Self-moving robot control method and self-moving robot

文档序号：1258080 发布日期：2020-08-25 浏览：9次中文

阅读说明：本技术 一种自移动机器人控制方法及自移动机器人 (Self-moving robot control method and self-moving robot ) 是由王箭刘亚班永万真张为刘代振亚于 2020-05-09 设计创作，主要内容包括：本申请提供一种自移动机器人控制方法及自移动机器人,其中所述自移动机器人控制方法包括：控制所述自移动机器人向清洁基座行进；在确定所述自移动机器人行进至所述清洁基座的预设位置的情况下,通过控制所述自移动机器人的轮动方式利用所述清洁基座的清洁部件对所述自移动机器人的驱动轮进行清洁,从而实现自移动机器人的驱动轮的自动清洁,清洁效果好。(The application provides a self-moving robot control method and a self-moving robot, wherein the self-moving robot control method comprises the following steps: controlling the self-moving robot to move towards a cleaning base; under the condition that the self-moving robot is determined to move to the preset position of the cleaning base, the driving wheels of the self-moving robot are cleaned by the cleaning component of the cleaning base in a wheel-moving mode through control, so that the driving wheels of the self-moving robot are automatically cleaned, and the cleaning effect is good.)

1. An autonomous mobile robot control method, comprising:

controlling the self-moving robot to move towards a cleaning base;

and under the condition that the self-moving robot is determined to travel to the preset position of the cleaning base, cleaning the driving wheels of the self-moving robot by using the cleaning component of the cleaning base by controlling the wheel-moving mode of the self-moving robot.

2. The method of claim 1, wherein the rotation speed of the driving wheel is controlled to be lower than that of the self-moving robot in normal operation during the cleaning of the driving wheel of the self-moving robot by the cleaning member of the cleaning base.

3. The method of claim 1, wherein cleaning the drive wheels of the self-moving robot with the cleaning member of the cleaning base by controlling the wheeled motion of the self-moving robot comprises:

and controlling the driving wheel of the self-moving robot to reciprocate at the preset position so as to clean the driving wheel of the self-moving robot by using the cleaning component of the cleaning base.

4. The method of claim 1, wherein cleaning the drive wheels of the self-moving robot with the cleaning member of the cleaning base by controlling the wheeled motion of the self-moving robot comprises:

the self-moving robot is controlled to move to abut against the cleaning base, and the driving wheel of the self-moving robot is kept at the preset position to rotate, so that the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base.

5. The method of claim 1, wherein the cleaning base is provided with an identification component;

and in the process of controlling the self-moving robot to move towards the cleaning base, after the self-moving robot identifies the identification component, generating a cleaning task instruction.

6. The method of claim 5, wherein the control method further comprises: and controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction.

7. The method of claim 5, wherein the control method further comprises: and after the cleaning task instruction is generated, controlling to close a plate collision signal of the self-moving robot.

8. The method of claim 5, wherein the cleaning base is provided with a charging dock;

the method comprises the following steps: in response to a charging task instruction, controlling the self-moving robot to travel to the cleaning base, and in the case that the self-moving robot recognizes the recognition component, controlling the self-moving robot to suspend executing a charging task and generating the cleaning task instruction;

after cleaning the driving wheels of the self-moving robot with the cleaning member of the cleaning base, the method further includes: and the self-moving robot recovers to execute a charging task and controls the self-moving robot to be in butt joint with the charging seat.

9. The method of claim 5, wherein the cleaning base is provided with a charging dock;

the method comprises the following steps: and responding to a charging task instruction, controlling the self-moving robot to travel to the cleaning base, and generating a cleaning task instruction when the self-moving robot recognizes the recognition component and the charging task is completely executed.

10. The method of claim 6, wherein controlling the self-moving robot to decelerate to a preset position of the cleaning base based on the cleaning task instructions comprises:

the self-moving robot linearly decreases from a first speed to a second speed to travel to a preset position of the cleaning base; or

The self-moving robot directly reduces from a first speed to a second speed to a preset position of the cleaning base.

11. The method of claim 4, wherein the cleaning base is provided with a protrusion having an arc that matches the arc of the drive wheel;

the method further comprises: and controlling the self-moving robot to move to abut against the cleaning base, wherein the driving wheel of the self-moving robot is attached to the preset position and the protrusion and keeps rotating, so that the driving wheel of the self-moving robot is cleaned by using the cleaning component of the cleaning base.

12. The method of claim 5, wherein the identification component comprises two identification components side-by-side;

the method comprises the following steps:

under the condition that the self-moving robot identifies two identification components, controlling the self-moving robot to suspend executing a charging task and generating the cleaning task instruction;

and in the case that the self-moving robot does not recognize the two recognition components, the self-moving robot backs up and replans the travel route, then travels based on the replanned travel route, and continuously judges whether the two recognition components are recognized respectively.

13. The method of claim 8, wherein the identification component comprises two identification components side-by-side;

the method comprises the following steps:

when the self-moving robot recognizes the two recognition components and the charging task is completed, controlling the self-moving robot to generate the cleaning task instruction;

14. A self-moving robot, comprising: the machine comprises a machine body, a processor and a memory, wherein the processor and the memory are arranged in the machine body;

the memory stores computer instructions;

the processor is coupled to the memory for executing computer instructions stored in the memory for:

controlling the self-moving robot to move towards a cleaning base;

15. The self-moving robot as claimed in claim 14, wherein the cleaning base is provided with an identification part;

the processor is configured to: in the process of controlling the self-moving robot to move towards the cleaning base, after the self-moving robot identifies the identification component, a cleaning task instruction is generated, and the self-moving robot is controlled to move to a preset position of the cleaning base in a deceleration mode based on the cleaning task instruction.

16. The self-propelled robot as recited in claim 15, wherein the cleaning base is provided with a projection having an arc curvature that matches the arc curvature of the drive wheel;

the processor is configured to: and controlling the self-moving robot to advance to abut against a charging seat arranged on the cleaning base, wherein the driving wheel of the self-moving robot is attached to the preset position and the protrusion and keeps rotating, so that the driving wheel of the self-moving robot is cleaned by using the cleaning part of the cleaning base.

17. The self-moving robot as claimed in claim 16, wherein said cleaning member comprises: the cleaning element is detachably connected to the preset position and the cambered surface of the protrusion.

18. The self-propelled robot as recited in claim 16, wherein the width of the projection is greater than or equal to the width of the drive wheel.

Technical Field

The application relates to the technical field of intelligent household appliances, in particular to a self-moving robot control method and a self-moving robot.

Background

Along with the continuous improvement of modern living standard, the requirements of people on the quality of life are higher and higher, especially in recent years, the appearance of the self-moving robot can carry out a large amount of cleaning work in a short time, so that a lot of time is saved for people, the tedious housework of people is released, and the self-moving robot is also more and more popularized.

When the self-moving robot performs cleaning work, the driving wheels are stained with dust or other sundries on the ground, the surface friction force of the driving wheels is reduced, the obstacle crossing capability of the self-moving robot is reduced, even the self-moving robot slips when walking, and the self-moving robot cannot be used normally, so that the driving wheels need to be cleaned at intervals.

Disclosure of Invention

In view of this, embodiments of the present application provide a self-moving robot control method and a self-moving robot, so as to solve technical defects in the prior art.

