CN115079682A

CN115079682A - Self-moving apparatus, apparatus main body, and control method thereof

Info

Publication number: CN115079682A
Application number: CN202110276074.8A
Authority: CN
Inventors: 许开立; 单俊杰
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2022-09-20

Abstract

The embodiment of the application provides a self-moving device, a device main body and a control method thereof. In the embodiment of the application, on the basis of using the same equipment main body, different functional modules can be replaced according to application requirements, so that the self-moving equipment with different functions and supporting multiple operation modes is realized, and the purposes of enriching and intelligentizing functions of the self-moving equipment are achieved; in addition, the adaptive advancing scheme is determined for each operation mode, and in practical application, when a certain operation mode is executed, the adaptive advancing scheme is adopted, so that the operation tasks of all operation areas can be completed more quickly, efficiently and reasonably, the characteristic of mobility of the equipment main body is brought into full play, richer, reasonable and efficient cleaning services are provided for users, and the use experience of the users is further improved.

Description

Self-moving apparatus, apparatus main body, and control method thereof

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a self-moving device, a device main body and a control method of the device main body.

Background

Along with the development of artificial intelligence technology, various intelligent small household appliances such as handheld dust collectors, floor cleaning machines, humidifiers, ultraviolet sterilization instruments and air purifiers gradually enter the daily life of people, and the living environment of people can be effectively improved by using the intelligent appliances, so that the environment of daily life of people is cleaner, healthier and more comfortable.

The sweeping robot is also used as a household cleaning tool in the life of people and becomes an indispensable electrical appliance in household sanitary sweeping. With the combination of the functions of various small household appliances, the function of the sweeping robot is gradually developed, and the sweeping robot which is simplest in sweeping from the beginning is developed into a sweeping and mopping integrated cleaning robot.

However, the cleaning robot with integrated sweeping and mopping functions is still relatively limited, and the characteristic of mobility is not fully exerted, so how to provide more abundant cleaning services for users by the cleaning robot is a technical problem which needs to be solved at present.

Disclosure of Invention

Aspects of the present application provide a self-moving device, a device body, and a control method thereof to sufficiently exert functions and values of the self-moving device, and to provide more diversified and intelligent services to a user through reasonable job control.

The embodiment of the application provides a control method of a self-moving device, which comprises the following steps: determining a target operation mode required for executing an operation task in a target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require different functional modules carried by an equipment main body; determining a target traveling scheme adapted to the target working mode, wherein the target traveling scheme comprises at least one of a traveling track and a traveling speed when a working task is executed according to the target working mode; and controlling the equipment main body to carry a target function module corresponding to the target operation mode, and executing an operation task in a target operation area according to the target advancing scheme.

An embodiment of the present application further provides a self-moving device, including: an apparatus main body which is autonomously movable and a plurality of function modules which are used for performing different specific job tasks and can be combined with or separated from the apparatus main body; the device body includes a memory storing a computer program and a processor; the processor to execute the computer program to: determining a target operation mode required for executing an operation task in a target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require the equipment main body to be combined with different functional modules; determining a target traveling scheme adapted to the target working mode, wherein the target traveling scheme comprises at least one of a traveling track and a traveling speed when a working task is executed according to the target working mode; and controlling the equipment main body to carry a target function module corresponding to the target operation mode, and executing an operation task in a target operation area according to the target advancing scheme.

An embodiment of the present application further provides an apparatus main body of a mobile apparatus, including: a memory storing a computer program and a processor; the processor to execute the computer program to: determining a target operation mode required for executing an operation task in a target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require the equipment main body to be combined with different functional modules; determining a target traveling scheme adapted to the target work mode, wherein the target traveling scheme comprises at least one of a traveling track and a traveling speed when a work task is executed according to the target work mode; and controlling the equipment main body to carry a target function module corresponding to the target operation mode, and executing an operation task in a target operation area according to the target advancing scheme.

In the embodiment of the application, on the basis of using the same equipment main body, different functional modules can be replaced according to application requirements, so that the self-moving equipment with different functions and supporting multiple operation modes is realized, and the purposes of enriching and intelligentizing the functions of the self-moving equipment are achieved; in addition, the adaptive advancing scheme is determined for each operation mode, and in practical application, when a certain operation mode is executed, the adaptive advancing scheme is adopted, so that the operation tasks of all operation areas can be completed more quickly, efficiently and reasonably, the characteristic of mobility of the equipment main body is brought into full play, richer, reasonable and efficient cleaning services are provided for users, and the use experience of the users is further improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of a self-moving device system according to an embodiment of the present application;

fig. 2a is a schematic structural diagram of an apparatus main body according to an embodiment of the present disclosure;

Fig. 2b is a schematic structural diagram of a functional module according to an embodiment of the present disclosure;

fig. 2c is a bottom view of a functional module according to an embodiment of the present application;

fig. 2d is a schematic diagram of a combination structure of a self-moving device and a functional module according to an embodiment of the present application;

fig. 2e is a schematic diagram of another self-moving device combination structure provided in the embodiment of the present application;

fig. 2f is a schematic diagram illustrating a position and a form of the magnetic clasp and the magnetic pin according to an embodiment of the present disclosure;

fig. 2g is a schematic diagram of the working principle of the magnetic buckle and the magnetic pin provided by the embodiment of the application;

fig. 2h is a schematic diagram illustrating the position and shape of an electromagnetic latch and a slot according to an embodiment of the present invention;

fig. 2i is a flowchart of a self-moving device control method according to an embodiment of the present disclosure;

fig. 2j is a schematic structural diagram of another apparatus main body according to an embodiment of the present application;

FIG. 3a is a schematic structural diagram of a storage function module of a workstation according to an embodiment of the present application;

FIG. 3b is a schematic process diagram of automatic replacement of function modules in a workstation according to an embodiment of the present application;

fig. 3c is a flowchart of another control method of a self-moving device according to an embodiment of the present application;

FIG. 3d is a schematic process diagram of an alternative automatic replacement function module for a workstation according to an embodiment of the present application;

Fig. 3e is a flowchart of another control method of a self-moving device according to an embodiment of the present application;

FIG. 3f is a schematic diagram of another exemplary process for automatically replacing a function module in a workstation according to an embodiment of the present application;

FIG. 4a is a schematic diagram of an automatic alignment system according to an embodiment of the present disclosure;

fig. 4b is a schematic view before the lifting mechanism drives the movable apparatus main body to vertically move upwards according to the embodiment of the present application;

fig. 4c is a schematic diagram of the movable apparatus body driven by the lifting mechanism according to the embodiment of the present disclosure after moving vertically upward;

fig. 4d is a schematic diagram of the lifting mechanism driving the movable device body to horizontally displace according to the embodiment of the present disclosure;

fig. 4e is a schematic diagram illustrating the lifting mechanism driving the robot to move vertically downward according to the embodiment of the present application;

fig. 4f is a schematic view illustrating the first shielding portion moving into the gap of the optical coupler device according to the embodiment of the present application;

fig. 4g is a schematic flowchart of a switching control method for switching function modules according to an embodiment of the present disclosure;

fig. 4h is a schematic flowchart of another switching control method for switching function modules according to an embodiment of the present disclosure;

fig. 5a is a schematic structural diagram of a workstation according to an embodiment of the present application;

FIG. 5b is a schematic structural diagram of another workstation according to an embodiment of the present application;

FIG. 5c is a top view of an internal structure of a workstation according to an embodiment of the present application;

fig. 5d is a schematic internal structural diagram of a workstation according to an embodiment of the present application;

FIG. 5e is a top view of the internal structure of the workstation corresponding to FIG. 5d according to an embodiment of the present application;

fig. 6a is a flowchart of a control method of a self-moving device according to an embodiment of the present application;

FIG. 6b is a schematic diagram of a process for performing a job task according to an embodiment of the present application;

FIG. 6c is a schematic diagram of another process for performing a job task according to an embodiment of the present application;

fig. 6d is a flowchart of another control method of a self-moving device according to an embodiment of the present application;

fig. 6e is a schematic structural diagram of a self-moving device according to an embodiment of the present disclosure;

fig. 7a is a schematic diagram of a travel track of a self-moving device according to an embodiment of the present application;

fig. 7b is a schematic diagram of another travel track of a self-moving device according to an embodiment of the present application;

fig. 7c is a schematic diagram of another travel track of the self-moving device according to the embodiment of the present application;

fig. 7d is a schematic diagram of another travel track of the self-moving device according to the embodiment of the present application;

Fig. 7e is a flowchart of a control method of a self-moving device according to an embodiment of the present application;

fig. 7f is a schematic diagram of another self-moving device travel track provided in the embodiment of the present application;

fig. 7g is a schematic diagram of another self-moving device travel track provided in the embodiment of the present application;

fig. 7h is a flowchart of executing a job task from a mobile device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

In order to solve the problems faced by the current cleaning robot, in the embodiment of the present application, some basic functions of the self-moving device, such as traveling, navigation, sensors, control, etc., are implemented as an independent common module, which is called a device main body; various functions which can realize different operation tasks on the mobile equipment, such as sweeping, mopping, fumigating, waxing, washing, air purifying and the like, are respectively realized as independent functional modules; the device main body is allowed to be combined with any functional module to form self-moving equipment with a certain function according to the operation requirement; in addition, the device body and the different functional modules may be combined together to form a self-moving device having different functions.

In the embodiment of the application, on the basis of using the same equipment main body, different functional modules can be automatically and rapidly switched according to application scenes, so that the purposes of enriching and intelligentizing functions of the self-mobile equipment can be achieved; in addition, which functional module is required to be combined with which functional module, and more redundant functional modules are not required to be carried, so that the light weight of the self-moving equipment is facilitated, the operation efficiency is convenient to improve, and the electric quantity of the battery is saved. Moreover, the equipment main part can accomplish to carry only a functional module at every turn, need not to share the fuselage space with other functional modules, compares in the scheme that a plurality of functional modules are integrated together, and every functional module can occupy sufficient fuselage space in the embodiment of this application, and its volume need not be too limited, is convenient for do each functional module more powerful, makes its performance further optimize, reinforcing user experience. Of course, if the volume of the apparatus main body is large, a plurality of function modules can be carried at the same time.

Based on the above, an embodiment of the present application provides an autonomous mobile device system, as shown in fig. 1, the autonomous mobile device system includes: a workstation 10, a plurality of functional modules 20 for performing different specific job tasks, and an autonomously movable device body 30. The following are described separately:

The apparatus main body 30: including but not limited to: travel mechanism, controller, installation cavity and sensor. The traveling mechanism may be a driving wheel, a universal wheel, or the like, and is mainly used to realize the autonomous movement of the apparatus main body 30; the installation cavity is used for installing the function module 20 combined with the device main body 30 when the device main body 30 is combined with the function module 20; the controller corresponds to the brain of the device body 30 (or the mobile device), and can execute computer instructions in the memory to control the traveling mechanism and the sensor to perform corresponding operations, and control the device body 30 to implement corresponding functions, complete corresponding actions or perform corresponding job tasks in a determined environment. Sensors may include, but are not limited to: lidar (e.g., LDS,/TOF, etc.), VSLAM, ultrasonic sensors, down-view sensors, structured light modules, AI modules, backfill guidance sensors, side-view sensors, mechanical striker plates, etc.

In the embodiment of the present application, the device body 30 shows an appearance of the self-moving device to some extent, and the shape of the self-moving device is different depending on the implementation of the device body 30. Taking the outer contour shape of the device body as an example, the outer contour shape of the device body may be an irregular shape or some regular shapes. For example, the outer shape of the device body may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop, or a D-shape, or may be an irregular shape other than a regular shape, and the outer shape of the device body is not limited herein.

The function module 20: a mechanical structure for performing a specific job task and can be combined with or separated from the device body 30 of the self-moving device. Different functional modules 20 may execute different specific job tasks, each functional module 20 at least includes one or more dedicated units corresponding to the specific job task implemented by the functional module, and the specific job tasks implemented by different functional modules 20 and the dedicated units included in the specific job tasks may be different. Of course, the self-moving device formed by combining the device body 30 and the function module 20 may be different according to the specific job task implemented by the function module 20. In an alternative embodiment, the function modules 20 may be modules capable of performing different cleaning tasks, and the apparatus body 30 may be combined with these function modules 20 to obtain a self-moving apparatus having a cleaning function, which may be simply referred to as a cleaning robot, but is not limited thereto. The following illustrates the functional module 20 by taking an example of a self-moving device implemented as a cleaning robot:

the first example is as follows: the functional module with a sweeping function, referred to as a sweeping module for short, is used for performing a sweeping task, and includes dedicated units corresponding to the sweeping task, which may include but are not limited to: fan subassembly, dirt box, round brush subassembly and limit brush subassembly. Further optionally, the sweeping module may further include: a control system for controlling the function module, a communication module for communicating with the apparatus main body, and the like;

Example two: the functional module with mopping function, referred to as mopping module for short, is used for performing mopping task, and the included special units corresponding to the mopping task may include but are not limited to: wiping components (such as rags, transmission mechanisms and the like), water supply components (such as a water pump, a pipeline, a one-way valve and the like) and a water tank. Further optionally, the mopping module may further include: a control system for controlling the function module, a communication module for communicating with the apparatus main body, and the like;

example three: the functional module with the aromatherapy function, referred to as the aromatherapy module for short, is used for executing the aromatherapy task, and the special units contained in the functional module corresponding to the aromatherapy task include but are not limited to: champignon subassembly and air feed subassembly. Further optionally, the aromatherapy module may further include a control system for controlling the function module, a communication module communicating with the device main body, and the like.

In addition to the above-mentioned functional modules, the functional module 20 provided in the embodiment of the present application further includes a floor washing module having a floor washing function, a disinfection module having a disinfection function, an air purification module having an air purification functional module, a humidification module having a humidification function, and a waxing module having a waxing function, and the like.

The workstation 10: the main function is to store a plurality of function modules 20, and to replace the auxiliary device main body 30 between the function modules 20. Usually, a plurality of function modules 20 are stored in the workstation 10, and when a certain function module 20 is needed to be used, the device main body 30 can be automatically combined with the function module 20 needed to be used in the workstation 10 to form a self-moving device with a certain function to execute a corresponding task. It should be noted that the structure of the workstation 10 shown in fig. 1 is only a schematic structure, and the actual implementation structure is not limited thereto. In addition, the plurality of functional modules 20 may be stored side by side in the workstation 10, or may be stored in another manner, which is not limited thereto. No matter what storage method is used to store the functional module 20, the functional module 20 can be identified by, but not limited to, the following methods:

mode 1: installing Hall sensors at identification positions in the workstation 10, installing magnets with different polarities on different functional modules 20, and identifying which functional module 20 is by identifying the polarity of the magnet; the magnet thus has two polarities, in such a way that two different functional modules 20 can be identified.

Mode 2: the code scanning device is installed at an identification position in the workstation 10, coded information (such as a bar code or a two-dimensional code) is set on each functional module 20, and the coded information on different functional modules 20 is different, so that the workstation 10 can identify different functional modules 20 in a code scanning manner, and the scheme can identify more different functional modules 20.

Mode 3: using the principle of Near Field Communication (NFC), the workstation 10, as a host, transmits a radio frequency signal to the outside to read the device information of each functional module 20, and identifies different functional modules 20 according to the read device information, where the device information of different functional modules 20 is different, for example, the device information of each functional module includes information such as a unique device name, ID, or number; this way it is only necessary that the functional module and the workstation 10 are within near field communication range of each other and more different functional modules can be identified.

Mode 4: use mechanical principle, the discernment position at workstation 10 sets up two or more opto-couplers, different functional module 20 is a separation blade in the place of difference, when equipment main part 30 carries different functional module 20 and gets into the workstation, the opto-coupler on the different functional module can shelter from different positions is set up through the opto-coupler corresponding relation between position and the functional module, can confirm which is sheltered from the functional module that the opto-coupler corresponds, this scheme can be through setting up more opto-couplers, discerns more different functional module 20.

It should be noted that, in the above modes 1, 2 and 4, the hall sensor, the code scanning device and the optical coupler may report related information to the workstation 10, so that the workstation 10 may identify different functional modules according to the information. In addition, the hall sensor, the code scanning device and the optical coupler can also report related information to the device main body 30, so that the device main body 30 can also identify different functional modules according to the information. Of course, in the case where the workstation 10 identifies a different functional module, the workstation 10 may also provide information of the identified functional module to the apparatus main body 30. In the above mode 3, the device main body 30 may also use the NFC principle as a host to transmit radio frequency signals to the outside to read the device information of each functional module 20, and identify different functional modules 20 according to the read device information.

In addition to the above-described role of storing the function modules 20, the workstation 10 may provide some auxiliary functions with respect to the apparatus main body 30 and each function module 20. For example, the device body 30 and/or the function module 20 is provided with an automatic refill function. As another example, a post-processing function is provided for each functional module 20. Depending on the function module 20, the post-processing functions provided by the workstation 10 to the function module 20 may also be different. For example, if the functional module 20 is a sweeping module, the workstation 10 can provide a central dust collecting function for the sweeping module, that is, the sweeping module is helped to clean the dust collecting box, so as to solve the problem of garbage collection, and the sweeping module can also be provided with a cleaning cloth cleaning function. If the functional module 20 is a floor mopping module, the workstation 10 may provide auxiliary functions for the floor mopping module, such as cleaning cloth, recycling sewage, adding water to the water tank, etc. If the function module 20 is an aromatherapy module or a disinfection module, the workstation 10 may provide auxiliary functions of injecting aromatherapy materials, disinfection solution and the like for the aromatherapy module or the disinfection module.

In the embodiment of the present application, the device main body 30 and each function module 20 are independent from each other, and when a certain function module 20 needs to be used, the device main body 30 and the function module 20 are combined together to form a self-moving device with a certain function, so that no overlapping redundant parts are formed in the self-moving device. What kind of mode can let the equipment main part 30 can be in the same place with this function module 20 firm when needing function module 20 wherein, can make both separate conveniently, fast again when not needing to use is one of the technical problem that this application embodiment awaits solving.

