, it can be an external storage device for the robot, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital Card (SD), or a Flash Card.

[0263] 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.

[0264] 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.

[0265] 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.

[0266] 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, characterized in that, include: 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 cutting component and a driving component, wherein the driving component is connected to the cutting component for driving the cutting component to cut the workpiece, and the cutting component comprises a cutter head and a cutting blade; A protective component is disposed at the bottom of the vehicle body and forms a receiving structure. The protective component is movable up and down relative to the vehicle body. The cutter head is partially housed in the receiving structure, and the cutting blade protrudes from the receiving structure to cut the object to be cut.

2. The self-moving robot according to claim 1, characterized in that, The protective component has a highest position and a lowest position and is capable of moving between the highest position and the lowest position.

3. The self-moving robot according to claim 1, characterized in that, The vehicle body has a base at the bottom of the vehicle body, and the drive assembly includes a first drive assembly and a second drive assembly. The first drive assembly is used to drive the cutting assembly to rotate relative to the base, and the second drive assembly is used to drive the protection assembly to move up and down.

4. The self-moving robot according to claim 3, characterized in that, The first drive component is mounted on the side of the protective component facing the base and is connected to the cutting component in a driving manner. The second drive component is connected to the first drive component in a driving manner and is used to drive the first drive component to move up and down.

5. The self-moving robot according to claim 3, characterized in that, The protective component includes a protective disc, the first driving component is connected to the protective disc, and the protective disc has a receiving structure for partially covering the cutting component.

6. The self-moving robot according to claim 3, characterized in that, The protective component includes a protective frame and a protective disc. The protective frame is mounted on the first drive component and can move up and down with the lifting and lowering of the first drive component. The protective disc is connected to the protective frame and forms a through-hole structure. At least a portion of the cutting component passes through the through-hole structure and is connected to the first drive component.

7. The self-moving robot according to claim 1, characterized in that, The vehicle body has a base located at the bottom of the vehicle body, and a receiving space is formed on the side of the base away from the vehicle body. The protective component is disposed in the receiving space, and the edge shape of the protective component is adapted to the contour of the receiving space.

8. The self-moving robot according to claim 1, characterized in that, The vehicle body has a base located at the bottom of the vehicle body, and a receiving space is formed on the side of the base away from the vehicle body. The protective component includes a seal and a protective disc having the receiving structure. The protective disc is installed in the receiving space, and the seal is disposed between the protective disc and the base. The seal ensures that the protective disc can reliably cover the base when installed in the receiving space.

9. The self-moving robot according to claim 1, characterized in that, The cutter head is adapted to the contour of the receiving structure, the cutting blade is fixed below the cutter head, the cutter head is housed in the receiving structure and is drivenly connected to the drive assembly.

10. The self-moving robot according to claim 1, characterized in that, The receiving structure has a first groove and a second groove disposed at the bottom of the first groove, the inner diameter of the second groove being smaller than the inner diameter of the first groove, and the outer diameter of the cutter disc being adapted to the outer diameter of the first groove.

11. The self-moving robot according to claim 1, characterized in that, The receiving structure consists of two through-hole structures formed on the protective component. The two through-hole structures are spaced apart along the width direction of the vehicle body, and the cutting component is installed in each of the through-hole structures.

12. The self-moving robot according to claim 11, characterized in that, The protective assembly includes a protective disc having a planar cut surface, and a protective member disposed on the cut surface, with at least a portion of the structure of the cutting assembly located inside the protective member.

13. The self-moving robot according to claim 1, characterized in that, The self-moving robot also includes a detection component, which is disposed on the bottom of the vehicle body and is used to detect the debris accumulation status on the protective component.

14. The self-moving robot according to claim 13, characterized in that, The self-moving robot also includes a control system, which controls the protective component to move up and down based on the debris accumulation state detected by the detection component.

15. A control method for a self-moving robot, characterized in that, include: Obtain self-cleaning instructions; In response to the self-cleaning command, the protective components of the self-moving robot are controlled to adjust to a cleaning height that contacts the target object; The self-moving robot is controlled to move so that the target object comes into contact with the protective component to clean the debris on the protective component.

16. The method according to claim 15, characterized in that, The method of obtaining self-cleaning instructions includes: Obtain the debris accumulation state of the protective component; Determine whether the protective component needs to be cleaned based on the state of debris accumulation; If the protective components need to be cleaned, the self-cleaning command is generated.

17. The method according to claim 16, characterized in that, The step of obtaining the debris accumulation state of the protection component includes: The protection component is detected to obtain its real-time status information; The debris accumulation status of the protection component is determined based on the real-time status information.

18. The method according to claim 15, characterized in that, The self-moving robot includes at least a cleaning mode and a cutting mode, and the protective component is in a first position in the cleaning mode and in a second position in the cutting mode. The height of the first position is less than the height of the second position.

19. The method according to claim 15, characterized in that, The method further includes: If the self-moving robot switches its working mode from cleaning mode to cutting mode, the protective component is adjusted to the cutting height, and the self-moving robot is moved to the working position to perform the cutting action.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the control method for the self-moving robot as described in claim 15.

Images