The embodiment of the application provides a self-moving robot control method, which comprises the following steps:

controlling the self-moving robot to move towards a cleaning base;

Optionally, during the cleaning of the driving wheels of the self-moving robot by the cleaning component of the cleaning base, the rotating speed of the driving wheels is controlled to be lower than that of the self-moving robot in normal operation.

Optionally, the cleaning the driving wheels of the self-moving robot by using the cleaning member of the cleaning base by controlling the wheel-moving manner of the self-moving robot includes:

Optionally, the cleaning base is provided with an identification component;

and in the process of controlling the self-moving robot to move towards the cleaning base, after the self-moving robot identifies the identification component, generating a cleaning task instruction.

Alternatively, in the process of controlling the self-moving robot to travel to the cleaning base, the self-moving robot may travel at a reduced speed after recognizing the recognition component.

Optionally, the control method further includes: and controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction.

Optionally, the control method further includes: and after the cleaning task instruction is generated, controlling to close a plate collision signal of the self-moving robot.

Optionally, the cleaning base is provided with a charging stand;

Optionally, controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction comprises:

the self-moving robot linearly decreases from a first speed to a second speed to travel to a preset position of the cleaning base; or the self-moving robot directly reduces from the first speed to the second speed to the preset position of the cleaning base.

Optionally, the cleaning base is provided with a protrusion, and the radian of the arc surface of the protrusion is matched with the radian of the driving wheel;

Optionally, the identification means comprises two identification means side by side; the method comprises the following steps:

when the self-moving robot recognizes the two recognition components and the charging task is completed, controlling the self-moving robot to generate the cleaning task instruction;

The embodiment of the application discloses from mobile robot includes: the machine comprises a machine body, a processor and a memory, wherein the processor and the memory are arranged in the machine body;

the memory stores computer instructions;

the processor is coupled to the memory for executing computer instructions stored in the memory for:

controlling the self-moving robot to travel towards the cleaning base;

Optionally, the cleaning base is provided with an identification component;

Optionally, the cleaning base is provided with a protrusion, and the radian of the arc surface of the protrusion is matched with the radian of the driving wheel;

the processor is configured to: and controlling the self-moving robot to advance to abut against the charging seat, and enabling the driving wheel of the self-moving robot to be attached to the preset position and the protrusion and keep rotating, so that the driving wheel of the self-moving robot is cleaned by using the cleaning part of the cleaning base.

Optionally, the cleaning member comprises: the cleaning element is detachably connected to the preset position and the cambered surface of the protrusion.

Optionally, the width of the projection is greater than or equal to the width of the drive wheel.

According to the self-moving robot control method and the self-moving robot, the self-moving robot is controlled to advance to the cleaning base, and under the condition that the self-moving robot is determined to advance to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base in a wheel-moving mode through control, so that automatic cleaning of the driving wheel of the self-moving robot is achieved, and the cleaning effect is good.

Secondly, under the condition that discernment part is discerned from mobile robot, the speed reduction is marchd to the preset position of cleaning base, helps from the better detection positioning signal of mobile robot, is favorable to the cleaning positioning of drive wheel more accurate.

Moreover, the speed is reduced to advance under the condition that the recognition component is recognized by the self-moving robot, so that the impact generated when the self-moving robot is in contact with the cleaning base can be reduced, the whole cleaning base is protected, and the service life of the cleaning base is prolonged.

Furthermore, the self-moving robot can reduce the abrasion degree of the cleaning part and the driving wheel when running at a reduced speed, and the durability is improved.

In addition, the self-moving robot travels in a decelerating way and automatically cleans the driving wheels at the speed of decelerating running, so that the self-moving robot can be prevented from shaking caused by the rotation of the driving wheels during automatic cleaning, the stability of the driving wheels in the process of cleaning can be improved, and the cleaning effect is improved.

In addition, the self-moving robot travels in a decelerating way and automatically cleans the driving wheels at the speed of decelerating operation, so that the friction time between the driving wheels and the cleaning parts in unit area is ensured, the dirt on the driving wheels is better removed, and a better and more sufficient cleaning effect can be realized.

Drawings

FIG. 1 is a schematic structural diagram of a cleaning base according to a first embodiment of the present application;

FIG. 2 is a schematic structural diagram of a cleaning base according to a first embodiment of the present application;

FIG. 3 is a schematic structural diagram of a cleaning base according to a first embodiment of the present application;

FIG. 4 is a schematic view of a cleaning base docking with a self-moving robot according to a first embodiment of the present application;

fig. 5 is a flowchart illustrating a self-moving robot control method according to a second embodiment of the present application;

fig. 6 is a flowchart illustrating a control method of an autonomous mobile robot according to a third embodiment of the present application;

fig. 7 is a schematic structural diagram of a self-moving robot according to a fourth embodiment of the present application.

Reference numerals

10-a base; 11 — a cleaning area; 12-a bump; 13-an identification component;

14-assembly area; 15-support ribs; 16-a stop structure;

17-a signal transmitting unit; 18-a groove;

2-self-moving robot; 21-downward view sensor; 22-a drive wheel; 23-striker plate.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

In order to solve the technical problems that in the prior art, a driving wheel of a self-moving robot needs to be cleaned manually and the cleaning effect is unstable, the application provides a cleaning base, a self-moving robot control method and a self-moving robot. Details are described in the following examples one by one.

First, the self-moving robot to which the present application relates is schematically explained. The self-moving robot can be various intelligent devices with cleaning functions, such as a sweeping robot with sweeping and cleaning functions, a cleaning robot with cleaning function, and the like. Self-cleaning, as used herein, refers to the task of cleaning the drive wheels of a self-moving robot.

In the present application, various shapes of the self-moving robot are not limited, such as an oval shape, a circular shape, a convex polygonal shape, and the like, and the self-moving robot may implement the logic of the self-moving robot control method of the present application by installing software, APP, or writing a program in a corresponding device inside the self-moving robot in a controller used in cooperation with the self-moving robot.

Next, the structure of the cleaning base according to the present embodiment will be described in detail.

Referring to fig. 1 to 4, the first embodiment discloses a cleaning base for cleaning a driving wheel 22 of a self-moving robot 2, which mainly comprises: a cleaning member for performing a function of cleaning the driving wheel 22; and a signal transmitting unit 17 for transmitting a positioning signal to the self-moving robot 2 so that the self-moving robot 2 can automatically travel to the cleaning base.

Fig. 1 and 2 are schematic structural views of a cleaning base to which the signal transmission unit 17 is not mounted, fig. 3 is a schematic structural view of a cleaning base to which the signal transmission unit 17 is mounted, and fig. 4 is a schematic structural view of a cleaning base to which the self-moving robot 2 is docked.

Specifically, referring to fig. 1 to 4, the cleaning base includes a base 10, a cleaning region 11 is disposed on the base 10, and a cleaning member is disposed in the cleaning region 11.

Alternatively, the cleaning region 11 may be a specific region opened on the base 10. The cleaning area 11 is a plane area, and the driving wheel 22 of the self-moving robot 2 can reciprocate in the cleaning area 11, so that the driving wheel 22 of the self-moving robot 2 can be cleaned by the cleaning component of the cleaning base; the self-moving robot 2 can also be made to travel to a preset position, for example, the self-moving robot 2 is controlled to travel to the cleaning area 11 during construction, or the self-moving robot 2 is controlled to travel to a position abutting against the cleaning base, and the driving wheel 22 of the self-moving robot 2 rotates in the cleaning area 11, so that the driving wheel 22 of the self-moving robot 2 is cleaned by the cleaning component of the cleaning base; the self-moving robot may reciprocate in combination with the rotation of the driving wheels to clean the driving wheels 22 of the self-moving robot 2 with the cleaning member of the cleaning base.