Based on this, the embodiment of the present application provides an apparatus main body 30 that is autonomously movable and has a mounting cavity, and provides a function module 20 that is adapted to the apparatus main body 30, and the mounting cavity provides a structural basis for quick and convenient coupling and decoupling between the apparatus main body 30 and the function module 20. In the embodiment of the present application, the device main body 30 has a mounting cavity for mounting the function module 20 combined therewith, but the specific implementation structure of the device main body 30 and each function module 20 is not limited, and the structure of the device main body 30 and the function module 20 in the embodiment of the present application will be exemplarily described below with reference to the drawings.

Fig. 2a is a schematic structural view of the apparatus body 30, and fig. 2j is another schematic structural view of the apparatus body 30. The device body 30 shown in fig. 2a has a D-shaped contour, and the device body 30 shown in fig. 2j has a circular contour, but is not limited to these two contours. Regardless of the contour of the device body 30, the device body 30 has the same or similar hardware implementation structure, as shown in fig. 2a or fig. 2j, and the device body 30 includes: a travel mechanism 31, a controller 32, and a mounting chamber 33 arranged side by side. Further alternatively, the apparatus body 30 has a bottom surface on which the travel mechanism 31 is located, and a mounting cavity 33 is formed recessed inward from the bottom surface of the apparatus body 30 for accommodating the functional module 20. Wherein the mounting cavity 33 comprises a first portion located between the travelling mechanisms 31 and a second portion located in front of or behind the travelling mechanisms 31. In fig. 2a or 2j, the second portion is shown, for example, behind the travel mechanism 31. In an alternative embodiment, the first portion and the second portion of the mounting cavity 33 combine to form a convex or convex-like cavity structure, but are not limited thereto.

In the embodiment of the present application, the size relationship between the first portion and the second portion of the mounting cavity 33 is not limited, and optionally, the size of the first portion in the first direction perpendicular to the traveling direction is smaller than that of the second portion in the first direction perpendicular to the traveling direction; alternatively, the dimension of the first portion in a first direction perpendicular to the direction of travel is greater than the dimension of the second portion in the first direction perpendicular to the direction of travel. Optionally, a dimension of the second portion in the first direction perpendicular to the direction of travel is a maximum dimension of the self-moving device in the first direction perpendicular to the direction of travel. In fig. 2a or 2j, the second portion is located behind the first portion, and the size of the first portion in the first direction perpendicular to the traveling direction is smaller than the size of the second portion in the first direction perpendicular to the traveling direction.

Fig. 2b is a schematic structural diagram of the functional module 20, and as shown in fig. 2b, in order to combine the functional module 20 with the device main body 30, the implementation structure of the functional module 20 can be adapted to the device main body 30. Alternatively, as shown in fig. 2b, the function module 20 includes a first region and a second region, and when the function module 20 is combined with the apparatus body 30, the first region of the function module 20 may be located in a first portion of the mounting cavity 33 of the apparatus body 30, and the second region of the function module 20 may be located in a second portion of the mounting cavity 33 of the apparatus body 30. It should be noted that in fig. 2a, 2j and 2b, the first part/area and the second part/area are distinguished by using a virtual straight line, which does not represent that the virtual straight line really exists on the device main body 30 and the function module 20.

In addition, the functional module 20 of the present embodiment includes one or more dedicated units corresponding to specific job tasks that it implements. Wherein one or more specialized units may be some or all specialized units required by the functional module 20 to perform a particular job task. In an alternative embodiment, functional module 20 contains all specialized units corresponding to the particular job task it implements.

Further alternatively, in the case where the function module 20 distinguishes a first area and a second area, wherein a part of the dedicated units may be disposed in the first area and a part of the dedicated units may be disposed in the second area. The different functional modules 20 include different dedicated units, for example, a sweeping module, which includes a fan assembly, a dust box, a rolling brush assembly, and a side brush assembly, as shown in fig. 2 c. Wherein, fig. 2c is a bottom view of the sweeping module. Further alternatively, as shown in fig. 2c, the rolling brush assembly and the side brush assembly are disposed in the first area, and the fan assembly and the dust box are disposed in the second area, based on that, when the sweeping module is combined with the apparatus main body 30, the rolling brush assembly and the side brush assembly on the sweeping module are located in the first part of the mounting cavity 33 of the apparatus main body 30, and the fan assembly and the dust box on the sweeping module are located in the second part of the mounting cavity 33 of the apparatus main body 30. Similarly, taking the functional module 20 as a mopping module as an example, the dedicated unit thereof includes a water supply assembly, a water tank and a wiping assembly, further alternatively, the wiping assembly may be disposed in a first region of the functional module 20, the water supply assembly and the water tank may be disposed in a second region of the functional module 20, when the mopping module is combined with the apparatus body 30, the wiping assembly is located in a first portion of the installation cavity 33 of the apparatus body 30, and the water supply assembly and the water tank are located in a second portion of the installation cavity 33 of the apparatus body 30.

Further optionally, the size relationship between the first area and the second area is not limited in the embodiments of the present application, and optionally, the size of the first area in the first direction perpendicular to the traveling direction is smaller than the size of the second area in the first direction perpendicular to the traveling direction; alternatively, a size of the first region in a first direction perpendicular to the traveling direction is larger than a size of the second region in the first direction perpendicular to the traveling direction. In fig. 2b, the size of the first area in the first direction perpendicular to the direction of travel is illustrated as being smaller than the size of the second area in the first direction perpendicular to the direction of travel; in fig. 2c, the first area is illustrated as having a larger size in the first direction perpendicular to the traveling direction than the second area.

In addition to the above-described device main body 30 and the function module 20, the present embodiment provides a self-moving device including the device main body 30 which can move autonomously and the function module 20 which is used to perform a specific job task and can be combined with or separated from the device main body 30. The device body 30 can be combined with one functional module 20 at the same time, so as to obtain the self-moving device with one functional module; it is also possible to combine a plurality of functional modules 20 simultaneously, resulting in a self-moving device with a plurality of functional modules.

For example, if the functional module 20 is a sweeping module, the self-moving device formed by combining the device main body 30 and the sweeping module is a sweeping robot; if the functional module 20 is a floor mopping module, the self-moving device formed by combining the device body 30 and the sweeping module is a floor mopping robot; if the function module 20 is an aromatherapy module, the self-moving device formed by combining the device main body 30 and the sweeping module is an aromatherapy robot; in addition to the above-listed functional modules, the functional module 20 may be a floor washing module, a disinfecting module, a waxing module, and the like. Through the combination of equipment main part 30 and different functional module 20, can realize just combining which functional module when needing which functional module according to the operation demand, need not carry more redundant functional module, be favorable to making from the mobile device lightweight, be convenient for improve the operating efficiency, practice thrift battery power, help the performance optimization of each functional module, reinforcing user experience.

In the embodiment of the present application, the directions of coupling and decoupling the device main body 30 and the function module 20 are not limited, and the directions of coupling and decoupling may be different according to the implementation structures of the device main body 30 and the function module 20. Alternatively, on the basis of the device body 30 and the function module 20 adopting the structures shown in fig. 2a, 2j, and 2b, the function module 20 may be separated from or joined to the device body 30 along the thickness direction of the device body 30, that is, joined or separated up and down; alternatively, the function module 20 is separated from or coupled to the apparatus body 30 along the traveling direction of the apparatus body 30, i.e., coupled or decoupled front and back. Fig. 2d and 2e are schematic views showing the combination or separation of the apparatus main body 30 and a certain function module 20 in the front-rear direction, wherein the front direction is the direction in which the apparatus main body 30 normally travels, i.e., the traveling direction, as shown in fig. 2 e.

It should be noted that, in addition to the above-described vertical coupling structure and front-rear coupling structure, the functional module 20 coupled to the apparatus main body 30 may be positioned on the left or right of the apparatus main body 30, thereby forming a left-right coupling structure. In the embodiment of the present application, the combining direction between the function module 20 and the device main body 30 may be different according to the form of the device main body 30 and the operation mode of the mobile device, and may be determined according to the specific situation. When the front-back and left-right mounting manner is adopted, the device main body 30 and the functional module 20 may have other implementation forms, and are not limited to the implementation forms shown in fig. 2a, 2j and 2 b.

In the embodiment of the present application, the manner of coupling and decoupling the device main body 30 and the function module 20 and the implementation form of the assembly structure for coupling the device main body 30 and the function module 20 are not limited. Alternatively, the apparatus body 30 may be combined with and separated from the function module 20 by an electromagnetic force, and in the case of combining and separating by an electromagnetic force, a first electromagnetic docking structure may be provided on the apparatus body 30, and accordingly, a second electromagnetic docking structure may be correspondingly provided on the function module 20. The first electromagnetic docking structure may be matched with a second electromagnetic docking structure on the functional module 20 that performs a specific task under the action of electromagnetic force, so as to implement the combination or separation of the device main body 30 and any functional module 20. In an alternative embodiment, the first electromagnetic docking structure is a magnetic catch or a magnetic pin disposed on the housing of the device main body 30, and the second electromagnetic docking structure is a magnetic pin or a magnetic catch disposed on the functional module 20. When the first electromagnetic butt joint structure is a magnetic buckle, the second electromagnetic butt joint structure is a magnetic needle corresponding to the magnetic buckle; correspondingly, when the first electromagnetic docking structure is a magnetic pin, the second electromagnetic docking structure is a magnetic buckle corresponding to the magnetic pin. Wherein, the magnetic needle and the magnetic buckle are inserted and buckled together to realize the combination of the device main body 30 and the functional module 20; under the action of electromagnetic force, the magnetic pin is loosened by the magnetic catch, and the separation of the device main body 30 and the functional module 20 can be realized.

In another alternative embodiment, the first electromagnetic docking structure is an electromagnetic latch or slot provided on the housing of the device body 30, and the second electromagnetic docking structure is a slot or electromagnetic latch provided on the functional module 20. When the first electromagnetic butt joint structure is an electromagnetic bolt, the second electromagnetic butt joint structure is a clamping groove corresponding to the electromagnetic bolt; correspondingly, when the first electromagnetic butt joint structure is a clamping groove, the second electromagnetic butt joint structure is an electromagnetic bolt corresponding to the clamping groove. The electromagnetic bolt is stretched into the slot and fixed with the slot, so that the combination of the device main body 30 and the functional module 20 can be realized; under the action of electromagnetic force, the electromagnetic plug pin contracts to separate the card slot from the card slot, so that the device main body 30 and the functional module 20 can be separated from each other.

Here, the implementation forms of the first electromagnetic docking structure and the second electromagnetic docking structure and the manner of coupling the function module 20 and the device main body 30 are not necessarily related to each other. For example, the function module 20 and the device body 30 are coupled by a magnetic pin and a magnetic snap, and a vertical coupling structure, a front-back or a left-right structure may be implemented. For example, the function module 20 and the device body 30 are coupled by an electromagnetic latch and a card slot, and may be configured to be coupled vertically, or may be configured to be coupled horizontally or vertically, depending on the form of the device body 30 and the operation mode of the mobile device. The following describes the process of combining and separating the first electromagnetic docking structure and the second electromagnetic docking structure, taking as an example that the functional module 20 and the device body 30 shown in fig. 2a are combined together to form an up-down structure.

Fig. 2f is a schematic structural view of the first electromagnetic docking structure and the second electromagnetic docking structure being combined in a manner of a magnetic pin and a magnetic buckle, as shown in fig. 2f, the first electromagnetic docking structure on the device main body 30 is a magnetic buckle 35 fixedly arranged on the housing 34, and the magnetic buckle 35 can move up and down under the action of electromagnetic force; the housing 34 is further provided with a suction hole 36 corresponding to each magnetic catch 35, and when an electromagnetic force is applied, the magnetic catch 35 is attracted and inserted into the corresponding suction hole 36 by the electromagnetic force, and when the electromagnetic force is removed, the magnetic catch 35 loses its upward attraction force, and the corresponding suction hole 36 is separated by the gravity. Alternatively, in order to ensure that the magnetic button 35 is not separated from the suction hole 36 to the outside of the housing 34 under the attraction of the magnetic force, as shown in fig. 2f, the magnetic button 35 is a cylinder structure with a thin upper end and a thick lower end, the diameter of the thin end is smaller than that of the corresponding suction hole 36, and the thin end can be inserted into the suction hole 36; the diameter of the thicker end is larger than the diameter of the corresponding suction hole 36, so that the whole magnetic buckle can be prevented from being separated from the suction hole 36.

Accordingly, on the surface of the function module 20, which is a surface facing the side of the device main body 30 when the function module 20 is combined with the device main body 30, magnetic pins 37 are provided on the surface at positions corresponding to the suction holes 36 on the housing 34 of the device main body 30, and when the function module 20 is inserted into the mounting cavity 33 of the device main body 30, each magnetic pin 37 on the function module 20 can be inserted into the corresponding magnetic catch 35, and each magnetic catch 35 can be inserted into the corresponding suction hole 36, so that the combination of the function module 20 and the device main body 30 is realized. When the function module 20 needs to be replaced, electromagnetic force is generated around the device body 30, and under the absorption of the electromagnetic force, the magnetic catch 35 moves upward and enters the absorption hole 36 until each magnetic pin 37 is separated from the magnetic catch 35, so that the device body 30 and the function module 20 are separated. Fig. 2g is a schematic diagram illustrating the process of combining and separating the magnetic button 35 and the magnetic pin 37, and as shown in fig. 2g, a spring and a steel ball are disposed inside the magnetic button 35, and the steel ball is fixed at the bottom of the spring, so that when the magnetic pin 37 is inserted into the magnetic button 35, the steel ball can be fixed by the spring and the steel ball fixed at the bottom of the spring, and the device main body 30 is combined with the function module 20. Further, in the case where an electromagnet exists outside the magnetic catch 35 and electromagnetic force is generated, the steel ball compression spring inside the magnetic catch 35 may be attracted to move upward and release the magnetic pin 37, so that the device body 30 is separated from the function module 20.

In the embodiment shown in fig. 2f, the number of the magnetic buttons 35 and the magnetic pins 37 is 3, but is not limited to 3, and may be 1, 2, 4, 5 or more, and the number is selected based on the capability of stably and firmly combining the device main body 30 and the function module 20. Further optionally, 3 magnetic buttons 35 are uniformly distributed on the casing 34, that is, the suction holes 36 and the corresponding magnetic buttons 35 are arranged in 3 directions (120 °) of the casing 34; accordingly, 3 magnetic needles 37 are evenly distributed on the upper surface of the functional module 20, i.e. the magnetic needles 37 are arranged in 3 directions (120 °) of the upper surface.

The specification, the model and the like of the magnetic needle 37 and the magnetic buckle 35 are not limited in the embodiment of the application, and the specification, the model and the like can be matched. For example, the magnetic button 35 may be of a general 16 × 18mm format, and the magnetic needle 37 may be of a general 11 × 16mm format.

Fig. 2h is a schematic structural diagram of the first electromagnetic docking structure and the second electromagnetic docking structure being combined in the manner of an electromagnetic bolt and a card slot, as shown in fig. 2h, the first electromagnetic docking structure on the device main body 30 is an electromagnetic bolt 21 that is arranged on the housing 34 in a retractable manner, when the device main body 30 is powered on the electromagnetic bolt 21, the electromagnetic bolt 21 can be retracted under the action of electromagnetic force, and when the power is off, the electromagnetic force disappears, and the electromagnetic bolt 21 is extended and restored to its original state.

Accordingly, a card slot 22 is provided on the functional module 20 at a position corresponding to the electromagnetic latch 21 on the device body 30. When the device main body 30 is combined with the function module 20, the electromagnetic plug 21 is in an unpowered state, and at this time, the electromagnetic plug 21 extends and can be inserted into the corresponding card slot 22 on the function module 20, so that the combination of the function module 20 and the device main body 30 is realized; when the power is turned on, the electromagnetic plug 21 contracts and is separated from the corresponding card slot 22 of the functional module 20, thereby separating the functional module 20 from the device body 30.

In the above embodiment, the number of the electromagnetic latches 21 and the card slots 22 is not limited, and 3 are illustrated in fig. 2h, but 4, 5, or 6 may be provided according to the implementation forms of the device main body 30 and the function module 20. Further, in order to ensure the stability and the firmness after the functional module 20 is combined with the device main body 30, the electromagnetic bolts 21 may be uniformly disposed on the device main body 30, and correspondingly, the slots 22 are also uniformly disposed on the functional module 20. As shown in fig. 2h, 3 electromagnetic bolts 21 are uniformly arranged at 120 ° with respect to the center of the device main body 30 and 3 slots 22 are uniformly arranged with respect to the center of the function module 20, so as to ensure the uniformity of the force.

The specification, the model and the like of the electromagnetic latch 21 are not limited in the embodiment of the present application, for example, an electromagnetic latch with a specification of 45.5 × 16 × 13mm and a stroke of 5mm in telescopic length may be adopted.

In the above embodiment, the functional module 20 is described as an implementation form, but the invention is not limited thereto, and different functional modules 20 may be implemented in different forms according to respective functional requirements when the functional module 20 is ensured to be inserted into the mounting cavity 33 region of the device main body 30 and the first electromagnetic docking structure and the second electromagnetic docking structure are accurately connected. Alternatively, in order to ensure the versatility of the apparatus body 30 when combined with different function modules 20, each function module 20 may be implemented in the same shape, size, and outer contour. As shown in fig. 2a to 2h, the overall outer contour of each functional module 20 is adapted to the contour of the installation cavity 33 of the device body 30, and has a high degree of fitting after being inserted into the installation cavity 33 of the device body 30.

In the embodiment of the present application, a plurality of function modules 20 are stored in the workstation 10 corresponding to the mobile device, and each function module 20 may be stored in a designated area in the workstation 10. For convenience of description and distinction, the functional module 20 currently carried by the apparatus main body 30 is referred to as a first functional module, which may be, for example, a floor sweeping module, a floor mopping module, etc., and the functional module 20 that the apparatus main body 30 needs to be replaced is referred to as a second functional module. For a process of controlling the device main body 30 to switch from the first function module to the second function module, reference may be made to the following method embodiments, which are not described herein again.

The self-moving device control method provided by the embodiment of the application comprises a first function module which is combined with a device main body currently. Fig. 2i is a flowchart of a self-moving device control method provided in an embodiment of the present application, and as shown in fig. 2i, the method includes:

21i, recognizing that the first function module currently combined with the device main body needs to be replaced with the second function module.

22i, the control device body carries the first function module to move to a first area for accommodating the first function module in the workstation, and is separated from the first function module in the first area.