Optionally, the cleaning member further comprises: the arc of the arc surface of the bulge 12 is matched with the arc of the driving wheel 22.

In the case where the cleaning member includes the protrusions 12, it is suitable for the driving wheel 22 to perform cleaning by spinning in place, and it is not suitable for the driving wheel 22 to perform cleaning by reciprocating motion.

In this embodiment, the protrusions 12 are disposed on the cleaning area 11, which is helpful for reducing the shaking of the self-cleaning mobile robot 2 during the self-cleaning process, and ensures that the driving wheels 22 are sufficiently cleaned, thereby improving the cleaning effect.

In addition, the radian of the cambered surface of the protrusion 12 is matched with the radian of the driving wheel 22, so that the driving wheel 22 is stressed more uniformly during cleaning, and the abrasion of the cleaning element at the cambered surface of the protrusion 12 on the driving wheel 22 is reduced.

Optionally, the cleaning member further comprises: cleaning elements, which can be various, such as brushes, cleaning cloths, etc. For easy replacement of the cleaning elements, it is preferred that the cleaning elements are detachably connected to the cleaning zone 11. For example, the female hook and loop fastener structure is fixed at the cleaning area 11, and the male hook and loop fastener is arranged on the back surface of the cleaning element, so that the cleaning element can be conveniently detached and installed from the cleaning area 11, and a user can clean or replace the cleaning element conveniently. The drive wheel 22, when rotating, generates friction with the cleaning elements arranged in the cleaning zone 11, eventually cleaning the drive wheel 22 of dust and dirt.

The cleaning elements are arranged on the protrusions 12 and the cleaning area 11, so that the contact area between the cleaning elements and the driving wheel 22 is increased, the cleaning area of the driving wheel 22 in unit time is larger under the same rotating speed, and the self-cleaning efficiency of the driving wheel 22 is improved.

For cleaning elements, there are several ways of assembling:

one is that the cleaning elements are detachably connected to the cleaning area 11;

the other is that the cleaning elements are detachably connected with the cambered surfaces of the protrusions 12;

yet another is that the cleaning elements are detachably connected to the cleaning zone 11 and to the curved surface of the protrusions 12.

For the cleaning area 11, the width of the cleaning area 11 may be set larger than the width of the driving wheel 22, and preferably the width of the cleaning area 11 is at least 3 times the width of the driving wheel 22, so as to achieve sufficient margin for the driving wheel 22 to keep stable during the self-cleaning process.

Also, the width of the cleaning element is set to be greater than or equal to the width of the driving wheel 22, thereby ensuring sufficient contact of the driving wheel 22 with the cleaning element and ensuring the cleaning effect of the driving wheel 22.

For the protrusions 12, the width of the protrusions 12 may be greater than or equal to the width of the driving wheel 22, so as to ensure that the driving wheel 22 is always matched with the protrusions 12 during self-cleaning, and sufficient margin is left, which is beneficial to keeping the driving wheel 22 stable during self-cleaning. In addition, in the case that the cleaning element is connected to the arc surface of the protrusion 12, the cleaning element is also attached to the arc surface of the protrusion 12 in an arc structure, so that the cleaning element is matched with the shape of the protrusion 12.

It should be noted that the cleaning element may cover the cleaning region 11 completely, or may cover the cleaning region 11 partially, and may be set according to actual requirements.

When the design is carried out, the radius R of the projection 12 is R1+ T-a, wherein R1 is the radius of the driving wheel 22, T is the thickness of the cleaning element, and a is the compression amount of the cleaning element when the driving wheel 22 is attached to the projection 12, so that the arc-shaped projection 12 is ensured to be attached to the shape of the driving wheel 22.

In addition, the circle center distance b between the protrusion 12 and the driving wheel 22 in the normal charging state is set to be c + d, where c is the compression stroke from the striking plate 23 of the mobile robot 2, and d is the distance from the striking plate 23 of the mobile robot 2 to the charging seat in the normal charging state, so as to ensure the stable operation of the mobile robot 2.

Alternatively, in the case where the self-moving robot 2 has the left and right driving wheels 22 and 22, the respective cleaning areas 11 are set as the left and right cleaning areas 11 and 11; the two cleaning members are respectively disposed in the left cleaning region 11 and the right cleaning region 11.

Alternatively, referring to fig. 4, the cleaning base is further provided with an identification part 13 for identification from the mobile robot 2, and in the case where the identification part 13 is identified from the mobile robot 2, the self-moving robot 2 performs a cleaning task; in a case where the self-moving robot 2 does not recognize the recognition part 13, the self-moving robot 2 executes the charging task. Specifically, when the downward-looking sensor 21 of the self-propelled robot 2 recognizes the recognition member 13, the self-propelled robot 2 is controlled to decelerate to move until the self-propelled robot 2 comes into contact with the signal transmission unit 17, and the driving wheels 22 come into contact with the cleaning member.

Further, according to actual needs, the sensing direction of the downward-looking sensor 21 of the mobile robot 2 may be set to be perpendicular to the ground, the charging task may be suspended on the condition that the mobile robot 2 walks to the position where the downward-looking sensor is aligned with the recognition part 13, and the generation of the cleaning task command may be triggered.

The sensing direction of the downward-looking sensor 21 of the self-moving robot 2 can be set to be obliquely below, so that the self-moving robot 2 does not need to walk to align the downward-looking sensor 21 with the identification component 13, and only the downward-looking sensor 21 and the identification component 13 need to be aligned obliquely, and therefore the self-moving robot 2 can be switched to a cleaning task when being close to the base 10 of the cleaning base or just walking to the base 10, the walking path of the self-moving robot 2 for executing the cleaning task can be increased, and task execution control of the self-moving robot 2 is facilitated.

Specifically, the number of the recognition parts 13 is two, the two recognition parts 13 are arranged on the base 10 side by side, and the two recognition parts 13 are respectively located on one sides of the two cleaning parts far away from the signal sending unit 17, so that the recognition parts 13 can be recognized before the self-moving robot 2 runs to the cleaning area 11 and contacts with the cleaning parts, and the self-moving robot 2 is triggered to switch from the charging task to the cleaning task.

Specifically, the recognition part 13 of the cleaning base may be provided as an area on the base 10 of the cleaning base, which is provided as an area of a color different from that of the base 10, preferably a color having a large color difference, for example, the base 10 is black, and then the area is provided as a white area, for example, the base 10 is white, and then the area is provided as a black area, so that the recognition part 13 is recognized from the downward-looking sensor 21 of the mobile robot 2. Accordingly, the downward-looking sensor 21 may be an infrared sensor, and the base 10 and the identification part 13 are distinguished by the intensity of the received optical signal.

Specifically, the recognition component 13 of the cleaning base may be a member, such as a reflective sheet or the like, attached to the base 10, the color of which should be set different from that of the base 10 to facilitate recognition from the downward-looking sensor 21 of the mobile robot 2.

Specifically, the identification part 13 of the cleaning base may be provided as a magnetic stripe or a magnetic sheet. Accordingly, the hall sensor 21 of the self-moving robot 2 is set as the identification sensor, so that the hall sensor 21 suspends the execution of the charging task and triggers the generation of the cleaning task instruction in the case of sensing the magnetic field intensity of the magnetic stripe 13

Specifically, the recognition part 13 of the cleaning base may be provided as a high-brightness region by providing a lamp assembly in the region so that the brightness of the recognition part 13 is higher than the periphery. Accordingly, the downward-looking sensor 21 of the self-moving robot 2 is provided as an infrared sensor so that the sensor suspends the execution of the charging task and triggers the generation of the cleaning task instruction in the case of sensing the light of the recognition part 13.

Optionally, the signal sending unit 17 is a charging seat, the cleaning base is further provided with an assembling area 14, and a supporting rib 15 structure and a stopping structure 16 are further disposed on the periphery of the assembling area 14, so as to ensure that the charging seat is assembled in place and reliably.

Optionally, the assembly area 14 is further provided with a groove 18, and the lower end of the self-moving robot 2 is further connected with a universal wheel, so that the self-moving robot 2 can turn conveniently in the movement process; when the charging is in butt joint, the universal wheels are clamped in the grooves 18 to prevent the self-moving robot 2 from being displaced by external force during charging.

The cleaning base disclosed in this embodiment sends a positioning signal to the self-moving robot 2 through the signal sending unit 17, so that the self-moving robot 2 travels to the cleaning area 11, and by arranging the cleaning member in the cleaning area 11, the driving wheel 22 generates friction with the cleaning member during rotation, and cleans dust and dirt on the driving wheel 22, and thus the cleaning effect can be improved.

Secondly, the arrangement of the protrusions 12 on the cleaning area 11 helps to reduce the shaking of the self-cleaning mobile robot 2 during self-cleaning, ensures that the driving wheels 22 are sufficiently cleaned, and improves the cleaning effect.

Moreover, the cleaning elements are arranged on the protrusions 12 and the cleaning area 11, so that the contact area between the cleaning elements and the driving wheel 22 is increased, the cleaning area of the driving wheel 22 in unit time is larger under the same rotating speed, and the self-cleaning efficiency of the driving wheel 22 is improved.

In addition, the width of the protrusion 12 is larger than or equal to the width of the driving wheel 22, so that the driving wheel 22 is always matched with the protrusion 12 during self-cleaning, and enough margin is reserved, which is beneficial to keeping the driving wheel 22 stable during the self-cleaning process.

In addition, the signal sending unit 17 is arranged as a charging seat, so that the integration of the charging function and the self-cleaning function is realized, the protrusions 12 form effective reverse support for the self-cleaning rotation driving wheels 22, the pressure of the collision plate 23 of the self-moving robot 2 contacting with the charging seat is reduced, and the charging seat and the self-moving robot 2 are structurally protected.

The second embodiment of the present application discloses a method for controlling an autonomous mobile robot, referring to fig. 5, including:

501. and controlling the self-moving robot to move towards the cleaning base.

Specifically, there are various control manners, such as generating a corresponding travel instruction according to an entity key or a virtual key arranged on the self-moving robot, or generating a corresponding travel instruction according to a key on a remote controller used in cooperation with the self-moving robot, or generating a corresponding travel instruction according to an operation key of the cleaning base, so as to control the self-moving robot to travel to the cleaning base; or when the electric quantity of the built-in battery of the self-moving robot is lower than a threshold value, the self-moving robot automatically returns to the cleaning base to charge.

Specifically, the self-moving robot responds to the traveling instruction and travels towards the cleaning base according to the received positioning signal sent by the cleaning base.

The traveling instruction is generated independently or according to the charging task.

In one usage scenario, a travel instruction is generated by a manipulation key provided to a mechanical body of the self-moving robot. The control key can be a physical key or a virtual key displayed in the touch display screen. Based on this, the user can generate a travel instruction for triggering the mobile robot to travel to the cleaning base by operating the manipulation key.

In another specific use scenario, the travel instruction is generated by a remote controller used in cooperation with the self-moving robot. Based on this, the user can install the control software of the self-moving robot on the terminal device such as a mobile phone and a computer, and send various control instructions, such as a traveling instruction, to the self-moving robot through the operation of the user on the terminal device installed with the control software.

In yet another specific use scenario, the travel instructions are generated according to predefined program execution logic. In such a scenario, for example, the self-moving robot performs a charging task, and during the charging task, the recognition component is arranged on the base of the cleaning base, and after the recognition component is recognized by the self-moving robot, the charging task is suspended, the cleaning task is performed instead, and then the charging task is performed again after the cleaning task is performed. In this scenario, before the self-moving robot is started, the execution logic of the self-moving robot, such as the logic for executing the charging task, the cleaning task and the charging task, is predefined.

Wherein, for the cleaning base only executing the cleaning task, the sent positioning signal is the cleaning positioning signal; for the cleaning base for executing the charging task and the cleaning task, the charging seat and the cleaning part are integrated, and the positioning signal sent by the cleaning base can be the charging positioning signal sent by the charging seat.

After receiving the positioning signal sent by the cleaning base, the self-moving robot plans a traveling route according to the positioning signal and then travels to the cleaning base according to the positioning signal. And optionally, during the traveling process, the self-moving robot can also re-plan the route according to the actual situation, such as encountering an obstacle and the like.

For the positioning signal, the cleaning base can be sent at intervals or continuously.

502. And under the condition that the self-moving robot is determined to travel to the preset position of the cleaning base, cleaning the driving wheels of the self-moving robot by using the cleaning component of the cleaning base by controlling the wheel-moving mode of the self-moving robot.

The preset positions are various, for example, the self-moving robot is controlled to move to a cleaning area in a decelerating mode; and controlling the self-moving robot to move to a position resisting against the cleaning base in a decelerating way.

Wherein the cleaning member comprises a cleaning element, such as a brush, a cleaning cloth or the like, to achieve cleaning of the drive wheel. Considering the replaceability of the cleaning element, the female magic tape structure is fixed at the cleaning area of the preset position, the male magic tape is arranged on the back of the cleaning element, the cleaning element can be conveniently detached and installed from the cleaning area, and a user can clean or replace the cleaning element conveniently. The drive wheel, when rotating, generates friction with the cleaning elements arranged in the cleaning zone, eventually cleaning the drive wheel of dust and dirt.

Specifically, the condition for determining whether the self-moving robot travels to the preset position may be various, for example, by installing a sensor in the self-moving robot to recognize the cleaning element at the preset position and determining that the self-moving robot travels to the preset position in a case where the sensor receives a feedback signal; for example, if the touch signal is received from the front-end collision plate of the mobile robot, the self-mobile robot is determined to travel to the preset position; for example, by setting the recognition part before the preset position, in the case that the self-moving robot recognizes the recognition part through the sensor, it is determined that the self-moving robot travels onto the cleaning base, and it is determined that the self-moving robot travels to the preset position according to the distance between the recognition part and the preset position and according to the number of rotations of the driving wheel. Alternatively, in the case where the self-moving robot recognizes the recognition part through the sensor, the self-moving robot has reached a certain local position of the preset position.

Optionally, in a specific usage scenario, step 502 includes: and controlling the driving wheel of the self-moving robot to reciprocate at the preset position so as to clean the driving wheel of the self-moving robot by using the cleaning component of the cleaning base.