23i, a second area of the workstation for receiving a second functional module, and combining with the second functional module within the second area to form a self-moving device for performing a second specific job task.

The first and second function modules are used for executing first and second specific tasks and can be combined with or separated from the main body of the equipment. When the self-moving equipment recognizes that the first function module combined currently by the equipment main body needs to be replaced by the second function module, the equipment main body can be controlled to carry the first function module to move to a first area used for accommodating the first function module in the workstation, and the first function module is separated from the first function module in the first area; further, the control apparatus main body moves to a second area for accommodating a second function module in the workstation, and is combined with the second function module in the second area.

In the case where it is determined to replace the first function module, the apparatus main body may be moved toward the workstation under the guidance of the workstation. Alternatively, the target position may be determined by the sensor on the apparatus body communicating with and positioning a sensor in the workstation when the apparatus body moves to the workstation, for example, the apparatus body may transmit information to determine to replace the first function module to the workstation, and the workstation may guide the apparatus body to move to the storage position of the first function module in the workstation by means of laser or infrared rays or the like in the case of receiving the information transmitted by the apparatus body. The sensor for receiving the information sent by the device main body may be a general sensor in the workstation, or may be a specific sensor corresponding to the first functional module, which is not limited herein.

Further, in the process that the equipment main body moves to the workstation, data information can be continuously sent to the workstation, and the data information is information such as the distance and the angle of the storage position of the equipment main body and the first functional module in the workstation, so that the workstation can determine the current position of the equipment main body. When the workstation monitors that the equipment main body moves to the storage position of the first function module in the workstation, the equipment main body is determined to move to the target position. Or, the current position of the device main body can be monitored in real time according to information such as the distance and the angle between the device main body and the storage position of the first function module in the workstation in the moving process of the device main body to the workstation, and when the device main body monitors that the device main body moves to the storage position of the first function module in the workstation, the device main body can send information reaching the target position to the workstation so that the workstation can determine that the device main body moves to the target position. Further, in the case where the apparatus body is moved to the target position, the coupling and decoupling of the apparatus body and the function module can be controlled by an electromagnetic force.

In this embodiment, a general electromagnet is installed in the workstation, or a dedicated electromagnet is installed at a position where each function module is stored, so that when the control device main body is separated from the first function module under the action of electromagnetic force, after the control device main body carrying the first function module moves to the position where the first function module is stored in the workstation, the workstation is notified to energize the general electromagnet in the workstation or the dedicated electromagnet corresponding to the first function module, so as to generate the electromagnetic force required for separating the device main body from the first function module. Alternatively, when the control apparatus main body is separated from the first function module under the action of the electromagnetic force, the first electromagnetic docking structure may be powered on to generate the electromagnetic force required for separation from the first function module after the control apparatus main body carries the first function module to move to the position of the workstation where the first function module is stored, in a case where the first electromagnetic docking structure is an electromagnet. For specific details of the separation and combination of the device body and the function module under the action of the electromagnetic force, reference may be made to the above embodiments, and repeated descriptions are not repeated here.

In the embodiment of the application, the execution progress of the job task can be monitored in the process of executing the job task by carrying the first functional module by the device main body, and the first functional module currently combined by the device main body is determined to be replaced by the second functional module required for executing the next job task under the condition that the job task is completed; or monitoring the battery power of the first function module in the process of executing the job task by the first function module carried by the device main body, and determining that the first function module currently combined with the device main body needs to be replaced by a second function module required for executing the next job task under the condition that the battery power is insufficient; or, in the process of carrying the first function module to execute the job task, monitoring the current job environment in real time, and determining that the currently combined first function module needs to be replaced by a second function module required for executing the next job task under the condition that the current job environment is not suitable for using the first function module; the specific job task realized by the second functional module is the next job task of the current job task.

For example, the first functional module is a sweeping module, and when the sweeping task is finished and the ground which has been swept is required to be mopped, the device body can be guided by the workstation to move to the area of the sweeping module in the workstation, and the sweeping module is separated from the device body under the action of electromagnetic force. After the floor sweeping module is unloaded, the equipment body is moved to the area of the floor mopping module in the workstation, the floor mopping module and the equipment body are combined into the floor mopping robot under the action of electromagnetic force, and after the combination is successful, the floor mopping robot can execute a floor mopping task on the previously cleaned working surface.

For another example, when the function module itself is rechargeable, the workstation may also store a standby function module, and if the device main body detects that the current power of the first function module is too low during the execution of the task and the remaining task cannot be completed, the device main body may first move to the area of the first function module in the workstation under the guidance of the workstation, and the first function module may be separated from the device main body under the action of electromagnetic force. After the first functional module is unloaded, the equipment main body moves to the area of the standby first functional module in the workstation, the standby first functional module is combined with the equipment main body under the action of electromagnetic force, and after the combination is successful, the unfinished cleaning task can be continuously executed.

For another example, the first functional module is a mopping module, when the device body moves from the floor to the carpet, the sensor in the device body detects that the working environment to be cleaned is the carpet, and the mopping module cannot be used, the device body can move to the area of the mopping module in the workstation under the guidance of the workstation, and the mopping module is separated from the device body under the action of electromagnetic force. After the floor mopping module is unloaded, the equipment main body moves to the area of the floor sweeping module in the workstation, the floor sweeping module and the equipment main body are combined into the floor sweeping robot under the action of electromagnetic force, and after the combination is successful, the floor sweeping robot can return to the carpet to execute a sweeping task.

In this embodiment, the manner of controlling the combination and separation of the device main body and the function module under the action of the electromagnetic force may also be different according to the different implementation forms of the first electromagnetic docking structure on the device main body and the second electromagnetic docking structure on the second function module. For example, the device body and the function module are combined in a magnetic buckle and magnetic pin manner, so that the generation and disappearance of electromagnetic force can be controlled to control the insertion and separation of the magnetic buckle and the magnetic pin, so as to realize the combination and separation of the device body and the function module; for example, when the device body is combined with the electromagnetic plug and the card slot of the functional module, the electromagnetic plug can be controlled to be powered on and off to control the electromagnetic plug to be inserted into or pulled out of the card slot, so that the device body and the functional module can be combined and separated.

The electromagnetic docking structure is used for realizing the combination or separation between the device main body and the functional module as required, and is only an exemplary implementation manner of the docking structure, and is not limited thereto. Under the support of various butt joint structures, the equipment main body can be combined with different functional modules at any time and according to requirements, and therefore the self-moving equipment with different functions is obtained. When the device body is replaced between different functional modules, the device body needs to be separated from the original functional module and combined with a new functional module according to a supported up-down combination structure or a front-back combination structure. In the replacement mode, a manual replacement mode can be adopted, and automatic replacement can also be realized under the cooperation of a workstation.

Regarding the manual replacement mode:

after the device main body is separated from the previously combined first function module, the second function module to be replaced is manually selected, and the second function module is positioned below or behind the device main body by moving the device main body and/or the second function module according to the up-down combination structure or the front-back combination structure supported by the device main body and the function module, so that the device main body is combined with the second function module by means of, but not limited to, the first electromagnetic butt joint structure and the second electromagnetic butt joint structure on the second function module.

Automatic replacement mode under workstation cooperation:

in the embodiment of the application, the workstation not only provides the function of storing the function modules, but also supports the automatic replacement of the device body among different function modules by means of the storage mode of the function modules.

In an alternative embodiment, as shown in FIG. 3a, the workstation 10 stores a plurality of functional modules 20 in a side-to-side arrangement. Specifically, a plurality of storage spaces are provided in the workstation 10 from left to right, and one functional module 20 is stored in each storage space. The workstation 10 may also establish a correspondence between the storage space and the functional module 20. For example, unique identifiers may be configured for each storage space and each functional module 20, and the correspondence between the identifier of the storage space and the identifier of the functional module 20 may be maintained. In this way, when the device main body 30 needs to be changed from the currently combined first function module to the second function module, it can communicate with the workstation 10, and provide the identification of the currently combined first function module to the workstation 10; the workstation 10 determines the storage space where the first functional module is located according to the correspondence between the maintained storage space and the functional module 20; then, the workstation 10 may provide the location information of the storage space where the first function module is located to the apparatus main body 30, and the apparatus main body 30 navigates to the location information, that is, the storage space where the first function module is located, using its navigation system; alternatively, a signal transmitter is installed in the storage space of each function module 20, and the signal transmitter is adapted to a signal receiver on the apparatus body 30; the workstation 10 may control the signal emitter in the storage space where the first functional module is located to emit a guiding signal, and the apparatus main body 30 carries the first functional module back to the storage space where the first functional module is located under the guidance of the guiding signal; thereafter, an electromagnetic field is generated around under the control of the workstation 10 or the device body 30 (see the above description), and the first electromagnetic docking structure is separated from the second electromagnetic docking structure on the first functional module by the electromagnetic force, so that the device body 30 is separated from the first functional module, and the first functional module is located in its storage space again to wait for the next use.

Similarly, the device main body 30 may communicate with the workstation 10, and provide the identification of the second function module to be combined to the workstation 10; the workstation 10 determines the storage space where the second functional module is located according to the correspondence between the maintained storage space and the functional module; then, the workstation 10 may provide the location information of the storage space where the second function module is located to the apparatus main body 30, and the apparatus main body 30 navigates from the storage space where the first function module is located to the location information, that is, the storage space where the second function module is located, by using its navigation system; alternatively, the workstation 10 may control the signal transmitter in the storage space in which the second function module is located to transmit the guide signal, and the apparatus body 30 moves from the storage space in which the first function module is located to the storage space in which the second function module is located under the guide of the guide signal. Thereafter, the device main body 30 moves to above or in front of the second function module according to the supported up-down coupling structure or front-back coupling structure, and is coupled with the second function module by means of the first electromagnetic docking structure and the second electromagnetic docking structure on the second function module.

Alternatively, if a combined up and down structure is adopted, as shown in fig. 3a, a bearing part 11 of a slope structure is fixed in each storage area in the workstation 10, the bearing part 11 of the slope structure is positioned above the functional module, and the apparatus main body 30 can be positioned above the second functional module by means of the bearing part 11 of the slope structure. The bearing part 11 of the slope structure is higher than the second functional module, and is a hollow structure, so that the second functional module can be exposed, and the bearing part 11 of the slope structure is required to bear the equipment main body 30, for example, a hand grip, a tray and other bearing structures may be provided, so that the equipment main body 30 can be combined with the second functional module below.

In another alternative embodiment, in order to save the storage space of the workstation 10, as shown in fig. 3b, the workstation 10 may include a turnover mechanism 12 for storing different functional modules 20 for replacement of the apparatus body 30. Optionally, the turnover mechanism 12 can be used to turn over the device main body 30 or the functional modules 20, and the replacement of the device main body 30 and different functional modules 20 is realized in a turnover manner, so that the three-dimensional space resources are fully utilized, and a manner of saving a plane storage space is achieved. In the embodiment of the present application, the implementation manner and the flipping principle of the flipping mechanism 12 are not limited, and the following embodiment will be schematically illustrated.

In an alternative embodiment, as shown in fig. 3b, the turnover mechanism 12 can carry at least two functional modules 20, and the at least two functional modules 20 are located on different carrying surfaces 13 of the turnover mechanism 12, and occupy the same storage space. Alternatively, as shown in fig. 3b, the turnover mechanism 12 includes two upper and lower carrying surfaces, and each carrying surface 13 can hold one functional module 20. In addition to the implementation structure shown in fig. 3b, the turnover mechanism 12 may further have at least three bearing surfaces 13, for example, three bearing surfaces 13 or four bearing surfaces 13, and each bearing surface 13 may be used to fixedly store one functional module 20 thereon. Wherein, the included angle between the adjacent bearing surfaces 13 can be the same, and then the rotating platform is a regular platform; of course, the included angle between the adjacent bearing surfaces 13 may be different, and the rotating platform is an irregular platform. Of course, two or more functional modules 20 can be fixed on each carrying surface 13 of the turnover mechanism 12 having several carrying surfaces 13 at the same time, as long as the storage space is made large enough in both horizontal and vertical directions. It should be noted that the turnover mechanism may not have a bearing surface, but may be provided with a clamping portion or a clamping assembly or other structures capable of bearing the self-moving device. No matter what kind of structure has a bearing function, the principle of the turnover mechanism for automatically replacing the functional module by the structure auxiliary equipment main body is the same or similar, so in the following embodiments of the present application, the bearing surface is taken as an example for explanation, but should not be taken as a limitation to the present application.

In addition to the turnover mechanism 12, the work station 10 is provided with a carrying mechanism cooperating with the turnover mechanism 12, and the carrying mechanism may be any mechanical structure capable of moving the main body of the apparatus, such as the structure shown in fig. 4a, but is not limited thereto. In an alternative embodiment, a supporting portion is disposed on the carrying mechanism, and the supporting portion of the carrying mechanism is located above the turnover mechanism 12 and corresponds to the carrying surface 13 of the turnover mechanism 12 facing the supporting portion, and the supporting portion is used for carrying the main body 30 of the apparatus. The carrying mechanism is used for driving the equipment main body 30 to move after the equipment main body 30 is separated from the first functional module, so that the equipment main body is far away from the turnover mechanism 12, and a space is provided for the turnover mechanism 12 to turn over; wherein the support part can detach the first functional module onto the turnover mechanism 12 after the apparatus main body 30 is separated from the first functional module. Further, the carrying mechanism can drive the supporting part to move in the horizontal or vertical direction, and the moving direction is not limited. In one implementation, the carrying mechanism will be away from the turnover mechanism 12 when driving the supporting portion to move upward, and will be close to the turnover mechanism 12 when driving the supporting portion to move downward. Of course, the carrying mechanism can also drive the supporting portion to move leftwards to make it far away from the turnover mechanism 12, and the carrying mechanism can drive the supporting portion to move rightwards to make it close to the turnover mechanism 12.

By means of the carrying mechanism and the turnover mechanism 12 described above, the apparatus body 30 can be automatically replaced between different function modules 20. Assuming that the device body 30 is currently combined with the first function module, the first function module needs to be replaced with the second function module due to a job requirement, such as the completion of a current job task using the first function module, or a shortage of battery power of the first function module. In this case, the apparatus main body 30 may carry the first function module back into the workstation 10.

Alternatively, the apparatus main body 30 may have position information of the workstation 10 built therein, and based on this, when it is necessary to return to the workstation 10, the apparatus main body may plan a path based on the position information of the workstation 10 by using the navigation system, plan a path from the current position to the position of the workstation 10, and return to the workstation 10 along the path. Alternatively, the workstation 10 may be provided with a sensor for guiding the apparatus body 30 or returning the mobile apparatus to the workstation 10, which is simply referred to as a return sensor, and the return sensor continuously transmits a return signal, and when it is necessary to return to the workstation 10, the apparatus body 30 may detect the return signal and return to the workstation 10 under the guidance of the return signal.

The main body 30 carries the first functional module to move to a supporting portion of the carrying mechanism, where the supporting portion corresponds to an idle carrying surface 13 of the turnover mechanism 12, that is, no functional module 20 is placed on the carrying surface 13 and faces the supporting portion; after that, the device main body 30 is separated from the first functional module, and reference may be made to the foregoing embodiment for an exemplary manner of separation, but not limited thereto. After the device body 30 is separated from the first functional module, the first functional module can be separated to the carrying surface 13 of the turnover mechanism 12 facing the carrying portion currently through the carrying portion, and drives the device body 30 to be away from the turnover mechanism 12. Optionally, the carrying mechanism may drive the device 30 to move at least upward to the first position, that is, to the first position, or to other positions higher than the first position, so as to make the device body 30 far away from the turnover mechanism 12, thereby providing enough space for the turnover mechanism 12 to turn over successfully; the first position is a position above the turnover mechanism 12, which is the lowest position required for the turnover mechanism 12 to complete the turnover successfully, and the first position can be determined according to the implementation structure of the turnover mechanism 12 and the highest position that can be achieved by the turnover mechanism 12 during the rotation process.

In the embodiment of the present application, the implementation structure of the supporting portion is not limited, and any implementation structure that can both carry the self-moving device formed by combining the device main body 30 and the first function module and place the first function module on the carrying surface 13 of the turnover mechanism 12 facing the supporting portion currently after the device main body 30 is separated from the first function module is suitable for the embodiment of the present application. The following examples illustrate:

in an implementation structure, the supporting portion may be a hollow structure, and the size of the hollow portion is larger than that of each functional module, so that the first functional module can be separated from the supporting surface 13 of the turnover mechanism 12 facing the supporting portion through the hollow portion after the device main body 30 is separated from the first functional module. Alternatively, the shape of the hollow portion may be adapted to the shape of each functional module. Further alternatively, the inside of the support part may be provided with a telescopic structure, such as a telescopic bracket, a telescopic rod, for carrying the device body 30.

In another implementation structure, the supporting portion includes an outer frame and a retractable structure disposed inside the outer frame, and the retractable structure can be retracted to form a hollow area in the ring body, so that the first functional module can be detached from the supporting surface 13 of the turnover mechanism 12, which is currently facing the supporting portion, through the hollow area. The outer frame may be a circular, oval, square, rectangular or irregular frame, as long as the hollow area formed in the frame after the telescopic structure is retracted can allow each functional module to be detached from the carrying surface 13 of the turnover mechanism 12 facing the supporting portion.

In this embodiment, the turnover mechanism 12 may rotate at 90 °, 180 °, 360 ° or any angle. When rotating, the rotating direction can be front-back overturning or horizontal overturning. In addition, as the turnover mechanism 12 rotates, the functional modules 20 stored on the respective supporting surfaces 13 are also turned over. In order to prevent the functional module 20 from falling off the carrying surface 13 during rotation, a fixing device may be disposed on the carrying surface 13, and the fixing device is responsible for fixing the functional module 20. The fixing device can be a magnetic attraction structure, a buckle structure, a sticky buckle structure or the like. Therefore, the second functional module to be combined with the device body 30 can be fixed on a certain carrying surface 13 of the turnover mechanism 12, and then the turnover mechanism 12 performs a rotation action to turn the carrying surface 13 on which the second functional module is located toward the supporting portion after the supporting portion drives the device body 30 to at least rise to the first position, so as to provide a condition for combining the device body 30 and the second functional module.

Further, the supporting portion continues to drive the device main body 30 to descend to be close to the second functional module, so that the device main body 30 is combined with the second functional module. Optionally, if an up-down combination structure is adopted, the second functional module may be turned over to the lower side of the device main body 30, and the first electromagnetic docking structure on the device main body 30 is combined with the second electromagnetic docking structure on the second functional module under the action of the electromagnetic attraction force. Optionally, if a front-back combination structure is adopted, the carrying mechanism may further drive the device main body to move in the horizontal direction, so as to move the device main body 30 to the front of the second functional module, and the first electromagnetic docking structure on the device main body 30 is combined with the second electromagnetic docking structure on the second functional module under the action of electromagnetic attraction force.

In this embodiment, the workstation is further provided with a controller, and the carrying mechanism and the turnover mechanism in the process can execute corresponding actions under the control of the controller. In conjunction with the workstation shown in fig. 3b, the embodiment of the present application provides a control method for a self-moving device, which is applicable to a flipping mechanism with the structure shown in fig. 3b, but is not limited thereto, and is applicable to any flipping mechanism with a flipping function. As shown in fig. 3c, the method comprises:

31c, controlling the device body to separate the first functional module carried by the device body to the turnover mechanism in the workstation.

And 32c, controlling the turnover mechanism to turn over so that the second functional module on the turnover mechanism faces the equipment main body.

33c, the control apparatus main body is combined with the second function module.

In an optional embodiment of the application, before the turnover mechanism is controlled to turn over, the device main body can be moved to a position far away from the turnover mechanism, so that a space is provided for the turnover mechanism to turn over. After the device main body is moved to a position far away from the turnover mechanism, the turnover mechanism can be controlled to turn over so as to enable the second functional module on the turnover mechanism to face the device main body, and particularly face the installation cavity of the device main body. The installation cavity is a structure for installing the functional module on the device main body, and relevant descriptions about the implementation structure, the position and the like of the installation cavity can be referred to above and are not described in detail herein. After the turnover mechanism is controlled to turn over, the equipment main body is close to the turnover mechanism until the equipment main body is combined with a second functional module on the turnover mechanism.

In an alternative embodiment, in the case where the carrying mechanism is provided in the workstation, after the apparatus main body is separated from the first functional module, the apparatus main body may be moved to a position away from the turnover mechanism by the carrying mechanism in the workstation; correspondingly, after the turnover mechanism is turned over, the equipment main body is controlled to be combined with the second functional module, the equipment main body can be close to the turnover mechanism through the carrying mechanism until the equipment main body is combined with the second functional module on the turnover mechanism.

Further, in the case that a carrying mechanism and a turnover mechanism are provided in the workstation, as shown in fig. 3d, when the first functional module needs to be replaced by the second functional module, the main body of the device moves to the supporting portion of the carrying mechanism along with the first functional module, and at this time, the main body of the device is controlled to separate the first functional module to the supporting portion; for example, the general electromagnet or the dedicated electromagnet corresponding to the first functional module may be energized to generate an electromagnetic field around, so that the apparatus main body is separated from the first functional module by the electromagnetic force; after the first functional module is separated to the supporting part, the first functional module can be separated to the turnover mechanism through the supporting part; then, controlling the carrying mechanism to drive the equipment main body to move at least upwards to a first position through the supporting part; then, controlling the turnover mechanism to turn over so as to enable the second functional module on the turnover mechanism to face the equipment main body; and then, controlling the carrying mechanism to drive the equipment main body to move downwards to be close to the second functional module until the equipment main body is combined with the second functional module on the turnover mechanism. Alternatively, the general electromagnet or a dedicated electromagnet corresponding to the first function module may be powered off to combine the apparatus body with the second function module. In fig. 3d, the turnover mechanism has two bearing surfaces a and B, the second functional module is borne by the bearing surface B, and the first functional module is borne by the bearing surface a.

It should be noted that fig. 3d is a state diagram of the working process only, and structural features of other functional components are not shown. In fig. 3d, two functional modules are positioned on the upper and lower carrying surfaces of the turnover mechanism, and the turnover mechanism is turned over by 180 °, but the invention is not limited thereto.

Further alternatively, in the case that the turnover mechanism includes two upper and lower bearing surfaces, the turnover mechanism may be controlled to turn 180 ° to direct the second functional module on the second bearing surface thereof toward the device main body, as shown in fig. 3 d.

Or

Further optionally, under the condition that the turnover mechanism comprises at least three bearing surfaces, a second functional module needing to be replaced by the equipment main body can be identified, and a second bearing surface where the second functional module is located is determined; and determining the angle to be turned according to the position relation between the second bearing surface and the first bearing surface and the number of the bearing surfaces, and controlling the turning angle of the turning mechanism so as to enable the second functional module on the second bearing surface to face the equipment main body.

Further optionally, the workstation may be provided with at least one replacement area, the replacement areas are isolated from each other, the turnover mechanism and the carrying mechanism provided in the above embodiment are provided in each replacement area, and by these turnover mechanism and carrying mechanism, each replacement area may store more functional modules, which is beneficial to saving the space of the workstation. The replacement area may be cylindrical, cubic or square, or irregular. When a plurality of replacement regions are provided, the shapes of the cavities of the replacement regions can be the same or different; in addition, the sizes of the cavities of the replacement areas can be the same or different.

It should be noted that, besides the implementation structure and the turning principle provided by the above embodiments, the turning mechanism may also have other implementation structures and turning principles, and specifically, refer to the following embodiments.

In another alternative embodiment of the present application, the workstation includes at least a first position, a second position, and a third position. The first position is a position for separating the device main body from a first function module carried by the device main body currently, namely the first function module can be separated to the first position; the second position corresponds to a third position on which a second function module to be combined with the apparatus main body is placed, and the second position is a position for placing the apparatus main body when the apparatus main body is required to be combined with the second function module. Further, the workstation of this embodiment still includes tilting mechanism and controller. The turnover mechanism is matched with the first position, the second position and the third position in the workstation, and can be matched with the equipment main body to automatically replace among a plurality of functional modules. The implementation structure and the overturning principle of the overturning mechanism in the embodiment are different from those of the overturning mechanism in the previous embodiment, and the implementation structure and the overturning principle are as follows:

taking the current combination of the device main body and the first function module as an example, because of the operation requirement, for example, the current operation task is completed by using the first function module, or the battery power of the first function module is insufficient, the first function module needs to be replaced by the second function module. In this case, the apparatus main body may carry the first function module back into the workstation; firstly, the main body of the control device separates a first functional module carried by the main body of the control device to a first position in a workstation; then, controlling the turnover mechanism to turn over the equipment main body to a second position in the workstation, wherein a second functional module is arranged at a third position corresponding to the second position in the workstation; then, one of the second function module and the apparatus main body is controlled to approach the other until the apparatus main body is combined with the second function module. The second functional module can be controlled to approach the device main body until the device main body is combined with the second functional module, and at the moment, the third position is idle; or, the device main body may be controlled to approach the second function module until the device main body is combined with the second function module, and the second position is idle. The turnover mechanism in this embodiment is at least used to turn over the apparatus main body to the second position.

Further optionally, after the apparatus main body is combined with the second functional module, the turnover mechanism may be further controlled to turn the first functional module to the idle position among the second position and the third position, and turn the apparatus main body combined with the second functional module to the first position. Alternatively, the idle position may be the second position or the third position. The turnover mechanism in this embodiment may also be configured to turn over the first functional module to the idle position in the second position and the third position, and may turn over the apparatus main body, which is combined with the second functional module, to the first position.

In an alternative embodiment, the workstation comprises at least one replacement area for storing different functional modules for replacement of the device body. Each replacement area at least comprises a first position, a second position and a third position, and in addition, a turnover mechanism is arranged in each replacement area and can turn over towards the second position. The second position may be any position in the replacement area for carrying the apparatus body; the third position can be any other position different from the second position in the replacement area and used for storing the functional module to be combined; the first position of the replacement area is used for storing the function module separated from the device body. Further alternatively, the first position may be a bottom of the replacement region, the second position may be a position on a first sidewall of the replacement region, and the first sidewall may be any sidewall of the replacement region, which is not limited in this respect; accordingly, the third position may be a position on a second sidewall of the replacement area, the second sidewall corresponding to the first sidewall.

In the embodiment of the present application, a replacement area where the second function module is located is denoted as a target replacement area, and when the apparatus main body needs to replace the second function module, the apparatus main body can be controlled to carry the first function module to move into the target replacement area where the second function module is located, and the apparatus main body is controlled to separate the first function module to the bottom of the target replacement area, that is, to a first position; then, the turnover mechanism can be controlled to turn the equipment main body over to the first side wall of the target replacement area, namely, the second position; thereafter, one of the control device main body and the second function module located on the second side wall (i.e., the third position) approaches the other until the two are combined.

Further optionally, in consideration that the side wall of the target replacement area has a certain height, in order to facilitate the device body to be turned to the corresponding position on the side wall, the workstation of this embodiment is further provided with a carrying mechanism capable of driving the device body or the functional module to move. The carrying mechanism also includes a support portion for carrying the device body or the functional module. The structure of the carrying mechanism can be seen in fig. 4a, but is not limited thereto. On the basis of the carrying mechanism, under the condition that the equipment main body needs to replace the second functional module, the equipment main body can be controlled to carry the first functional module to move to a target replacement area where the second functional module is located, and the equipment main body is controlled to separate the first functional module onto a supporting part of the carrying mechanism, wherein the supporting part can separate the first functional module to the bottom of the target replacement area, namely a first position; after the equipment main body is separated from the first functional module, the carrying mechanism can be controlled to drive the equipment main body to move, and specifically, the carrying mechanism can drive the equipment main body to ascend to a height corresponding to the second functional module under the control of the controller; then, the turnover mechanism can be controlled to turn over the equipment main body to the first side wall of the target replacement area at the height, namely, the second position; thereafter, one of the control device main body and the second function module located on the second side wall approaches the other until the two are combined.

Alternatively, the apparatus body may be fixed to the first side wall so as to be prevented from slipping down from the first side wall. The fixing mode is not limited, for example, a fixing device may be disposed on the first side wall, and the fixing device may be implemented in a magnetic attraction mode, specifically, as a first magnetic attraction member disposed on the first side wall, and is matched with a second magnetic attraction member disposed on the functional module; or the fixing device may also adopt a buckle structure or a thread gluing structure, and the thread gluing structure includes but is not limited to: the buckle comprises a female buckle and buckle combination structure, an elastic buckle structure, a movable push-hook buckle structure and a toggle elastic buckle structure. For the female buckle and the buckle combination structure, the buckle can be designed on the seam allowance, and the female buckle can be designed into a perforation structure, an inclined ejection structure below the female buckle or a female buckle sealing glue for rib position reinforcement and the like.

Further optionally, a telescopic mechanism is arranged on the first side wall or the second side wall, and accordingly, the device main body or the second functional module is fixed on the telescopic mechanism; the telescopic mechanism stretches outwards to drive the equipment main body or the second functional module to approach to the other party. The telescopic mechanism can be any one of a roller shutter telescopic structure, a wave type folding structure or a spring type telescopic structure. The telescopic mechanism can drive the equipment main body or the second functional module to move outwards through telescoping after the equipment main body or the second functional module is fixed.

In an alternative embodiment, the flipping mechanism comprises a first flipping portion and a second flipping portion. The first overturning part is arranged on the supporting part of the carrying mechanism and used for overturning the equipment main body to the first side wall when the carrying mechanism drives the equipment main body to move upwards to a height corresponding to the second functional module. The second turnover part is arranged on the first side wall or the second side wall, if the second turnover part is arranged on the first side wall, the equipment main body can be fixed on the second turnover part, and the second turnover part can turn over the equipment main body and the second function module to a first position after the equipment main body is combined with the second function module so that the equipment main body can carry the second function module to execute an operation task; if the second turning part is arranged on the second side wall, the second functional module can be fixed on the second turning part, and the second turning part can turn the equipment main body and the second functional module to the first position after the equipment main body is combined with the second functional module so that the equipment main body can carry the second functional module to execute the operation task.

In this embodiment, the position relationship between the first turnover part and the first side wall is not limited, and optionally, the first turnover part is vertically arranged relative to the first side wall; accordingly, the second turning part is vertically disposed with respect to the bottom of the target replacement area, but is not limited thereto.

In this embodiment, the workstation is further provided with a controller, and in the above process, the carrying mechanism and the turnover mechanism can both perform corresponding actions under the control of the controller. In combination with the workstations provided in the above embodiments, the embodiments of the present application provide a control method for a self-moving device, which is applicable to the flipping mechanism in the above embodiments, but is not limited thereto, and is applicable to any flipping mechanism with a flipping function.

As shown in fig. 3e, the method comprises:

31e, the control device body separates the first function module carried by the control device body to a first position in the workstation.

And 32e, turning the equipment main body to the second position, and placing a second functional module at a third position corresponding to the second position.

33e, controlling one of the second function module and the device body to approach the other until the device body is combined with the second function module.

In an optional embodiment, after the apparatus main body is combined with the second function module, the apparatus further includes: turning the first functional module to an idle position in the second position and the third position; turning over the device body combined with the second functional module to a first position; wherein the idle position is the second position or the third position.

Further optionally, the controlling the device main body to disengage the first function module carried by the device main body to the first position in the workstation includes: the control equipment main body carries the first functional module to move to a target replacement area where the second functional module is located in the workstation; the control device main body separates the first function module to the bottom of the target replacement area, and the first position is the bottom of the target replacement area.

Further optionally, the second functional module is located on a second sidewall of the target replacement area; based on this, turning the device body to the second position includes: and lifting the equipment main body to a height corresponding to the second functional module, overturning the equipment main body to a first side wall corresponding to the second side wall on the target replacement area in height, wherein the second position is a position on the first side wall.

For the detailed description of the above method embodiments, reference may be made to the foregoing embodiments, which are not repeated herein.

Further, the workstation is further provided with a carrying mechanism and a replacing area, based on which, in the process of replacing the function module in the workstation by the device main body, as shown in fig. 3f, when the first function module needs to be replaced by the second function module, the device main body carries the first function module to move to the supporting part of the carrying mechanism, and at the moment, the device main body is controlled to separate the first function module to the supporting part; for example, the general-purpose electromagnet or a dedicated electromagnet corresponding to the first function module may be energized to generate an electromagnetic field around, so that the apparatus main body is separated from the first function module by the electromagnetic force; after the first functional module is separated onto the supporting part, the first functional module can be separated from the bottom of the target replacement area where the second functional module is located through the supporting part; then, controlling the carrying mechanism to drive the equipment main body to rise to a height corresponding to the second functional module through the supporting part; then, at the height, controlling a first overturning part on the supporting part to overturn towards the first side wall so as to overturn the equipment main body to a position corresponding to the designated height on the first side wall; then, controlling a telescopic mechanism on the second side wall to extend outwards so as to drive the second functional module to approach the equipment main body until the equipment main body is combined with the second functional module; alternatively, the general electromagnet or a dedicated electromagnet corresponding to the first function module may be powered off to combine the apparatus main body with the second function module; then, the second turnover part on the first side wall is controlled to turn downwards so as to turn the device main body together with the second function module to the bottom of the target replacement area. Optionally, as shown in fig. 3f, the first functional module may be turned over to the second side wall, so as to provide convenience and conditions for replacing the first functional module again in the main body of the device.

In the embodiment shown in fig. 3f, the telescopic mechanism is disposed on the second side wall, and the second turnover part is disposed on the first side wall, but the embodiment is not limited thereto. For example, a telescopic mechanism may be disposed on the first side wall, and a second turning portion may be disposed on the second side wall, so that the telescopic mechanism on the first side wall may be controlled to extend outward to drive the apparatus main body to approach the second function module until the apparatus main body is combined with the second function module; then, the second turnover part on the second side wall is controlled to turn downwards so as to turn the device main body together with the second functional module to the bottom of the target replacement area. Fig. 3f is a schematic diagram of the working process only, and does not show the structural features of other functional components. In fig. 3f, the first side wall and the second side wall are shown as an example of the arrangement, but the present invention is not limited thereto.

In another embodiment of the workstation, as shown in fig. 4a, the workstation comprises a carrying mechanism 42 and a controller. And the controller is used for controlling the separation of the device main body and the first function module after the device main body carrying the first function module reaches the first position of the workstation, and controlling the combination of the second function module and the device main body when the device main body moves to the second position. And the carrying mechanism 42 is used for driving the equipment main body to move to the second position according to the first set path under the control of the controller.

It should be noted that, in the present application, the first position and the second position are corresponding positions of the first functional module and the second functional module, respectively. Optionally, the first position is located above the first functional module placement position, and the second position is located above the second functional module placement position. Or the first position is positioned below the first functional module placing position, and the second position is positioned below the second functional module placing position. The first set path is set according to the position relation between the first function module and the second function module, and the first set path is preferably designed to be the shortest path in the action mode of the carrying mechanism. Wherein, the carrying mechanism drives the equipment main body to move to the second position in at least one direction of the vertical direction and the horizontal direction. The mode that the carrying mechanism drives the device body to move to the second position includes, but is not limited to, the following moving modes:

in the first moving mode, the carrying mechanism drives the equipment main body to directly move to a second position in the left-right horizontal direction;

in the second moving mode, the carrying mechanism drives the equipment main body to directly move to a second position in the front-back horizontal direction;

the carrying mechanism drives the equipment main body to move to a third position in the vertical direction; continuously driving the equipment main body to move to a fourth position in the horizontal direction, wherein the fourth position is aligned with the second position in the vertical direction; and driving the equipment main body to move to the second position in the vertical direction from the fourth position.

In the first moving manner and the second moving manner, the device body is moved from the first position to the second position by a horizontal movement once, and is limited by the structure of the device body and the first function module. If the first function module and the device main body are not in a completely separated state after being unlocked, the device main body and the first function module need to move a certain distance in the moving direction and then move in the direction of the second function module, which can be seen in the third embodiment of the moving method.

In the third upward movement mode, referring to fig. 4b to 4e, the carrying mechanism 42 drives the apparatus main body to move vertically upward from the first position to the third position, continues to drive the apparatus main body to move horizontally from the third position to the fourth position, and drives the apparatus main body to move vertically downward from the fourth position to the second position. Or the carrying mechanism 42 drives the device body to move vertically upward from the first position to the third position, continues to drive the device body to move forward and backward in the horizontal direction to the fourth position from the third position, and drives the device body to move vertically downward to the second position from the fourth position.