Specifically, the driving wheel of the self-moving robot reciprocates at a preset position, and the length of the cleaning part needing to be set at the preset position is larger than the circumferential length of the driving wheel, so that the driving wheel can rotate for at least one circle at the preset position, and the purpose of cleaning dust or dirt on the surface of the driving wheel by using the cleaning part is achieved.

In addition, it should be set that the driving wheel of the self-moving robot reciprocates a plurality of times at a preset position to improve the cleaning effect.

For each control mode back and forth, the self-moving robot can be controlled in various modes, for example, the control mode is realized by monitoring the number of revolutions of the driving wheel, for example, the driving wheel is controlled to rotate in a forward direction for one circle and then rotate in a reverse direction for one circle, and the cycle is repeated in sequence; in addition, the control can also be realized through time control, for example, the self-moving robot is controlled to move forwards for 2 seconds at the current speed and then move backwards for 2 seconds at the same speed, and the cycle is performed sequentially; further, the speeds of forward travel and backward travel of the self-moving robot can be adjusted to be different, for example, the speed of forward travel is v1, the speed of backward travel is v2, and v1 is twice of v 2. For other control methods, this embodiment is not listed.

In addition to controlling the self-moving robot to reciprocate to achieve cleaning of the drive wheels by the cleaning member, optionally, in one particular use scenario, step 502 includes: the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base by controlling the self-moving robot to move to abut against the cleaning base and keeping the driving wheel of the self-moving robot autorotate in the cleaning area.

In this manner, the self-moving robot does not need to reciprocate any more, but keeps advancing forward until the front end of the self-moving robot contacts the cleaning base, and continues to maintain the driving force from the driving motor of the self-moving robot to the driving wheels, so that the driving wheels continue to rotate in situ to achieve cleaning.

The in-situ rotation time of the driving wheel can be set according to actual requirements, preferably set to be 20-30 seconds, and abrasion of the driving wheel is reduced while cleaning efficiency is guaranteed.

In addition, the width of the cleaning area can be set to be larger than or equal to that of the driving wheel, so that the driving wheel can always move in the cleaning area during self-cleaning, enough margin is reserved, and the driving wheel can be kept stable in the self-cleaning process.

Preferably, the cleaning area can be provided with a protrusion, and the radian of the protruded cambered surface is matched with that of the driving wheel, so that the driving wheel is stressed more uniformly during cleaning, and the abrasion of the cleaning element at the protruded cambered surface on the driving wheel is reduced.

Furthermore, the convex cambered surface can also be provided with a cleaning element, so that the contact area between the cleaning element and the driving wheel is increased in the process of in-situ rotation of the driving wheel, the cleaning area of the driving wheel in unit time at the same rotating speed is larger, and the self-cleaning efficiency of the driving wheel is improved.

In addition, the width of the bulge is larger than or equal to that of the driving wheel, so that the driving wheel is always matched with the bulge during self-cleaning, enough margin is reserved, and the driving wheel is favorably kept stable in the self-cleaning process.

In the self-moving robot control method provided by this embodiment, the self-moving robot is controlled to travel to the cleaning base, and when it is determined that the self-moving robot travels to the preset position of the cleaning base, the driving wheels of the self-moving robot are cleaned by the cleaning member of the cleaning base by controlling the rotation manner of the self-moving robot, so that the driving wheels of the self-moving robot are automatically cleaned, and the cleaning effect is good.

As can be seen from the present embodiment, the triggering of the self-moving robot control method needs to be implemented by the cleaning task instructions. As mentioned above, the cleaning task instruction may be generated directly and independently, or may be generated indirectly for triggering other tasks, such as a charging task. During the self-moving robot executes the charging task, other external components are detected through the self-moving robot to trigger the generation of a cleaning task instruction, and the self-moving robot is controlled to execute the cleaning task. Accordingly, it is necessary to provide a cleaning base that performs cleaning of the self-moving robot with both a charging function and a cleaning function.

The fourth embodiment discloses a control method of an automatic mobile robot, which is used for a cleaning task in a charging task, wherein a cleaning base is provided with a charging seat and an identification component.

First, the operation states in which the self-moving robot performs the charging task and the cleaning task will be described. The collision plate is arranged on the peripheral side of the self-moving robot, and generates a collision plate signal when the distance between the collision plate and the obstacle is smaller than a threshold value (or the collision plate collides with the obstacle).

And in the process of executing the charging task by the self-moving robot, keeping the starting of the collision plate signal, and planning a traveling route until the element to be charged of the self-moving robot is in butt joint with the charging element of the charging seat.

In the process of executing the cleaning task by the self-moving robot, in one case, the self-moving robot needs to be in contact with the charging seat and continuously rotate the driving wheel so as to clean the driving wheel. In this case, the following cleaning task logic needs to be performed from the mobile robot: and closing the plate collision signal to enable the self-moving robot to contact the charging seat, continuously rotating the driving wheels to realize cleaning, and controlling the self-moving robot to retreat and recover the plate collision signal under the condition that the cleaning time reaches a threshold value so as to enable the self-moving robot to execute a charging task, receive a positioning signal and carry out charging butt joint with the charging seat.

In another case, the self-moving robot performs cleaning of the driving wheels by reciprocating motion, which does not require turning off the striking plate signal. In this case, the following cleaning task logic needs to be performed from the mobile robot: and controlling the self-moving robot to advance for a preset distance at a preset position, controlling the self-moving robot to retreat for the preset distance at the preset position, repeating the steps until a time threshold is reached, controlling the self-moving robot to re-execute a charging task, receiving a positioning signal, and carrying out charging butt joint with a charging seat.

Specifically, as shown in fig. 6, the self-moving robot control method includes steps 601 to 604:

601. and controlling the self-moving robot to move towards the cleaning base.

Specifically, there are various control manners, such as generating a corresponding cleaning task instruction according to a physical key or a virtual key arranged on the self-moving robot, or generating a corresponding cleaning task instruction according to a key on a remote controller used in cooperation with the self-moving robot, or generating a corresponding cleaning task instruction according to an operation key of the cleaning base, so as to control the self-moving robot to move to the cleaning base.

For a specific control manner, refer to the detailed explanation of the foregoing embodiment, which is not repeated herein.

602. And in the process of controlling the self-moving robot to move towards the cleaning base, after the self-moving robot identifies the identification component, generating a cleaning task instruction.

Specifically, in one usage scenario, the cleaning base is provided with a charging dock, and the cleaning task instruction is generated during the process of executing the charging task from the mobile robot. Step 602 includes: and controlling the self-moving robot to travel to the cleaning base in response to the charging task instruction, and in the case that the self-moving robot recognizes the recognition component, controlling the self-moving robot to suspend the execution of the charging task and generate the cleaning task instruction.

Specifically, in another usage scenario, the cleaning base is provided with a charging seat, and the cleaning task instruction is triggered and generated after the self-moving robot performs a charging task. Step 602 includes: and controlling the self-moving robot to move towards the cleaning base in response to the charging task instruction, and generating the cleaning task instruction when the self-moving robot recognizes the recognition component and the charging task is completely executed.

In addition, an downward-looking sensor may be provided below the self-moving robot to enable triggering of generation of a cleaning task instruction in the event that the identification component is detected.

Alternatively, the identification part of the cleaning base may be provided as an area on the base of the cleaning base, which is provided as a color area of a color different from that of the base, preferably a color having a large color difference, for example, the base color is black, and then the area is provided as a white area, for example, the base color is white, and then the area is provided as a black area, so that the identification part is identified from the downward-looking sensor of the mobile robot. Accordingly, the downward-looking sensor can be an infrared sensor, and the base and the identification component can be distinguished through the strength of the received optical signal.