When the self-moving device needs to switch different function modules, the switching can be completed by adopting any switching mode provided above. In the above switching process, after the movable apparatus main body is separated from the first functional module, the movable apparatus main body is moved by the carrying mechanism to gradually approach the stationary second functional module until the movable apparatus main body and the stationary second functional module are assembled together, but the invention is not limited thereto. For example, the second function module may be moved to be gradually closer to the movable apparatus main body until the two are assembled together. In which there is a possibility that the inconsistency of the parts due to the manufacturing tolerance and the tolerance stack-up in the assembling process cause a certain deviation in the positional alignment between the two, regardless of whether the movable apparatus body or the second function module is moved. How to ensure the position alignment of the movable device body and the second functional module in the assembling process is still another technical problem to be solved by the embodiments of the present application.

In view of the above problems, the workstation of the embodiment of the present application is not only provided with a switching system for replacing the functional module of the main body of the device, mainly including the carrying mechanism and/or the turning mechanism, etc. for realizing the automatic switching between the main body of the device and different functional modules, but also is provided with an automatic alignment system for realizing the automatic alignment between the main body of the device and the functional module to be switched in the process of switching between the main body of the device and the functional module, eliminating manual intervention, solving the problems of improper assembly, etc., and improving the alignment precision.

As shown in fig. 4a, the workstation further comprises, in addition to the carrying mechanism 42 and the controller, a positioning device 41, wherein the positioning device 41 is used for positioning the position information to which the device body moves in at least one direction when the carrying mechanism 42 drives the device body to move in at least one direction of the vertical direction and the horizontal direction; wherein, the carrying mechanism 42, the installation position of the positioning device 41 has a certain relationship with the alignment position, optionally, the installation position of the positioning device 41 may be the alignment position in the direction of the positioning device, or the installation position of the positioning device 41 may also be the alignment position in the direction of the positioning device ± a set distance value, so that, in the switching process, whether the movable apparatus main body moves to the position in the direction of the positioning device can be measured by means of the positioning device 41, so as to achieve the automatic alignment of the movable apparatus main body and the functional module to be switched. It should be noted that, in the embodiment of the present application, the set distance value is not limited, and the set distance value may be adjusted according to actual situations.

In this embodiment, as shown in fig. 4a, the carrying mechanism 42 includes a supporting portion 425, and the supporting portion 425 is used to move the movable apparatus body in at least one direction under the control of the controller during the process of switching the movable apparatus body from the currently assembled first function module to the second function module, so as to combine the movable apparatus body with the second function module.

The at least one direction includes a vertical direction, a front-rear horizontal direction, and a left-right horizontal direction. The at least one direction is influenced by factors such as the structure of the workstation, the storage mode of each functional module in the workstation, the working principle of the automatic alignment system and the like. The to-be-aligned direction refers to a direction in which alignment is currently performed, among the at least one direction.

In an alternative embodiment, referring to fig. 4a, 4B, 4c, 4d and 4e, the first function module B1 of the mobile device is located above the mobile device body a, and after the mobile device returns to the workstation, the mobile device is parked above the support 425, wherein the mobile device body a rests above the support 425, the first function module extends below the support 425, and the first function module and the second function module are horizontally arranged in the workstation from left to right. The process of the movable apparatus body a switching from the currently assembled first function module B1 to the second function module B2 is: after the movable apparatus body a is unlocked from the first function module B1, the carrying mechanism 42 drives the movable apparatus body to move upward (see fig. 4B) until the first function module B1 is in a disengaged state from the movable apparatus body a (see fig. 4 c); the carrying mechanism 42 drives the movable apparatus body a to move horizontally to the right side until the movable apparatus body a moves to the upper side of the second function module B2 (see fig. 4 d); the carrying mechanism 42 drives the movable device body a to move downwards until the movable device body a moves to the second functional module B2 to contact and cooperate to complete the whole combination process (see fig. 4 e); the movable device body A is locked with the second function module B2 to form a new self-moving device.

In another alternative embodiment, referring to fig. 4a, the first function module B1 of the mobile device is located above the movable device body a, and after the mobile device returns to the workstation, the mobile device is parked above the support 425, wherein the movable device body a rests above the support 425, the first function module B1 extends below the support 425, and the first function module B1 and the second function module B2 are horizontally placed back and forth in the workstation. The process of the movable apparatus body a switching from the currently assembled first function module B1 to the second function module B2 is: after the movable apparatus body a is unlocked from the first function module B1, the carrying mechanism 42 moves the movable apparatus body a upward (see fig. 4B) until the first function module B1 is disengaged from the movable apparatus body a (see fig. 4 c); the carrying mechanism 42 drives the movable apparatus body a to move backward until the movable apparatus body a moves above the second function module B2 (see fig. 4 d); the carrying mechanism 42 drives the movable device body a to move downwards until the movable device body a moves to the second function module B2 to complete the whole alignment process (see fig. 4 e); the movable device body A is locked with the second function module B2 to form a new self-moving device.

In another optional embodiment, the first function module of the mobile device is positioned above the movable device body, after the mobile device returns to the workstation, the movable device body is placed in the workstation, and the first function module and the second function module are horizontally placed in the workstation front and back. The process of switching the movable device body from the currently assembled first function module to the second function module is as follows: after the movable equipment main body is unlocked from the first functional module, the lifting mechanism drives the movable equipment main body to move downwards until the first functional module is separated from the movable equipment main body; the lifting mechanism drives the first functional module to move rightwards until the first functional module moves to the position above the corresponding storage position; the lifting mechanism drives the first functional module to move downwards to move the first functional module to the storage position of the first functional module; the lifting mechanism moves upwards and then moves rightwards to be above the second functional module, the lifting mechanism moves downwards to be in contact fit with the second functional module, the lifting mechanism drives the second functional module to move upwards and then moves leftwards to be below the movable equipment main body, and the lifting mechanism drives the second functional module to move upwards to be in contact fit with the movable equipment main body to complete the whole alignment process; the movable equipment main body is locked with the second functional module to form new self-moving equipment.

In the above embodiment, if the movable apparatus main body needs to be moved in the horizontal direction, it is possible to provide the first driving motor 421 and the driving member driven by the first driving motor 421. Alternatively, the driving member is a horizontal displacement screw 422 arranged in a horizontal direction, the supporting portion 425 is connected to one end of the horizontal displacement screw 422, the first driving motor 421 drives the horizontal displacement screw 422 to rotate in a forward direction or a reverse direction, and the supporting portion 425 correspondingly moves horizontally along the rotation direction of the horizontal displacement screw 422, so as to drive the movable device body placed on the supporting portion 425 to move horizontally. Alternatively, the driving member may be a telescopic rod capable of moving in a horizontal direction, the supporting portion 425 is fixedly connected to one end of the telescopic rod through a thread, the first driving motor 421 drives the telescopic rod to horizontally extend and retract, and the supporting portion 425 correspondingly horizontally moves to drive the movable device body placed on the supporting portion 425 to horizontally move.

If the movable apparatus main body needs to move in the vertical and horizontal directions, the second driving motor 423 and the driving member driven by the second driving motor 423 may be provided. Alternatively, the driving member is a vertical displacement screw 424 arranged in the vertical direction, the supporting portion 425 is connected to one end of the vertical displacement screw 424 in a threaded manner, the second driving motor 423 drives the vertical displacement screw 424 to rotate in the forward direction or in the reverse direction, and the supporting portion 425 rotates upwards or downwards along the vertical displacement screw 424, so as to drive the movable device body placed on the supporting portion 425 to move upwards and downwards. Another alternative is a telescopic rod whose driving part can move along the vertical direction, the supporting part 425 is fixedly connected to one end of the telescopic rod through a thread, the second driving motor 423 drives the telescopic rod to perform vertical telescopic movement, and the supporting part 425 correspondingly rotates upwards or downwards to drive the movable equipment main body placed on the supporting part 425 to move up and down.

Fig. 4a is a schematic structural diagram of a carrying mechanism 42 according to an exemplary embodiment of the present application. The carrying mechanism 42 includes a lifting mechanism and a translating mechanism. Wherein, the translation mechanism comprises a first driving motor 421 and a horizontal displacement screw 422; the lifting mechanism comprises a second driving motor 423 and a vertical displacement screw 424; a horizontal displacement screw 422 connected to the first driving motor 421, wherein the first driving motor 421 drives the horizontal displacement screw 422 to rotate; a vertical displacement screw 424 connected to a second driving motor 423, the second driving motor 423 driving the vertical displacement screw 424 to rotate; a second driving motor 423 screw-coupled to the horizontal displacement screw 422; the supporting portion 425 is threadedly coupled to a lower end of the vertical displacement screw 424. First driving motor 421 drives horizontal displacement screw 422, and second driving motor 423 and vertical displacement screw 424 of carrying mechanism 42 of the embodiment of this application install on horizontal displacement screw 422, and when horizontal displacement screw 422 rotated, drive supporting part 425 that is connected with vertical displacement screw 424 and move horizontally together, and carrying mechanism 42's reasonable in design, simple structure is compact, and occupation space is little, reduces the volume of workstation.

It should be noted that the moving direction of the movable apparatus main body may be different depending on the structure of the workstation itself, the storage manner of each functional module in the workstation, the operation principle of the automatic alignment system, and other factors. If the movable equipment main body needs to move horizontally and vertically, taking a world coordinate system as an example, the movable equipment main body can move in the directions of three coordinate axes of the world coordinate system so as to realize horizontal movement and vertical movement; when moving horizontally, the moving can be divided into front and back horizontal movement and left and right horizontal movement. If the horizontal displacement direction is associated with the alignment, positioning means can be provided in at least one horizontal displacement direction, which positioning means can position the displacement position of the movable apparatus body in the corresponding horizontal displacement direction, but, of course, positioning means can also be provided in another horizontal displacement direction, which positioning means can position the displacement position of the movable apparatus body in another horizontal displacement direction.

During the switching process, the movable device body also needs to move up and down, i.e. along the vertical direction, and a positioning device can be arranged in the vertical direction for positioning the moving position of the movable device body in the vertical direction.

Further, the installation position of the positioning device in the workstation may be different depending on the implementation structure of the workstation, the storage manner of each functional module in the workstation, the operation principle of the switching system, and other factors, and is not limited thereto.

In this embodiment, as shown in fig. 4a and 4f, the positioning device 41 is configured to, when the carrying mechanism drives the device main body to move in at least one of the vertical direction and the horizontal direction, position information that the device main body moves in the at least one direction is located and reported to the controller, and the controller controls the carrying mechanism 42 according to the position information. Optionally, the positioning device 41 includes at least one of a vertical light coupling device and a horizontal light coupling device; the vertical optical coupler device comprises a transmitting optical coupler and a receiving optical coupler which are oppositely arranged in the horizontal direction and used for positioning the position information to which the device main body moves in the vertical direction; the horizontal optical coupler device comprises a transmitting optical coupler and a receiving optical coupler which are oppositely arranged in the vertical direction and used for positioning position information to which the equipment main body moves in the horizontal direction. Each group of optocoupler devices comprises a transmitting optocoupler and a receiving optocoupler, wherein the transmitting optocoupler and the receiving optocoupler are arranged oppositely, and a gap 410 is reserved. According to the method and the device, the optical coupling device is used for positioning the moving position of the movable device main body in at least one direction, and the positioning precision of the automatic alignment system is improved. In addition, the embodiment of the present application does not limit the implementation structure of the positioning device, and all devices with a position detection function are suitable for the embodiment of the present application.

Furthermore, a shielding part matched with at least one optocoupler device is arranged on the carrying mechanism, moves together with the equipment main body and is used for triggering the optocoupler device matched with the shielding part to generate a detection signal and report the detection signal to the controller when the shielding part moves to a position between the transmitting optocoupler and the receiving optocoupler in the optocoupler device matched with the shielding part; the controller determines the position information of the equipment main body moving to in at least one direction at the installation position of the optical coupling device receiving the corresponding detection signal reported by the optical coupling device.

As shown in fig. 4a, the vertical light coupling device of the carrying mechanism 42 includes: the first vertical optocoupler device corresponding to the third position, the second vertical optocoupler device corresponding to the fifth position and the third vertical optocoupler device corresponding to the second position; the fifth position is vertically between the first, second and third positions; the horizontal optical coupler device includes: the first horizontal optical coupler device corresponds to the fourth position and the second horizontal optical coupler device corresponds to the sixth position; the sixth position is located between the third position and the fourth position in the horizontal direction. It should be noted that, the perpendicular opto-coupler of second and the horizontal opto-coupler of second are in order to detect the speed reduction signal that obtains the carrying mechanism and begin to slow down, and this application can effectively cushion the impact of carrying mechanism 42 through addding perpendicular opto-coupler of second and the horizontal opto-coupler of second. Obviously, the number and the position of the second vertical optical coupler devices are not limited in the application, and can be adjusted according to actual conditions.

If a second vertical optocoupler is arranged at a fifth position close to the third position, the controller controls the carrying mechanism to start decelerating and moving according to a detection signal reported by the second vertical optocoupler in the process of vertically moving the device main body to the third position, and controls the carrying mechanism to stop moving according to a detection signal reported by the first vertical optocoupler.

If a second horizontal optical coupler device is arranged at a sixth position close to the fourth position, the controller controls the carrying mechanism to start decelerating and moving according to a detection signal reported by the second horizontal optical coupler device when the device main body moves to the fourth position in the horizontal direction, and controls the carrying mechanism to stop moving according to the detection signal reported by the first horizontal optical coupler device.

If a second horizontal optical coupler device is arranged at a sixth position close to the second position, the controller controls the carrying mechanism to start decelerating and moving according to a detection signal reported by the second vertical optical coupler device in the process that the device main body vertically moves downwards to the second position, and controls the carrying mechanism to stop moving according to a detection signal reported by a third vertical optical coupler device.

In the above embodiment, the controller controls the carrying mechanism to stop moving when receiving the detection signal reported by the first vertical optocoupler, the third vertical optocoupler or the first horizontal optocoupler; or delaying for a specified time after receiving the detection signal reported by the first vertical optical coupler device, the third vertical optical coupler device or the first horizontal optical coupler device, and controlling the carrying mechanism to stop moving. And when receiving detection signals reported by the second vertical optical coupler device and the second horizontal optical coupler device, the controller controls the carrying mechanism to decelerate and move.

Further, as shown in fig. 4a and 4b, a first shielding portion 4251 protruding outward is provided on the supporting portion 425 of the carrying mechanism 42 in the workstation, and a second shielding portion 4261 is provided on the second driving motor 423 in the lifting mechanism, the first shielding portion 4251 and the second shielding portion 4261 may be protruding sheets, a position where the first shielding portion 4251 is provided on the supporting portion 425 and a position where the second shielding portion 4261 is provided on the second driving motor 423 correspond to a position where the optical couplers are provided, that is, when the supporting portion 425 moves to a horizontal plane where the optical couplers are located, the protruding shielding portion may shield the optical couplers, so that communication between the optical couplers is blocked. The positioning device 41, the first blocking portion 4251 protruding from the supporting portion, and the second blocking portion 4261 of the motor reduction gear box can be combined together to form the automatic alignment system of the present application.

In the above embodiment, as shown in fig. 4a and 4f, the carrying mechanism 42 has the supporting portion 425, the supporting portion 425 is used for carrying the movable apparatus main body, and the first shielding portion 4251 is provided on the supporting portion 425; when the first shielding part 4251 is driven by the carrying mechanism 42 to move up and down to a gap 410 between a transmitting optocoupler and a receiving optocoupler in a corresponding group of optocoupler devices, triggering the optocoupler devices to generate detection signals and reporting the detection signals to the controller; and the controller determines the moving position of the movable equipment main body or the second functional module in the direction perpendicular to the optical coupler device reporting the detection signal according to the installation position of the optical coupler device reporting the detection signal. Optionally, the outer side walls of the two sides of the supporting portion 425 are respectively provided with a first shielding portion 4251 in a protruding manner. In the embodiment of the present application, the implementation form of the first shield portion 4251 is not limited. The first shielding portion 4251 is preferably formed in a sheet-like structure with a clearance fit between the optical couplers. The number of the first shielding portions 4251 can be adaptively adjusted according to the number of the optical couplers and actual conditions.

As shown in fig. 4b, the carrying mechanism 42 further includes a motor reduction gear box 426, the second driving motor 423 is disposed in the motor reduction gear box 426, and the second driving motor 423 is provided with two shielding portions 4261. When the second shielding part 4261 is driven by the lifting mechanism to horizontally move to a gap 410 between a transmitting optocoupler and a receiving optocoupler in the first horizontal optocoupler, triggering the first horizontal optocoupler to generate a detection signal and reporting the detection signal to the controller; and the controller determines the moving position of the movable equipment main body in the horizontal direction of the optical coupler device reporting the detection signal according to the mounting position of the optical coupler device reporting the detection signal.

It should be noted that, a pair of optical coupler assemblies of the present application includes a group of optical couplers that detect a stop position of a movable device body and a group of optical couplers that detect a deceleration of the movable device body; a group of optical couplers for detecting the speed reduction of the movable equipment main body or the first functional module are additionally arranged, the speed reduction is carried out before the movable equipment main body or the first functional module reaches the stop position, the impact force of the carrying mechanism 42 is buffered, and the running stability of the carrying mechanism 42 is improved. To improve the efficiency of the carrier mechanism 42 for automatic calibration, two sets of optocouplers are positioned close together in the set position to prevent premature deceleration at too great a distance. The distance between two sets of opto-couplers is not limited, and can be set according to actual conditions. Certainly, the functions of the pair of optical couplers are not fixed, and in the current motion direction of the movable device body, the first group of optical couplers are used for sending a control signal for performing a deceleration action to the controller, and the second group of optical couplers are used for sending a control signal for stopping the action to the controller. Obviously, the automatic alignment system of the embodiment of the present application may be provided with only one set of optical couplers for detecting the stop of the movable device body or the first functional module.