Alternatively, the recognition means of the cleaning base may be an element, such as a reflective sheet or the like, attached to the base, which element should be set in a color different from that of the base so as to be recognized by the downward-looking sensor of the self-moving robot.

Alternatively, the identification member of the cleaning base may be provided as a high-brightness region by providing the lamp assembly in the region so that the brightness of the identification member is higher than the periphery. Accordingly, the downward-looking sensor of the self-moving robot is set as an infrared sensor, so that the sensor suspends the execution of the charging task and triggers the generation of the cleaning task instruction in the case of sensing the light of the recognition part.

Further, according to actual needs, the sensing direction of the downward-looking sensor of the self-moving robot can be set to be perpendicular to the ground, the charging task is suspended under the condition that the self-moving robot walks to the condition that the downward-looking sensor is aligned with the recognition component, and the cleaning task command is triggered and generated.

The perception direction of the downward-looking sensor of the self-moving robot can be set to be an oblique lower side, so that the self-moving robot is not required to walk to align with the downward-looking sensor and the identification component, and only the downward-looking sensor and the identification component are required to be aligned obliquely, therefore, the self-moving robot is allowed to be switched to a cleaning task on a base close to a cleaning base or just marching to the base, the walking path of the self-moving robot for executing the cleaning task can be increased, and the control of the self-moving robot for executing the task is facilitated.

In a specific use scenario, the identification component may be one, and accordingly, the downward-looking sensor of the self-moving robot comprises one. Specifically, step 602 includes the following steps S6021 to S6022:

s6021, when the self-moving robot recognizes the recognition component, controls the self-moving robot to suspend the execution of the charging task and generate the cleaning task command.

S6022. in a case where the self-moving robot does not recognize the recognition component, the self-moving robot backs up and replans the travel route, then travels based on the replanned travel route, and continuously judges whether or not the recognition component is recognized, respectively.

In such a case, the self-moving robot may deviate from the cleaning base during the traveling process, so that the downward-looking sensor does not identify the identification component, and the self-moving robot needs to go backwards and then plan the traveling route again based on the current position and the target position of the self-moving robot.

In another specific use scenario, there may be two identification components, and the two identification components are arranged side by side. Correspondingly, the downward-looking sensors of the self-moving robot comprise two sensors which are respectively positioned at the left side and the right side of the lower part of the self-moving robot; the cleaning areas are two and are respectively arranged on the left side and the right side of the cleaning base so as to respectively clean the left driving wheel and the right driving wheel of the self-moving robot.

Specifically, step 602 includes the following steps S6023 to S6024:

s6023, if the self-moving robot recognizes two of the recognition units, controlling the self-moving robot to suspend the execution of the charging task and generating the cleaning task command;

s6024. in a case where the self-moving robot does not recognize the two recognition components, the self-moving robot backs up and replans the travel route, then travels based on the replanned travel route, and continuously judges whether or not the two recognition components are recognized, respectively.

In such a case, the self-moving robot may deviate from the cleaning base during the traveling process, so that only one side sensor recognizes the recognition component, or neither sensor recognizes the recognition component, and then the self-moving robot needs to retreat and plan the traveling route based on the current position and the target position of the self-moving robot again.

In another specific use scenario, there may be two identification components, and the two identification components are arranged side by side. And the self-moving robot executes the cleaning task command again under the condition of finishing the charging task.

Specifically, step 602 includes the following steps S6025 to S6026:

s6025, when the self-moving robot recognizes the two recognition means and the charging task is completed, controls the self-moving robot to generate the cleaning task command.

S6026, in a case where the self-moving robot does not recognize the two recognition components, the self-moving robot backs up and replans the travel route, then travels based on the replanned travel route, and continuously judges whether or not the two recognition components are recognized, respectively.

603. And controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction.

The predetermined position may be various, such as controlling the mobile robot to decelerate to the cleaning area, or controlling the mobile robot to decelerate to a position against the cleaning base.

Specifically, the deceleration manner may be various, such as linearly decreasing from the first speed to the second speed to the cleaning area of the cleaning base from the mobile robot, or directly decreasing from the first speed to the second speed to the cleaning area of the cleaning base from the mobile robot.

In addition, for a case where the cleaning task instruction is generated during the self-moving robot performs the charging task, the self-moving robot performs the cleaning task first and then performs the charging task, the method further includes: after the cleaning task instruction is generated, the collision plate signal of the self-moving robot is controlled to be closed, so that the self-moving robot can be abutted against a charging seat arranged on the cleaning base, and the driving wheel of the self-moving robot is attached to the cleaning area and keeps rotating, so that the driving wheel of the self-moving robot is cleaned by using the cleaning part of the cleaning base.

Furthermore, the cleaning base is provided with a bulge, and the radian of the cambered surface of the bulge is matched with the radian of the driving wheel; the method comprises the following steps: and controlling the self-moving robot to move to the abutting cleaning base, and enabling the driving wheel of the self-moving robot to be attached to the cleaning area and the protrusion and keep rotating, so that the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base.

In this embodiment, under the condition that discernment part is discerned from mobile robot, the clean region of marcing to the clean base slows down, helps from the better detection positioning signal of mobile robot, is favorable to the cleaning location of drive wheel more accurate.

Secondly, the speed is reduced to advance under the condition that the recognition component is recognized by the self-moving robot, so that the impact generated when the self-moving robot is in contact with the cleaning base can be reduced, the whole cleaning base is protected, and the service life of the cleaning base is prolonged.

And thirdly, the self-moving robot can reduce the abrasion degree of the cleaning part and the driving wheel when running at a reduced speed, and the durability is improved.

604. And under the condition that the self-moving robot is determined to travel to the preset position of the cleaning base, cleaning the driving wheels of the self-moving robot by using the cleaning component of the cleaning base by controlling the wheel movement mode of the self-moving robot.

Wherein the cleaning member may comprise a cleaning element, such as a brush, a cleaning cloth or the like, to enable cleaning of the drive wheel. Considering the replaceability of clean material, fix female magic subsides structure earlier in clean area department, the back of cleaning element sets up public magic subsides, can conveniently realize dismantling and installing cleaning element from clean area department, and convenience of customers is clean or is changed clean material. The drive wheel, when rotating, generates friction with the cleaning elements arranged in the cleaning zone, eventually cleaning the drive wheel of dust and dirt.

Optionally, in a specific usage scenario, step 604 includes: and controlling the driving wheel of the self-moving robot to reciprocate at the preset position so as to clean the driving wheel of the self-moving robot by using the cleaning component of the cleaning base.

In addition to controlling the self-moving robot to reciprocate to achieve cleaning of the driving wheels by the cleaning component, step 604 optionally includes, in another specific use scenario: the self-moving robot is controlled to move to the contact cleaning base, and the driving wheel of the self-moving robot keeps rotating at the preset position, so that the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base.

For a detailed explanation of the wheel movement mode of the self-moving robot, reference is made to the foregoing embodiments, and details are not repeated in this embodiment.

Optionally, for a use scenario in which the self-moving robot performs the cleaning task and then continues to perform the charging task, after the driving wheels of the self-moving robot are cleaned, the self-moving robot resumes performing the charging task, and the self-moving robot is controlled to be in butt joint with the charging seat.