In this embodiment, the workstation includes a replacement area for replacing the function module with the main body of the apparatus; the replacing area comprises an inlet and an outlet and a hollow cavity formed by side walls, and the first functional module and the second functional module are positioned in the hollow cavity; the left side wall and the right side wall of the replacement area are sequentially provided with a first vertical optocoupler, a second vertical optocoupler and a third vertical optocoupler from top to bottom; and/or the upper side wall of the replacement area is provided with a first horizontal optical coupler device and a second horizontal optical coupler device from left to right in sequence. As shown in fig. 4a, in the automatic alignment system according to the embodiment of the present application, two sets of optical coupler devices are respectively disposed on the sidewalls on the left and right sides of the replacement area, and four sets of optical coupler devices are disposed on the upper sidewall of the replacement area. Two groups of optical coupler devices below the side walls on two sides of the replacement area are used for positioning the contact position of the equipment main body; two groups of optocoupler devices above the side walls at two sides of the replacement area are used for positioning the separation position of the functional module and the movable equipment main body; and two groups of optocoupler devices on one side of the upper side wall of the replacement area are used for positioning the functional module and the movable equipment main body to move left and right to the position above the movable equipment main body or the functional module to be switched. And the two adjacent optical coupler devices comprise a group of optical couplers for detecting the stop position of the movable equipment body or the functional module and a group of optical couplers for detecting the deceleration of the movable equipment body or the functional module.

Further, as shown in fig. 4a, the supporting portion 425 is a hollow ring structure, the middle of the supporting portion 425 is provided with a receiving through hole 4250, two sides of the sidewall of the through hole 4250 are protruded with supporting protrusions 4252, after the mobile device returns to the workstation, the mobile device body is placed on the supporting protrusions 4252, and the function module extends into the lower portion of the supporting portion 425 from the receiving through hole 4250. In fig. 4a, two support protrusions 4252 are respectively disposed on two sides of the through hole 4250, the shape and number of the support protrusions 4252 are not limited in the embodiment of the present application, and the support protrusions 4252 include, but are not limited to, the following: rectangular, fan-shaped, semi-circular, and triangular. The number of the support protrusions 4252 can be adjusted according to actual conditions.

The working principle of the automatic alignment system according to the embodiment of the present application is described below with reference to fig. 4a, 4b, 4c, 4d, and 4 e. It should be noted that the following description is only an embodiment of the automatic alignment system, and does not constitute a limitation of the automatic alignment system of the present application.

When the mobile device needs to be switched from the first function module to the second function module, the mobile device returns to the space where the workstation is located, enters the working area where the first function module is located, and is parked above the supporting portion 425 from the mobile device, wherein the mobile device main body is placed above the supporting portion 425, and the first function module extends into the lower portion of the supporting portion 425. After the movable device main body and the first function module are unlocked, the carrying mechanism 42 drives the movable device main body to move upwards (see fig. 4b), until the first shielding portion 4251 at one side of the supporting portion 425 extends into the gap 410 in the second vertical optical coupler device arranged in the vertical direction, the second vertical optical coupler device reports a detection signal to the controller, and the controller controls the lifting mechanism to perform deceleration movement after receiving the detection signal; when the first shielding portion 4251 at one side of the supporting portion 425 extends into the gap 410 in the first vertical optical coupler device arranged in the vertical direction, the first vertical optical coupler device reports a detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism 42 to stop moving (see fig. 4c), so that the movable device main body is completely separated from the first functional module; the carrying mechanism 42 drives the movable device main body to horizontally move towards the right side until a second shielding portion 4261 arranged on the second driving motor 423 extends into a gap 410 in a second horizontal optical coupler device arranged in the horizontal direction, the second horizontal optical coupler device reports a detection signal to the controller, and the controller controls the carrying mechanism 42 to perform deceleration movement after receiving the detection signal; when the second shielding portion 4261 extends into the gap 410 in the first horizontal optical coupler device arranged in the horizontal direction, the first horizontal optical coupler device reports a detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism 42 to stop moving (see fig. 4 d); the carrying mechanism 42 drives the movable main body of the device to move downwards, when the first shielding portion 4251 on the other side of the supporting portion 425 extends into the gap 410 in the second vertical optical coupler device arranged in the vertical direction, the second vertical optical coupler device reports a detection signal to the controller, the controller receives the detection signal and then controls the carrying mechanism to perform deceleration movement, when the first shielding portion 4251 on the other side of the supporting portion 425 extends into the gap 410 in the third vertical optical coupler device arranged in the vertical direction, the third vertical optical coupler device reports the detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism 42 to stop moving (see fig. 4e), so that the whole alignment process (see fig. 4e) is completed, and the movable main body of the device and the second functional module are locked to form a new self-moving device.

In the above embodiment, the carrying mechanism 42 drives the device body to move to combine with the second functional module. In fact, the carrying mechanism 42 can also move the first functional module from the first position to the second position according to the first set path, and then drive the second functional module to move to the first position according to the second set path to be combined with the main body of the device. For specific implementation, reference may be made to the foregoing embodiment of the carrying mechanism 42 for moving the device body, and details are not described here.

In this embodiment, the carrying mechanism may perform the corresponding actions under the control of the controller. Fig. 4g is a schematic flowchart of a control method for switching function modules according to an exemplary embodiment of the present application. As shown in fig. 4g, the method comprises:

41g, after the equipment main body carrying the first function module reaches the first position of the workstation, controlling the equipment main body to be separated from the first function module;

42g, moving the equipment main body to a second position according to a first set path;

43g, joining a second functional module with the apparatus body at a second position.

In an optional embodiment, the moving the apparatus main body to the second position according to the first set path includes: the apparatus body is moved in at least one of a vertical direction and a horizontal direction up to the second position.

Further optionally, moving the apparatus body in at least one of a vertical direction and a horizontal direction up to the second position includes: moving the apparatus body in a vertical direction to a third position; moving the apparatus main body in the horizontal direction to a fourth position aligned with the second position in the vertical direction; the apparatus body is moved in the vertical direction from the fourth position to the second position.

Further optionally, the moving the device body to the third position in the vertical direction includes: moving the apparatus body vertically upward from the first position to a third position; accordingly, moving the apparatus body in the vertical direction to the second position from the fourth position includes: the apparatus body is moved vertically downward from the fourth position to the second position.

Further optionally, moving the apparatus body to a fourth position in the horizontal direction includes:

moving the apparatus main body in the left-right horizontal direction from the third position to a fourth position;

alternatively, the first and second liquid crystal display panels may be,

the apparatus main body is moved from the third position to the fourth position in the front-rear horizontal direction.

Further optionally, moving the apparatus body vertically upward from the first position to a third position comprises:

Controlling the device body to move vertically upward from the first position; in the process of moving vertically upwards, controlling the equipment main body to move at a reduced speed according to a detection signal reported by the second vertical optical coupler, and controlling the equipment main body to stop moving according to a detection signal reported by the first vertical optical coupler;

wherein the second vertical light coupling device corresponds to a fifth position, the first vertical light coupling device corresponds to a third position, and the fifth position is between the first position and the third position.

Further optionally, moving the apparatus body to a fourth position in the horizontal direction includes: controlling the apparatus main body to move in the horizontal direction from the third position; in the moving process, the equipment main body is controlled to start deceleration movement according to a detection signal reported by the second horizontal optical coupler device, and the equipment main body is controlled to stop moving according to a detection signal reported by the first horizontal optical coupler device;

the first horizontal optical coupler corresponds to a fourth position, the second horizontal optical coupler corresponds to a sixth position, and the sixth position is located between the third position and the fourth position in the horizontal direction.

Further optionally, the method further comprises: and moving the second functional module to a second position according to a second set path.

For the implementation of the switching control method for switching the functional modules, reference may be made to the description of corresponding contents in the foregoing workstation embodiment of the self-moving device, and details are not described herein again.

In this embodiment, fig. 4h is a schematic flowchart of another control method for switching function modules according to an exemplary embodiment of the present application. As shown in fig. 4h, the method comprises:

41h, after the equipment main body carrying the first functional module reaches the first position of the workstation, controlling the equipment main body to be separated from the first functional module;

42h, moving the first functional module to the second position according to the first set path, and moving the second functional module to the first position according to the second set path;

43h, the second function module is combined with the apparatus body at the first position.

The following describes the working process of the automatic alignment system provided in this embodiment with reference to specific application scenarios:

the application scene one: the sweeping robot starts from a workstation position to execute sweeping operation, and after the sweeping operation of the sweeping robot is completed, the sweeping robot needs to carry out mopping operation next according to a preset cleaning sequence; the sweeping robot stops working and drives to a toilet where the workstation is located. After the toilet is arrived, the mobile equipment is guided by a recharging guide assembly arranged in the replacement area of the sweeping module in the workstation to move into the replacement area of the sweeping module and is parked above the supporting part 425 from the mobile equipment, wherein the movable equipment main body is placed above the supporting part 425, and the first functional module extends into the lower part of the supporting part 425. When the movable device main body and the sweeping module are unlocked, the carrying mechanism 42 drives the movable device main body to move upwards (see fig. 4b) until the first shielding portion 4251 at one side of the supporting portion 425 extends into the gap 410 in the second vertical optical coupler device arranged in the vertical direction, the second vertical optical coupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection signal; when the first shielding portion 4251 at one side of the supporting portion 425 extends into the gap 410 in the first vertical optical coupler device arranged in the vertical direction, the first vertical optical coupler device reports a detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism 42 to stop moving (see fig. 4c), so that the movable equipment main body is completely separated from the sweeping module; the carrying mechanism 42 drives the movable device main body to horizontally move towards the right side until a second shielding part 4261 arranged on the second driving motor 423 extends into a gap 410 in a second horizontal optical coupler device arranged in the horizontal direction, the first group of optical coupler devices report detection signals to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection signals; when the second shielding portion 4261 extends into the gap 410 in the first horizontal optical coupler device arranged in the horizontal direction, the first horizontal optical coupler device reports a detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism 42 to stop moving (see fig. 4 d); the carrying mechanism 42 drives the movable device body to move downwards, when the first shielding portion 4251 on the other side of the supporting portion 425 extends into the gap 410 in the second vertical optical coupler device arranged in the vertical direction, the second vertical optical coupler device reports a detection signal to the controller, the controller receives the detection signal and then controls the lifting mechanism to decelerate, when the first shielding portion 4251 on the other side of the supporting portion 425 extends into the gap 410 in the third vertical optical coupler device arranged in the vertical direction, the third vertical optical coupler device reports the detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism 42 to stop moving (see fig. 4e), so that the alignment process of the movable device body and the mopping module is completed (see fig. 4 e). The movable equipment body is locked with the mopping module to form the mopping robot. The mopping robot carries out mopping operation from a workstation.

Application scenario two: the mopping robot starts from the work station position to execute mopping operation, and after the mopping operation of the mopping robot is completed, the mopping robot stops the operation and runs to a toilet where the work station is located. After arriving at the toilet, the mop module is guided to move into the accommodating cavity of the mop module by a refilling guide assembly arranged in the accommodating cavity of the mop module in the workstation, and the workstation automatically cleans the mop module in the accommodating cavity of the mop module, for example, mop cloth is cleaned, clean water is added to the mop module, and the like; when the movable equipment main body and the floor mopping module are unlocked, the carrying mechanism drives the movable equipment main body to move upwards until a first shielding part on one side of the supporting part extends into a gap in a second vertical optocoupler arranged in the vertical direction, the second vertical optocoupler reports a detection signal to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection signal; when the first shielding part at one side of the supporting part extends into a gap in a first vertical optocoupler arranged in the vertical direction, the first vertical optocoupler reports a detection signal to the controller, and the controller receives the detection signal and then controls the carrying mechanism to stop moving so as to ensure that the movable equipment main body is completely separated from the mopping module; the carrying mechanism drives the movable equipment main body to horizontally move to the left side towards the position for storing the aromatherapy module until a second shielding part arranged on the motor reduction gear box extends into a gap in a second horizontal optocoupler period arranged in the horizontal direction, a second horizontal optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection signal; when the second shielding part extends into a gap in a first horizontal optical coupler device arranged in the horizontal direction, the first horizontal optical coupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to stop moving after receiving the detection signal; the carrying mechanism drives the movable equipment main body to move downwards, when the first shielding part on the other side of the supporting part extends into a gap in a second vertical optical coupler device arranged in the vertical direction, the second vertical optical coupler device reports a detection signal to the controller, the controller controls the carrying mechanism to decelerate after receiving the detection signal, when the first shielding part on the other side of the supporting part extends into a gap in a third vertical optical coupler device which is arranged in the vertical direction and corresponds to the aromatherapy module, the third vertical optical coupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to stop moving after receiving the detection signal, so that the alignment process of the movable equipment main body and the aromatherapy module is completed (see fig. 4 e). The movable equipment main body is locked with the aromatherapy module to form the aromatherapy robot. The aromatherapy robot carries out aromatherapy operation from a workstation.

On the basis, the device body of the self-moving device can be assembled with each function module to form a cleaning device with a certain specific function, and the task is executed in a specified area according to a cleaning instruction. Depending on the functional modules, these functional modules may also involve cleaning or adding water, cleaning agents, fragrances, etc. In order to further realize automation, a user is liberated from manual operation, a replacement area is provided in the workstation of the embodiment of the application, the replacement area is used for replacing the device main body of the mobile device among a plurality of function modules, and auxiliary mechanisms are further provided in the replacement area, and the auxiliary mechanisms can provide auxiliary services for the function modules matched with the device main body during or after the function modules are replaced by the device main body. Optionally, the assistance mechanism comprises at least one of: the device comprises a cleaning assembly, a dust collection assembly, a charging assembly and a recharging guide assembly. The cleaning assembly is used for providing cleaning service for the corresponding functional module; the dust collecting component provides dust collecting service for the sweeping module; the liquid recovery barrel provides sewage recovery service for the mopping module; the liquid injection barrel provides liquid injection service for the corresponding functional module; the charging component can provide charging service for a plurality of functional modules, and the recharging guide component can provide recharging guide service for a plurality of functional modules. The auxiliary mechanism can be distinguished according to different functional modules.

For example, for a mopping module, the corresponding assist mechanism includes at least one of: the device comprises a charging assembly, a first cleaning assembly and a recharging guide assembly;

for example, for aromatherapy modules, the corresponding auxiliary mechanism comprises at least one of: the charging assembly and the recharging guide assembly;

for example, for a sweeping module, the corresponding assist mechanism includes at least one of: the device comprises a charging assembly, a recharging guide assembly, a dust collection assembly and a second cleaning assembly;

for another example, for a floor care module, the corresponding assistance mechanism includes at least one of: a charging assembly and a recharge guide assembly.

With reference to fig. 5a and 5b, in the present embodiment, the workstation 50 includes at least one exchange area 511 for exchanging the device body from the mobile device between a plurality of function modules. The overall layout of the replacement area 511 in the embodiment of the present application may adopt, but is not limited to, the following two layout manners:

in the first layout mode, in order to increase the service capability of the workstation, a plurality of replacement areas are set; the plurality of replacement areas are transversely arranged, and at least part of the replacement areas are respectively provided with an auxiliary mechanism matched with the corresponding functional module. The auxiliary mechanisms of the corresponding functional modules are arranged in the plurality of replacing areas, so that the functional modules can be isolated from corresponding operations in the workstation, the service efficiency of the workstation is improved, and the working efficiency of the mobile equipment is improved.

And the second layout mode is to reduce the whole volume of the workstation. One replacement area is set; an auxiliary mechanism is arranged in one replacement area, and the auxiliary mechanism can provide auxiliary service for at least more than two functional modules in the plurality of functional modules. The auxiliary mechanisms for providing services for a plurality of functional modules are integrated in one replacement area, so that the size of the workstation is reduced, and the service capacity of the workstation is improved.

In the first layout mode, as shown in fig. 5a, 5b, and 5c, two replacement areas 511 are provided in parallel at the lower part of the workstation 50, and auxiliary means are provided inside the two replacement areas 511. For example, the two replacement areas 511 correspond to the sweeping module and the mopping module, and the auxiliary mechanism in the replacement area 511 of the sweeping module includes: a second cleaning assembly 518, a dust collection assembly 514, and a charging assembly 515; the assist mechanism in the replacement area 511 of the mopping module includes: a first cleaning assembly (not shown) and a charging assembly 515. It should be noted that the number of the replacement areas 511 may be three, four, etc. more, the number and the structure of the replacement areas 511 and the layout of the auxiliary mechanism are not limited in the embodiment of the present application, and the number and the structure of the replacement areas 511 and the layout of the auxiliary mechanism may be adjusted according to actual situations.

In the second layout mode, as shown in fig. 5d, a replacing area 521 is disposed at a lower portion of the workstation 52, and an auxiliary mechanism is disposed in the replacing area 521, and the auxiliary mechanism can provide auxiliary services for the mopping module and the sweeping module, and the auxiliary mechanism includes a dust collecting component 524, a first cleaning component 526, and a charging component (not shown), wherein the dust collecting component 524 is disposed at an inlet side of the workstation 52, the first cleaning component 526 is disposed at a bottom side of the workstation 52, and the charging component is disposed on a bottom wall of the workstation 52. It should be noted that, the layout of the auxiliary mechanism is not limited in the embodiments of the present application, and the layout of the auxiliary mechanism may be adjusted according to actual situations.

In the above embodiment, the workstation further comprises a storage area and a liquid storage area.

Wherein, the storage area is used for storing at least part of the plurality of functional modules, for example, storing idle functional modules; the storage area is arranged above or below the replacement area and is positioned below the liquid storage area; the storage area may be provided in one or more, and when the storage area is plural, the plural storage areas are arranged in a transverse direction or a longitudinal direction. As shown in fig. 5a, the storage areas 516 are two, two storage areas 516 are arranged transversely, and the storage areas 516 are located above the replacement area 511 and below the liquid storage area 517; as shown in fig. 5b, the storage area 516 is two, two storage areas 516 are arranged laterally, and the storage area 516 is located below the replacement area 511 and below the liquid storage area 517. As shown in fig. 5d, there are two storage areas 526, one replacement area 521, and two storage areas 526 arranged longitudinally, the storage area 526 being located above the replacement area 521 and below the liquid storage area 527.