In this embodiment, there are various methods for determining that the driving wheel is completely cleaned, for example, determining by time, and determining whether the driving wheel is completely cleaned by determining whether the cleaning time of the driving wheel is greater than a set cleaning time threshold; for example, the number of revolutions of the driving wheel is counted, and whether the driving wheel is completely cleaned is judged by judging whether the number of revolutions of the driving wheel is larger than a set threshold value of the number of revolutions.

Specifically, in the case where the self-moving robot contacts the charging stand through the striking plate to realize rotation of the driving wheels, after the self-moving robot resumes executing the charging task, the self-moving robot needs to retreat and advance again until the self-moving robot is in contact with the charging stand. In practical use, the self-moving robot retreats for a certain distance so as to be convenient for the self-moving robot to be in butt joint with the charging seat again, and the distance for retreating the self-moving robot is not too large, for example, the distance for retreating the self-moving robot is set to be 2-5 cm. And then, the self-moving robot recovers the plate collision signal again and continues to advance until the self-moving robot is in butt joint with the charging seat. In the process, the element to be charged of the self-moving robot is in butt joint with the charging element of the charging seat, and the collision plate of the self-moving robot cannot be in contact with the charging seat again.

Specifically, in the case that the self-moving robot reciprocates at the preset position, after the driving wheels of the self-moving robot are cleaned, the self-moving robot recovers the plate collision signal, and can retreat for a certain distance to advance again or directly advance without retreating, so that the self-moving robot is controlled to be in butt joint with the charging seat.

According to the self-moving robot control method, the self-moving robot realizes the cleaning task in the process of responding to the charging task instruction, so that the automatic cleaning of the driving wheels of the self-moving robot is realized, the cleaning effect is good, and the sequential execution of the double tasks of the charging task and the cleaning task is realized.

Specific example 1

In one embodiment, the cleaning logic performed from the mobile robot is as follows: and controlling the self-moving robot to move, namely moving to the cleaning area of the cleaning base to reciprocate for cleaning.

The specific flow of the self-moving robot control method is as follows:

and S11, controlling the self-moving robot to move towards the cleaning base.

Specifically, the travel instruction may be generated by a manipulation key provided to a mechanical body of the self-moving robot, or generated by a remote controller used in cooperation with the self-moving robot, or generated according to a predefined program execution logic. For a detailed explanation, reference is made to the foregoing embodiments, which are not repeated herein.

And S12, in the process of controlling the self-moving robot to move to the cleaning base, after the self-moving robot recognizes the recognition component, generating a cleaning task instruction.

And S13, controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction.

Specifically, the self-moving robot linearly decreases from a first speed to a second speed to a cleaning area of the cleaning base; or from the mobile robot traveling directly from the first speed to the second speed to the cleaning area of the cleaning base.

And S14, under the condition that the self-moving robot is determined to travel to the preset position of the cleaning base, controlling the driving wheels of the self-moving robot to reciprocate in the cleaning area at the preset position so as to clean the driving wheels of the self-moving robot by using the cleaning component of the cleaning base.

In particular, the cleaning member may comprise a cleaning element, such as a detachable cleaning cloth or a brush arrangement. The cleaning area may be arranged to have a width larger than the width of the driving wheel, preferably at least 3 times the width of the driving wheel, to achieve sufficient margin for the driving wheel to remain stable during the self-cleaning process.

Specifically, the driving wheel of the self-moving robot reciprocates in the cleaning area, and the length of the cleaning element for setting the cleaning area is larger than the circumferential length of the driving wheel, so that the driving wheel can rotate at least one circle in the cleaning area to clean dust or dirt on the surface of the driving wheel by using the cleaning element.

Specific example 2

In one embodiment, the cleaning logic performed from the mobile robot is as follows: and controlling the self-moving robot to move, namely moving to a limiting part contacted with the cleaning base from the self-moving robot, and continuously keeping the driving wheels to rotate in situ at a preset position for cleaning.

The specific flow of the self-moving robot control method is as follows:

and S21, controlling the self-moving robot to move towards the cleaning base.

And S22, when the self-moving robot identifies the identification component, the self-moving robot decelerates to move to the preset position of the cleaning base.

And S23, under the condition that the self-moving robot is determined to travel to the preset position of the cleaning base, the self-moving robot is controlled to travel to contact with the cleaning base, and the driving wheel of the self-moving robot rotates in the preset position, so that the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base.

In addition, the preset position can be provided with a bulge, and the radian of the convex cambered surface is matched with that of the driving wheel, so that the driving wheel is stressed more uniformly when being cleaned, and the abrasion of the cleaning element at the convex cambered surface to the driving wheel is reduced.

Specific example 3

In one embodiment, the cleaning logic performed from the mobile robot is as follows: receiving a charging task instruction, executing a charging task, controlling the self-moving robot to move forwards, triggering to generate a cleaning task instruction, moving to the preset position of the cleaning base to reciprocate for cleaning, and resuming to execute the charging task after the cleaning task is executed.

The specific flow of the self-moving robot control method is as follows:

and S31, responding to a charging task instruction, and enabling the self-moving robot to move towards the cleaning base according to the positioning signal.

S32, it is determined whether the mobile robot recognizes two recognition components, if yes, step S33 is executed, and if no, step S34 is executed.

And S33, controlling the self-moving robot to suspend executing the charging task and generating the cleaning task command when the self-moving robot recognizes the two recognition components.

S34, in case that the self-moving robot does not recognize the two recognition parts, the self-moving robot backs up and replans the travel route, then travels based on the replanned travel route, and proceeds to the step S32.

And S35, controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction.

And S36, controlling the driving wheels of the self-moving robot to reciprocate in the cleaning area under the condition that the self-moving robot is determined to travel to the cleaning area of the cleaning base so as to realize the cleaning of the driving wheels of the self-moving robot by the cleaning component.

In particular, the cleaning member may comprise a cleaning element, which may be, for example, a removable cleaning cloth or a brush arrangement. The cleaning area may be arranged to have a width larger than the width of the driving wheel, preferably at least 3 times the width of the driving wheel, to achieve sufficient margin for the driving wheel to remain stable during the self-cleaning process.

And S37, recovering the self-moving robot to execute a charging task, and controlling the self-moving robot to be in butt joint with the charging seat.

Specific example 4

In one embodiment, the cleaning logic performed from the mobile robot is as follows: receiving a charging task instruction, executing a charging task, triggering to generate a cleaning task instruction, moving to a limiting part contacted with a cleaning base from a mobile robot, continuously keeping the driving wheel rotating in situ at a preset position for cleaning, and resuming to execute the charging task after the cleaning task is executed.

The specific flow of the self-moving robot control method is as follows:

and S41, responding to a charging task instruction, and enabling the self-moving robot to move towards the cleaning base according to the positioning signal.

And S42, judging whether the self-moving robot identifies two identification components, if so, executing step S33, and if not, executing step S34.

And S43, when the self-moving robot recognizes the two recognition components, the self-moving robot suspends the execution of the charging task and triggers the generation of a cleaning task instruction.

S44, in case that the self-moving robot does not recognize the two recognition parts, the self-moving robot backs up and replans the travel route, then travels based on the replanned travel route, and proceeds to the step S42.

And S45, when the self-moving robot identifies the identification component, the self-moving robot decelerates to move to the preset position of the cleaning base.

And S46, under the condition that the self-moving robot is determined to travel to the cleaning area of the cleaning base, the self-moving robot is controlled to travel to abut against the cleaning base, and the driving wheels of the self-moving robot rotate in the cleaning area, so that the driving wheels of the self-moving robot are cleaned by the cleaning component of the cleaning base.

In addition, the cleaning area can be provided with a bulge, and the radian of the cambered surface of the bulge is matched with that of the driving wheel, so that the driving wheel is stressed more uniformly when being cleaned, and the abrasion of the cleaning element at the position of the cambered surface of the bulge on the driving wheel is reduced.

And S47, recovering the self-moving robot to execute a charging task, and controlling the self-moving robot to be in butt joint with the charging seat.

The fourth embodiment of the present application further provides a self-moving robot, see fig. 7, including a machine body 70, and a driving wheel is connected to a lower portion of the machine body 70. The machine body 70 is provided with at least one processor 701 and at least one memory 702 storing computer instructions.

Wherein, the memory 702 is used for storing programs for supporting the self-moving robot to execute the control method in the foregoing embodiments, and the processor 701 is configured to execute the programs stored in the memory.

The machine body 70 is provided with some basic components of the self-moving robot, such as a driving component, a cleaning component, a camera, a sensor component, a power supply component, and the like, in addition to one or more processors 701 and one or more memories 702. Alternatively, the drive assembly may include drive wheels, drive motors, universal wheels, and the like. Alternatively, the sweeping assembly may include a sweeping motor, a floor brush, a dust suction fan, and the like. The basic components and the configurations of the basic components included in different self-moving robots are different, and the embodiments of the present application are only some examples.

It is noted that one or more processors 701 and one or more memories 702 may be disposed inside the machine body, or disposed on the surface of the machine body 70.

The machine body 70 is an execution mechanism by which the self-moving robot performs a task, and can execute an operation designated by a processor in a certain environment. The machine body 70 shows the appearance of the self-moving robot to some extent. In the present embodiment, the external appearance of the self-moving robot is not limited, and may be, for example, a circle, an ellipse, a triangle, a convex polygon, or the like.

The one or more memories 702 are used primarily to store computer instructions that may be executed by the one or more processors 701 to cause the one or more processors 701 to control the machine body 700 of the mobile robot to perform cleaning tasks. In addition to storing computer instructions, the one or more memories 702 may also be configured to store other various data to support operations on the self-moving robot. Examples of such data include instructions for any application or method operating on the self-moving robot, map data of the environment/scene in which the self-moving robot is located, information of the area to be cleaned, cleaning time, and the like.

The memory or memories 702 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

One or more processors 701, which may be considered a control system for the self-moving robot, may be used to execute computer instructions stored in one or more memories 702 to control the self-moving robot to perform cleaning tasks.

The at least one processor 701 is configured to execute computer instructions to implement the following method:

controlling a self-moving robot to travel towards the cleaning base;

The traveling instruction can be generated for independent triggering or generated according to charging task triggering.

In a use scene, generating a traveling instruction through a control key arranged on a mechanical body of the self-moving robot; in another specific use scene, a traveling instruction is generated through a remote controller used in cooperation with the self-moving robot; in yet another specific use scenario, the travel instructions are generated according to predefined program execution logic.

The cleaning base for executing the charging task and the cleaning task integrates the charging seat and the cleaning part, and the positioning signal sent by the cleaning base can be the charging positioning signal sent by the charging seat.

For the positioning signal, the cleaning base can be sent at intervals or continuously.

Specifically, the condition for judging whether the self-moving robot travels to the preset position may be various, for example, by installing a sensor in the self-moving robot to recognize the cleaning member at the preset position and determining that the self-moving robot travels to the preset position in a case where the sensor receives a feedback signal; for example, if the touch signal is received from the front-end collision plate of the mobile robot, the self-mobile robot is determined to travel to the preset position; for example, by setting the recognition part before the preset position, in the case that the self-moving robot recognizes the recognition part through the sensor, it is determined that the self-moving robot travels onto the cleaning base, and it is determined that the self-moving robot travels to the preset position according to the distance between the recognition part and the preset position and according to the number of rotations of the driving wheel.

Optionally, the processor is configured to: and controlling the rotating speed of the driving wheel to be lower than that of the self-moving robot in normal work in the process that the cleaning component of the cleaning base cleans the driving wheel of the self-moving robot.

Optionally, the processor is configured to: and controlling the driving wheel of the self-moving robot to reciprocate at the preset position so as to clean the driving wheel of the self-moving robot by using the cleaning component of the cleaning base.

Optionally, the processor is configured to: the self-moving robot is controlled to move to abut against the cleaning base, and the driving wheel of the self-moving robot is kept at the preset position to rotate, so that the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base.

Optionally, the cleaning base is provided with an identification component; the processor is configured to: and in the process of controlling the self-moving robot to move towards the cleaning base, after the self-moving robot identifies the identification component, generating a cleaning task instruction.

Optionally, the processor is further configured to: and controlling the self-moving robot to decelerate to the preset position of the cleaning base based on the cleaning task instruction.

Optionally, the processor is further configured to: and after the cleaning task instruction is generated, controlling to close a plate collision signal of the self-moving robot.

Optionally, the cleaning base is provided with a charging stand; the processor is further configured to: in response to a charging task instruction, controlling the self-moving robot to travel to the cleaning base, and in the case that the self-moving robot recognizes the recognition component, controlling the self-moving robot to suspend executing a charging task and generating the cleaning task instruction;

after cleaning the driving wheels of the self-moving robot with the cleaning member of the cleaning base, the processor is further configured to: and recovering to execute the charging task, and controlling the self-moving robot to be in butt joint with the charging seat.

Optionally, the cleaning base is provided with a charging stand; the processor is further configured to: and responding to a charging task instruction, controlling the self-moving robot to travel to the cleaning base, and generating a cleaning task instruction when the self-moving robot recognizes the recognition component and the charging task is completely executed.

Optionally, the processor is further configured to: the self-moving robot linearly decreases from a first speed to a second speed to travel to a preset position of the cleaning base; or the self-moving robot directly reduces from the first speed to the second speed to the preset position of the cleaning base.

Optionally, the cleaning base is provided with a protrusion, and the radian of the arc surface of the protrusion is matched with the radian of the driving wheel;

the processor is further configured to: and controlling the self-moving robot to move to abut against the cleaning base, wherein the driving wheel of the self-moving robot is attached to the preset position and the protrusion and keeps rotating, so that the driving wheel of the self-moving robot is cleaned by using the cleaning component of the cleaning base.

Optionally, the identification means comprises two identification means side by side; the processor is further configured to:

when the self-moving robot recognizes the two recognition components and the charging task is completed, controlling the self-moving robot to generate the cleaning task instruction;

According to the self-moving robot provided by the embodiment, under the condition that the self-moving robot is controlled to move to the preset position of the cleaning base from the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base in a wheel-moving mode of the self-moving robot, so that the driving wheel of the self-moving robot is automatically cleaned, and the cleaning effect is good.

The self-moving robot can reduce the abrasion degree of the cleaning part and the driving wheel when running at a reduced speed, and the durability is improved.

The foregoing is a schematic view of a self-moving robot according to the present embodiment. It should be noted that the technical solution of the self-moving robot is the same as the technical solution of the self-moving robot control method described above, and details of the technical solution of the self-moving robot, which are not described in detail, can be referred to the description of the technical solution of the self-moving robot control method described above.

It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

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