The liquid storage area is positioned above the replacement area and the storage area and is used for storing the liquid recovery barrel and the liquid injection barrel, and one or more liquid injection barrels are arranged; the liquid recovery barrel and the plurality of liquid injection barrels are arranged side by side in the liquid storage region. It should be noted that the liquid injection barrel includes, but is not limited to, the following: clear water bucket, champignon liquid bucket and nursing liquid bucket.

Further, the workstation also comprises a cover plate movably connected to the top of the workstation, and the cover plate is used for covering the liquid storage area. When the liquid recovery device is used, the cover plate is opened, and the liquid recovery barrel and the liquid injection barrel which are stored in the storage area can be taken out, so that the liquid recovery barrel and the liquid injection barrel are replaced.

In the above embodiments, different functional modules may require corresponding liquid injection barrels to perform a task. Set up a plurality of liquid injection barrels on the workstation of this application, different liquid injection barrels deposit different liquid for provide liquid injection service for different functional module. In addition, the liquid injection barrel can be different according to different functional modules.

For example, if the plurality of functional modules includes a floor sweeping module, the plurality of liquid injection buckets include a clean water bucket for providing injection services to the floor sweeping module. The liquid contained in the clear water barrel includes but is not limited to the following: clear water, a mixed solution of clear water and disinfectant, and a mixed solution of clear water and cleaning agent.

For example, if the plurality of function modules include an aromatherapy module, the plurality of liquid injection barrels include an aromatherapy liquid barrel for providing an aromatherapy liquid injection service for the aromatherapy module. The aromatherapy liquid barrel is used for containing aromatherapy liquid.

For another example, if the plurality of functional modules comprises a floor care module, the plurality of fluid infusion buckets comprise treatment fluid buckets for providing treatment fluid infusion services to the floor care module. Be used for holding nursing liquid bucket in the nursing liquid bucket.

In the above embodiments, the position, shape, number and layout manner of the liquid injection barrels are not limited in the embodiments of the present application, and the position, shape, number and layout manner of the liquid injection barrels may be adjusted according to actual situations. For example, a plurality of liquid injection barrels can be provided at an upper portion, a lower portion, and one side of the workstation; the arrangement modes of the liquid injection barrels can be orderly arranged side by side, vertically arranged and arranged in a matrix manner; the shape and number of the plurality of liquid injection barrels may be adjusted in conjunction with the remaining volume of the workstation and the corresponding functional module. Alternatively, as shown in fig. 5a and 5b, the liquid injection tub 512 and the liquid recovery tub 513 are respectively provided in the liquid storage area 517 at both sides of the upper portion of the workstation 50.

In an optional embodiment, the workstation further comprises a controller, the plurality of functional modules comprise a sweeping module and a mopping module, and the auxiliary mechanism comprises at least one of the following: the mop cleaning device comprises a first cleaning component for providing mop cleaning service for the mop module, a second cleaning component for providing rag cleaning service for the sweeping module, and a dust collecting component for providing dust collecting service for the sweeping module.

Optionally, for the mopping module, a charging assembly, a recharging guide assembly and a first cleaning assembly are arranged in the working area corresponding to the mopping module. Under the condition that the movable equipment body carries the floor mopping module to return to the corresponding replacement area, the controller controls the first cleaning component to clean the cleaning cloth of the floor mopping module and controls the cleaning water bucket to inject the cleaning water into the water tank of the floor mopping module. Further, the first cleaning assembly comprises a water outlet hole and a sewage tank, and the sewage tank is communicated with the liquid recovery barrel; the apopore is located the last lateral wall or the bottom lateral wall of changing the district, and apopore blowout clear water is retrieved to the liquid recovery bucket through the bilge pit after wasing the rag of mopping the ground module. It should be noted that the water outlet and the water injection hole for providing injection service to the floor mopping module are two different through holes. The shape to apopore, bilge pit and water injection hole, quantity and position do not do the injecing, and the shape of apopore, bilge pit and water injection hole, quantity and position can make the adjustment according to actual conditions.

Optionally, for the sweeping module, a charging assembly, a dust collecting assembly, a recharging guide assembly and a second cleaning assembly are arranged in the replacement area corresponding to the sweeping module, wherein the dust collecting assembly is used for providing dust collecting service for the sweeping module, and the second cleaning assembly is used for providing rag cleaning service for the sweeping module. Further, the dust collecting assembly is arranged outside the storage area and can be in butt joint with a dust collecting port of the sweeping module, the controller starts a dust collecting fan in the dust collecting assembly under the condition that the movable equipment main body carries the sweeping module to return to the corresponding replacement area, and objects in a dust box in the sweeping module are sucked into a dust collecting barrel in the dust collecting assembly under the action of negative pressure. The second cleaning component is at least one group of hairbrushes which are arranged on the storage area corresponding to the position of the cleaning cloth of the sweeping module; or at least one group of brushes are arranged in the path area when the sweeping module enters the storage area. The cleaning work of the sweeping module is completed by matching the dust collection assembly with the second cleaning assembly, so that the automation degree is improved, and the user experience is improved.

The following describes the working mode of the workstation provided in this embodiment with reference to a specific application scenario.

In an application scenario I, the floor mopping robot executes floor mopping operation at home, and when the detection device of the floor mopping robot detects that cleaning cloth of the floor mopping module needs to be cleaned or the floor mopping time reaches a certain time, the floor mopping robot stops the operation and drives to a living room where the workstation is located. After the mop arrives at a living room, the mop moves into a replacement area of the mopping module under the guidance of a refilling guide component arranged in a corresponding replacement area in a workstation, after the mopping robot returns to the replacement area of the mopping module, a controller controls a water outlet hole of a first cleaning component to spray clean water and controls a cleaning component to clean the mop cloth, and sewage generated in the cleaning process is recovered into a liquid recovery barrel through a water outlet of a sewage tank and a water suction pump; meanwhile, the controller controls the clear water bucket to inject clear water into the water tank of the mopping module through the water injection hole. When the cleaning time (such as 10 minutes) is reached, the mopping robot gets off the workstation and moves to the target position to continue to perform the mopping task.

In the second application scenario, the sweeping robot executes sweeping operation at home, and when the detection device of the sweeping robot detects that the dust box or the cleaning cloth of the sweeping module needs cleaning, or when sweeping reaches a certain time, the sweeping robot stops operating and travels to a living room where the workstation is located. After the robot floor sweeping machine arrives at a living room, the robot floor sweeping machine moves to a replacement area of a sweeping module through the guide of a recharging guide assembly arranged in an accommodating cavity of a corresponding sweeping module in the workstation, after the sweeping robot returns to the accommodating cavity of the sweeping module, a dust collecting fan in a dust collecting assembly is started under the control of a controller, and objects (dust and garbage and sundries) in a dust box in the sweeping module are sucked into a dust collecting barrel in the dust collecting assembly under the action of negative pressure. At the same time, the second cleaning component of the controller rotates to clean objects (dust and garbage) on the cleaning cloth. When the cleaning time (for example, 5 minutes) is reached, the sweeping robot gets off the workstation, and moves to the target position to continue to perform the sweeping task.

And in the third application scenario, the mopping robot executes mopping operation at home, and when the mopping robot detects that the electric quantity of the mopping robot is insufficient, the mopping robot stops operating and drives to a living room where the workstation is located. After the floor mopping robot arrives at a living room, the floor mopping robot is guided by the recharging guide assembly arranged in the corresponding replacing area in the workstation to move to the replacing area of the floor mopping module, and the controller controls the charging assembly to charge the floor mopping module after the floor mopping robot returns to the replacing area of the floor mopping module. And after the floor mopping module is charged, the floor mopping robot gets down from the workstation and moves to the target position to continue to execute the floor mopping task.

Further, in this application embodiment, the mechanical structure that can realize different functions realizes as independent functional module, along with people to the continuous improvement of operation demand, functional module's kind can be abundanter and nimble various. With the diversification of the function modules, the self-mobile equipment can support richer operation modes. The job mode corresponds to a job function, the job function is defined from the perspective of the function module and refers to a function that can be realized by one function module to execute a job task, and the job mode is defined from the perspective of a user or an application. For example, in the case that the function module includes at least one of a sweeping module, a mopping module, an aromatherapy module, a disinfection module, and a floor care module, the operation mode supported by the mobile device includes at least one of a sweeping mode, a mopping mode, an aromatherapy mode, a disinfection and sterilization mode, and a floor care mode.

In this embodiment, the self-moving device can provide a plurality of job modes for the user, and the user can select the job mode to be used in each job task. For example, the user may issue a first job instruction to the device body through a terminal device bound to the device body, such as an APP on a mobile phone, and specify a job mode to be used. Or, in the case that the apparatus main body supports voice interaction, the user may also issue the first job instruction to the apparatus main body by a voice manner, and specify the job mode to be used by voice. Or, in a case where the apparatus main body has an interactive screen, the user may also issue the first job instruction to the apparatus main body through the interactive screen, and specify the job mode to be used through the interactive screen. The first job instruction may include an identification of a job region and an identification of a job mode that needs to be used. In one job task, the user may select to use a single job mode or select to use a plurality of job modes in combination. For example, with a cleaning robot as an example, a user may choose to use a single sweeping, mopping or killing mode; or, the user can flexibly select a plurality of operation modes such as a floor sweeping mode, a floor mopping mode, an aromatherapy mode, a disinfection mode and the like according to the requirements.

It should be noted that, in addition to specifying the job mode to be used in real time during each instruction of the job task by the user, the user may partition the entire job environment, configure the job mode adapted to each job area in advance for each job area according to the characteristics of each job area, and store the correspondence between the job area and the job mode in the apparatus main body. For example, the user may configure an operation mode adapted to each operation area through an APP on a terminal device, such as a mobile phone. For example, a user may open an APP on a terminal, such as a mobile phone, and the APP may display an environment map of a working environment to the user, where the environment map includes each working area; the user triggers each operation area, and the terminal responds to the triggering operation of the user on each operation area and can display a configuration page of the operation area to the user, wherein the configuration page is used for the user to configure an operation mode for the corresponding operation area. For example, taking bedrooms, living rooms, and toilets as examples, the operation modes configured by the user are: a bedroom: a sweeping mode, a humidifying mode and an aromatherapy mode; a living room: a sweeping mode, a mopping mode, a sterilizing and disinfecting mode, an air purifying mode and a humidifying mode; a toilet: mopping mode, sterilizing and disinfecting mode and aromatherapy mode. After the corresponding relationship between each operation area and the operation mode is configured, the terminal, such as a mobile phone, may send the corresponding relationship to the device main body, and the device main body may store the corresponding relationship.

In the configuration process, the operation mode adapted to each operation area is configured for each operation area, which is only an example and is not limited thereto. For example, in another arrangement, the operation mode may be used as an object, an operation area adapted to each operation mode may be arranged for each operation mode, and the corresponding relationship between the operation mode and the operation area may also be obtained. For example, taking a floor sweeping mode, a floor mopping mode, a sterilization and disinfection mode, an air purification mode, and a humidification mode as examples, the working areas configured by the user are: a sweeping mode is as follows: bedrooms, living rooms, balconies, kitchens; a mopping mode: bedrooms, living rooms, balconies, kitchens and toilets; and (3) a sterilization and disinfection mode: living room, toilet, balcony; an air purification mode: a living room; a humidifying mode: bedroom, sitting room. After the correspondence between the operation mode and the operation area is obtained, the correspondence may be sent to the apparatus main body, and the apparatus main body stores the correspondence.

In any arrangement, the correspondence between the work area and the work mode can be obtained finally. Based on the corresponding relation, the user can send a second operation instruction to the equipment main body in a mode of an APP (application), voice or interactive screen on the mobile phone and the like through the terminal, wherein the second operation instruction comprises an identifier of an operation area and is used for indicating the equipment main body to carry a corresponding functional module to execute an operation task on at least one operation area; after receiving the second operation instruction, the device main body determines at least one operation area which needs to execute the operation task according to the identification of the operation area in the second operation instruction, and determines the operation mode which needs to be used by each operation area according to the corresponding relation between the maintained operation area and the operation mode, namely, the corresponding relation between the operation area and the operation mode can be obtained.

Or, based on the above correspondence, the user may also send a third operation instruction to the device main body in a manner of an APP, a voice, an interactive screen, or the like on the terminal, where the third operation instruction does not limit the operation area, and only carries an identifier of the operation mode designated for use; after receiving the third operation instruction, the device main body determines the operation mode to be used according to the identification of the operation mode contained in the third operation instruction, and determines the operation area adapted to each operation mode according to the maintained corresponding relationship between the operation area and the operation mode, that is, the corresponding relationship between the operation area and the operation mode can be obtained.

Or, based on the above correspondence, the user may also send a fourth job instruction to the device main body in a manner such as an APP, a voice, or an interactive screen on the terminal, where the fourth job instruction does not limit the job area nor the job mode used; after receiving the fourth job instruction, the apparatus main body determines to execute the job task for the entire job environment, and at this time, the apparatus main body may determine, according to the correspondence between the maintained job areas and job modes, the job mode that needs to be used by each job area in the job environment, that is, the correspondence between the job areas and the job modes may be obtained.

In any of the above manners, the apparatus main body may determine the work area corresponding to the work task, the work mode to be used, and the corresponding relationship between each work area and each work mode, and then the apparatus main body may combine the corresponding function module from the workstation to execute the work task in the corresponding work area.

In this case, the job task may be executed for one job area or may be executed for a plurality of job areas in one job process, regardless of the above-described job command. Wherein, aiming at the same operation area, a plurality of operation modes can be used; the same operation mode or combination of operation modes may be used for different operation regions, or different operation modes or combination of operation modes may be used. That is, in the above-described job instruction including the identification of the job region, the identification of the included job region may be one or more. The following is an example of a possible case of combined use of job modes, taking a home environment as an example:

for example, in one cleaning process, the user wants to clean the room a and select three operation modes of sweeping, mopping and fumigating for the room a.

For another example, in one cleaning task, the user wants to clean rooms A, B and C and selects three operation modes of sweeping, mopping and aromatherapy for rooms A, B and C.

For another example, in a cleaning task, the user wants to clean rooms A, B and C, and selects three operation modes of sweeping, mopping and aromatherapy for room A, and selects three operation modes of mopping, humidifying and sterilizing for rooms B and C.

In one application scenario, when issuing a job instruction, a user may specify a job sequence between job regions and an execution sequence between job modes that each job region needs to use, in addition to the job regions and/or job modes, and provide the information to the apparatus main body while carrying the information in a corresponding job instruction (such as the first job instruction described above). For such an application scenario, the device main body may execute job tasks for the respective job areas in sequence according to the job sequence between the job areas specified by the user; further, for each operation area, the device main body may sequentially carry the functional modules corresponding to the operation modes to complete the operation tasks in the corresponding operation modes according to the execution sequence between the operation modes. For example, the user specifies that rooms A, B and C are cleaned in sequence, and for each room, the floor is swept first, then the floor is dragged, and finally the fragrance is given, so that the device main body can firstly perform a cleaning task for room a, firstly combine with the floor sweeping module, carry the floor sweeping module to complete the floor sweeping task in room a, then return to the workstation to replace the floor dragging module, carry the floor dragging module to complete the floor dragging task in room a, return to the workstation again to replace the fragrance module, and carry the fragrance module to complete the fragrance task in room a; then, the cleaning task is performed for the room B in the same manner, and the cleaning task is performed for the room C in the same manner after the cleaning of the room B is completed.

In another application scenario, when issuing a job instruction, the user may specify only job regions and/or job modes, not specify the order of jobs between job regions, nor specify the order of execution between job modes that each job region needs to use. For example, if the user only selects and uses the different operation modes for the room A, B, C, and does not specify the operation sequence of the rooms, or specifies the execution sequence of the operation modes used by each room, the apparatus main body first performs the operation task of one room, and then goes to the next room, or if the same function module (e.g., sweeping module) is carried, the apparatus main body first carries the sweeping module to perform the cleaning of each room, such as room A, C, and then is replaced by another function module (e.g., humidifying module), and then performs the humidifying of each room, such as room B, C. The rationality and efficiency of different execution logic will vary. For such application scenarios, it is necessary for the device body to provide reasonable job execution logic so as to be able to complete job tasks of all job areas quickly, efficiently and reasonably.

Fig. 6a is a schematic flowchart of a control method of a self-moving device according to an exemplary embodiment of the present application. As shown in fig. 6a, the method comprises:

And 61a, determining a plurality of operation modes required to be used in the current operation and corresponding relations between the operation modes and operation areas, wherein different operation modes require that an equipment main body capable of moving autonomously is combined with different function modules.

62a, determining the execution sequence among the plurality of operation modes.

And 63a, controlling the equipment main body to go to the workstation to replace different functional modules according to the execution sequence.

And 64a, after replacing the functional module every time, controlling the equipment main body to carry the currently combined functional module to a corresponding target working area to execute a working task according to the corresponding relation between the working mode and the working area.

The target operation area is an operation area in which an operation mode corresponding to a function module currently combined with the apparatus main body needs to be used in the current operation area.

Regarding step 61a, there are several ways to implement, but not limited to:

mode 1: a user sends a first operation instruction to an equipment main body; the method comprises the steps that an equipment main body receives a first operation instruction, wherein the first operation instruction comprises an identification of an operation area and an identification of an operation mode corresponding to the operation area; and determining a plurality of operation modes required to be used by the operation and the corresponding relation between the operation modes and the operation areas according to the identification of the operation areas and the identification of the corresponding operation modes. In the mode 1, the user may specify one or more job regions, and may also specify one or more job modes to be used for each job region.

Mode 2: the user sends a second operation instruction to the equipment main body; the equipment main body receives a second operation instruction, wherein the second operation instruction comprises an identification of an operation area; and determining a plurality of operation modes required to be used by the operation and the corresponding relation between the operation mode and the operation area according to the identification of the operation area and the corresponding relation between the operation area and the operation mode which are maintained in advance. In the mode 2, the user designates only the work area, and there may be one or more; the equipment main body can determine the operation modes which need to be used by each operation area according to the correspondence between the operation areas and the operation modes which are maintained in advance, and can be one or more, and further, the operation modes which need to be used by the operation areas are gathered together to obtain a plurality of operation modes which need to be used by the whole operation task.

Mode 3: the user sends a third operation instruction to the equipment main body; the equipment main body receives a third operation instruction, wherein the third operation instruction comprises an identification of an operation task; and determining a plurality of operation modes required to be used by the operation and the corresponding relation between the operation mode and the operation area according to the identification of the operation task and by combining the corresponding relation between the operation area and the operation mode which are maintained in advance. In the mode 3, the user only specifies the job mode to be used, and the number is plural; the equipment main body can determine one or more working areas suitable for each working mode according to the corresponding relation between the working areas and the working modes which are maintained in advance, and further collects the working areas suitable for various working modes together to obtain at least one working area to be operated.

For detailed implementation of the above modes 1, 2 or 3, reference may be made to the description in the foregoing embodiments, and details are not repeated here.

In the embodiment shown in fig. 6a, in order to reduce the number of times of returning the main body to the workstation to replace the function module and save the time spent on replacing the function module, it is preferable to perform operation control from the dimension of the operation mode, after the main body of the apparatus goes to the workstation to replace the function module each time, the main body carries the function module combined before replacement to complete all operations in all operation areas that need to use the operation mode corresponding to the function module at one time, and then returns to the workstation to replace other function modules, and the process is repeated until all operation areas complete operations according to the corresponding operation mode.

In order to ensure the reasonability of the work task, in the embodiment, the execution sequence among the plurality of work modes can be determined, and the control device main body goes to the workstation to replace different functional modules according to the execution sequence. In this embodiment, the implementation of determining the execution order among the plurality of job modes is not limited, and several ways are listed below:

In an alternative embodiment, the execution order between the plurality of job modes may be specified by the user and provided to the apparatus main body through a job instruction, such as the first job instruction or the third job instruction described above. Based on this, the apparatus main body can resolve the execution order among the plurality of job modes from the first job instruction or the third job instruction.

In another alternative embodiment, a default execution order between the operation modes may be set in advance, and accordingly, after determining the plurality of operation modes that need to be used for the current operation, the apparatus main body may determine the execution order between the plurality of operation modes that need to be used for the current operation according to the default execution order between the operation modes that is maintained in advance.

In a further alternative embodiment, the sequence during the operation is reasonable in consideration of different operation modes, and is mainly reflected in the relevance between operation effects. For example, two operation modes of sweeping and mopping are generally that sweeping is performed before and mopping is performed after, so that environmental cleaning is facilitated, and the cleaning effect is better. For example, the operation modes of aromatherapy, humidification and sterilization are generally required to be placed behind sweeping and mopping, because the operation modes are only suitable for cleaning the floor and then performing other cleaning operations. In view of this, the execution order between the plurality of job modes may also be determined according to the relevance of each job mode in terms of job effect. However, the relevance of each operation mode in terms of operation effect may be built in the apparatus main body, but is not limited thereto.

After each replacement of the function module, the apparatus main body can carry the currently combined function module to execute the job task in each target work area until the job task is completed for all the target work areas. For convenience of description and distinction, a work area that needs to use a work mode corresponding to a currently combined function module is referred to as a target work area, and the target work area may be one or more. Further optionally, when there are a plurality of target work areas, the order in which the apparatus main body carries the currently combined function module to execute the job task in each target work area is not limited. For example, the device main body may carry the currently combined function modules to each target work area in a random order to execute the job tasks. For example, the job sequence between the target job regions may be determined, and the device main body may execute the job tasks in the target job regions in sequence by carrying the currently combined function modules in the job sequence between the target job regions.

Here, when there are a plurality of target work areas, this means that there are a plurality of work areas involved in the current work process. In this case, it is also possible to determine the job order among the plurality of job regions, which also determines the job order among the plurality of target job regions. In the present embodiment, the embodiment of determining the order of jobs among a plurality of job regions is not limited, and the following is exemplified:

Mode 1: the job sequence between the plurality of job regions may be specified by the user and provided to the apparatus main body by a job instruction, such as the first job instruction or the third job instruction described above. Based on this, the apparatus main body can resolve the job order among the plurality of job regions from the first job instruction or the third job instruction.

Mode 2: the default work order between the work areas may be set in advance, and the apparatus main body may determine the work order between the work areas based on the default work order between the work areas maintained in advance after determining the work areas related to the current work.

Mode 3: the operation order among the plurality of operation regions may be determined according to the positional relationship among the plurality of operation regions and according to a principle of preferentially performing operations on adjacent regions, which is simply referred to as a proximity principle. In one specific implementation, one reference working area may be selected from the plurality of working areas, and the working order between the plurality of working areas may be determined according to the positional relationship between the other working areas and the reference working area. The reference job region may be a start region where a job task needs to be executed first, but is not limited thereto.

Mode 4: the work order of the plurality of work areas may be determined according to the type of area. Classifying operation areas in an operation environment in advance, and determining operation priority among different area types; based on this, when the current operation relates to a plurality of operation regions, the region types to which the plurality of operation regions belong can be specified, and the operation order between the plurality of operation regions can be specified according to the operation priority between the region types to which the plurality of operation regions belong and the set region types.

In an alternative embodiment, the job areas in the job environment may be divided into four types, namely, a private type, a public type, a leisure type and a special type, and the job priorities of the four types of job areas are sequentially from high to low. The division of the job region types and the determination of the priority are only one example and are not limited thereto.

In the present embodiment, the number of functional modules that can be combined simultaneously by the apparatus main body is not limited. In an alternative embodiment, the bottom of the device body has a mounting cavity for coupling only one functional module at a time. In other optional embodiments, the device body has a large volume, and the bottom of the device body may have a plurality of installation cavities, each of which accommodates one functional module, so that the device body may combine a plurality of functional modules at a time. According to the different number of the functional modules that can be combined by the main body of the device and the execution sequence among the multiple operation modes, the mode of controlling the main body of the device to move to the workstation to replace different functional modules is different.

Case 1: the device body can only be combined with one functional module at a time. The specific implementation manner of the step 62a is as follows: according to the execution sequence among the plurality of operation modes, the control device main body is changed with one function module each time it goes to the workstation.

Since the apparatus main body can carry only one functional module in performing each job task, it takes a certain time (including at least the time of the trip to the workstation and the time of replacing the functional module) for each return of the apparatus main body to the workstation. Therefore, in order to reduce the number of times that the device main body moves to and from the workstation to replace the function modules, when the device main body carries one function module to execute the operation task each time, all the target areas needing the function modules carried by the device main body at present can be operated at one time, then the device main body carries the current function module to return to the workstation to replace the function module corresponding to the next operation mode, and the like until the operation tasks are all completed according to all the operation modes.

For case 1, an example scenario of a home scenario is as follows:

without user-customization, a default job mode order is provided according to the prevailing job logic and preset in the device body, and it is assumed that the default job mode execution order may be, but is not limited to, the following: the floor sweeping mode, the floor mopping mode, the sterilization and disinfection mode, the air purification mode, the humidification mode and the incense mode. Further, a default job sequence is provided for the job area, which may follow the logic from private area to public area, leisure area to designated area, for example: bedrooms, cloakrooms, study rooms, living rooms, dining rooms, balconies, kitchens and toilets.

In the following, the user wants to clean the bedroom, the living room, and the bathroom, and a plurality of operation modes are respectively designated for the bedroom, the living room, and the bathroom, but the execution sequence of the operation modes is not limited, and the operation sequence of the operation area is not limited. The corresponding relation between the bedroom, the living room and the toilet and the operation modes needing to be used is as follows:

a bedroom: a sweeping mode, a humidifying mode and an aromatherapy mode;

a living room: a sweeping mode, a mopping mode, a sterilizing and disinfecting mode, an air purifying mode and a humidifying mode;

a toilet: mopping mode, sterilization and disinfection mode and aromatherapy mode.

Because the user does not specify the execution sequence among the operation modes, the execution sequence of various operation modes related to the operation task is determined according to the default execution sequence among the operation modes, and the operation tasks sequentially comprise a floor sweeping mode, a floor mopping mode, a sterilization and disinfection mode, an air purification mode, a humidification mode and a incense mode. Since the user does not specify the work order between the work areas, the work order between the work areas related to the work task is determined in accordance with the default work order between the work areas, and the work order is sequentially a bedroom, a living room, and a toilet.

As shown in fig. 6b, first, the main body of the device carries the sweeping module corresponding to the sweeping mode, and executes the sweeping task in the bedroom; and carrying the sweeping module to the living room to continue to execute the sweeping task under the condition that the bedroom is cleaned, and carrying the sweeping module to the workstation to replace the next functional module, namely the mopping module, under the condition that the living room is also cleaned.

As shown in fig. 6b, the device body is replaced with a floor mopping module corresponding to the floor mopping mode, and the device body carries the floor mopping module to the living room to execute the floor mopping task; under the condition that the floor mopping task is finished in the living room, the floor mopping task is continuously executed in the bathroom; and after the floor mopping task is executed in the toilet, the equipment main body can carry the floor mopping module to return to the work station to replace the next functional module, namely the killing module. As shown in fig. 6b, after the device main body is replaced with a disinfection module corresponding to the disinfection and sterilization mode, the device main body can carry the disinfection and sterilization module to the living room to execute the disinfection and sterilization task; and under the condition that the disinfection and sterilization tasks are executed in the living room, the disinfection and sterilization tasks are continuously executed in the toilet. Likewise, after the toilet performs the sterilization task, the apparatus main body may carry the sterilization module back to the workstation to replace the next functional module, i.e., the air purification module.

As shown in fig. 6b, the apparatus main body can carry the air purification module to the living room to perform the air purification task after being replaced with the air purification module; under the condition that the living room finishes the air purification task, the equipment main body can carry the air purification module to return to the workstation to replace the next functional module, namely the humidification module.

As shown in fig. 6b, after the device body is replaced with the humidifying module, the humidifying module can be carried to a bedroom to perform a humidifying task; when the bedroom finishes the humidification task, the humidifying task is executed in the living room, and when the living room finishes the humidification task, the device main body can carry the humidifying module to return to the workstation to replace the next functional module, namely the aromatherapy module.

As shown in fig. 6b, after the device body is replaced with the aromatherapy module, the aromatherapy block can be carried to a bedroom to perform an aromatherapy task; under the condition that the bedroom finishes the aromatherapy task, the bathroom is reached to execute the aromatherapy task, and under the condition that the bathroom finishes the aromatherapy task, the equipment main body can carry the aromatherapy module to return to the workstation to be charged. So far, the task of cleaning the bedroom, the living room and the toilet is finished.

Case 2: the apparatus main body can simultaneously combine a plurality of function modules, and the maximum number of the function modules that can be simultaneously combined is smaller than the number of the plurality of operation modes. The specific implementation manner of the step 62a is as follows: and controlling the equipment main body to go to the workstation to replace the functional modules by taking the module groups as units according to the execution sequence among the plurality of operation modes. Accordingly, in step 63a, the method further includes: if the number of the currently combined functional modules carried by the equipment main body is at least two, determining that the equipment main body carries useless functional modules in the currently combined at least two functional modules according to the operation mode required by the target operation area aiming at each target operation area, and closing the useless functional modules in the process of controlling the currently combined at least two operation areas carried by the equipment main body to execute the cleaning task in the target operation area.

In this scenario, if the maximum number of the function modules that the apparatus main body can carry at each time is smaller than the number of the operation modes corresponding to all the target areas, the apparatus main body may use the plurality of currently carried function modules as a group of modules when carrying the plurality of function modules at each time, and execute the cleaning task corresponding to the currently carried group of function modules in the target area. After the device main body executes the cleaning task corresponding to the carried functional module group in the target area, the type and the target area of the next functional module group can be determined according to the execution sequence between the default operation mode and the target area, and the next functional module group is replaced to the corresponding target area to execute the cleaning task corresponding to the next functional module group.

For case 2, an example scenario of a home scenario is as follows:

also, assume that the default job mode execution order can be, but is not limited to, the following: the floor sweeping mode, the floor mopping mode, the sterilization and disinfection mode, the air purification mode, the humidification mode and the incense mode. A default work order is provided for the work area, which may follow the logic from private area to public area, leisure area to clean area, for example: bedrooms, cloakrooms, study rooms, living rooms, dining rooms, balconies, kitchens and toilets.

Similarly, taking the case where the user wants to clean the bedroom, the living room, and the bathroom, and a plurality of operation modes are respectively specified for the bedroom, the living room, and the bathroom, the execution order of the operation modes is not limited, and the operation order of the operation area is not limited. The corresponding relation among the bedroom, the living room and the toilet and the operation modes needing to be used is as follows:

a bedroom: a sweeping mode, a humidifying mode and an aromatherapy mode;

a toilet: mopping mode, sterilizing and disinfecting mode and aromatherapy mode.

Because the user does not specify the execution sequence among the operation modes, the execution sequence of various operation modes related to the operation task is determined according to the default execution sequence among the operation modes, and the operation tasks are sequentially a floor sweeping mode, a floor mopping mode, a sterilization and disinfection mode, an air purification mode, a humidification mode and a incense mode. Since the user does not specify the work order between the work areas, the work order between the work areas related to the work task is determined in accordance with the default work order between the work areas, and the work order is sequentially a bedroom, a living room, and a toilet.

In this embodiment, taking the case that the apparatus main body can carry two functional modules at a time as an example, as shown in fig. 6c, the cleaning process is as follows:

firstly, the equipment main body carries a sweeping module and a mopping module which are used as a module group, namely a sweeping module group for short, and the module group is carried to a bedroom, a living room and a bathroom in sequence to execute corresponding operation tasks. When the bedroom executes the operation task, the equipment main body can close the floor mopping module and open the floor sweeping module to execute the floor sweeping task as the bedroom only needs to sweep the floor; when the living room executes the operation task, the living room needs to sweep the floor and drag the floor, the device main body can close the floor dragging module when executing the sweeping task, close the sweeping function after finishing the sweeping task, open the floor dragging module and execute the floor dragging task; when the toilet executes the operation task, the floor sweeping module can be closed by the equipment main body and the floor mopping module can be opened to execute the floor mopping task as only the floor mopping is needed by the toilet.

In the bedroom, the living room and the toilet, under the condition that the operation tasks corresponding to the sweeping and mopping module group currently carried by the equipment main body are all executed, as shown in fig. 6c, the equipment main body can carry the sweeping and mopping module group to return to the workstation to replace the next module group, the priority of the operation mode corresponding to sterilization, disinfection and air purification in the subsequent operation mode can be determined according to the default operation sequence, and the next functional module group to be replaced is a sterilization and purification module group including a sterilization module and an air purification module when the fact that the living room and the toilet need sterilization, disinfection and air purification is determined.

Next, as shown in fig. 6c, after the main body of the apparatus replaces the disinfecting and purifying module set, the disinfecting and purifying module set can be carried to the living room and the toilet in sequence to perform corresponding tasks. When the living room executes the operation task, the living room needs to be sterilized and disinfected and also needs to purify air, so that the air purifying module can be closed when the main body of the equipment executes the sterilization and disinfection task, and after the sterilization and disinfection task is finished, the sterilization and disinfection module is closed, the air purifying module is opened, and the air purifying task is executed; when a cleaning task is performed in the toilet, since the toilet also requires sterilization, disinfection, and air purification, the apparatus main body performs a task in the toilet in the same manner as in the living room.

In the living room and the toilet, under the condition that the operation tasks corresponding to the disinfection and purification module group carried by the equipment main body currently are all executed, as shown in fig. 6c, the equipment main body can carry the disinfection and purification module group back to the workstation to replace the next function module group, and the priority of the humidification mode and the aromatherapy mode can be determined to be the highest in the subsequent operation mode according to the default operation sequence, and then the next function module group to be replaced is the humidification aromatherapy module group and comprises the humidification module and the aromatherapy module.

Next, as shown in fig. 6c, after the humidification and aromatherapy module set is replaced, the device main body can carry the humidification and aromatherapy module set to a bedroom, a living room and a bathroom in sequence to perform corresponding work tasks. When the bedroom executes the operation task, the bedroom needs to be humidified and champignon, so that the device main body can close the champignon function when the humidification task is executed, and after the humidification task is finished, the humidification module is closed, the champignon module is opened, and the champignon task is executed; when the living room executes the operation task, the device main body can open the humidifying module to execute the humidifying task and close the aromatherapy function as the living room only needs humidifying; when the operation task is carried out to the bathroom, because the bathroom both needs the humidification and needs the champignon, then the equipment main part can close the champignon function when carrying out the humidification task, after the humidification task, closes the humidification module, opens the champignon module, carries out the champignon task.

Case 3: the apparatus main body can combine a plurality of function modules at the same time, and the maximum number of the function modules that can be combined at the same time is greater than or equal to the number of the plurality of operation modes, which means that the apparatus main body can combine a plurality of function modules as needed at one time. The specific implementation manner of the step 62a is as follows: and controlling the main body of the equipment to go to the workstation to combine all the required functional modules at one time according to the execution sequence among the plurality of operation modes. Then, carrying a plurality of functional modules to each operation area to execute operation tasks according to the sequence among the operation areas; when executing the operation task in each operation area, the functional module corresponding to the operation mode required by the operation area is started, and the functional module not required is closed, so as to save the electric quantity of the battery; in addition, when the operation task is executed in each operation area, if the operation area needs at least two operation modes and an execution sequence exists between the two operation modes, the corresponding function modules are sequentially started to perform the operation according to the execution sequence.

Fig. 6d is a schematic flow chart of another job control method according to an exemplary embodiment of the present application. As shown in fig. 6d, the method comprises:

61d, determining a plurality of working areas and corresponding relations between the working areas and the working modes, wherein different working modes require the equipment main body to be combined with different functional modules;

62d, determining the working sequence among the plurality of working areas;

63d, controlling the equipment main body to carry the functional module to sequentially execute the operation tasks in the plurality of operation areas according to the operation sequence among the plurality of operation areas;

and 64d, controlling the equipment main body to go to the workstation to replace the functional module according to the corresponding relation between the working area and the working mode in each working area, and carrying the replaced functional module to sequentially execute the working tasks in the working area.

In an optional embodiment, for any operation area, if the operation mode corresponding to the operation area is multiple, the execution sequence among the multiple operation modes can be further determined; correspondingly, in the operation area, according to the corresponding relation between the operation area and the operation mode, the control device main body goes to the workstation to replace different functional modules and carries different functions to execute operation tasks in the operation area in sequence, and according to the execution sequence among the multiple operation modes, the control device main body goes to the workstation to replace different functional modules and carries different functional modules to execute the operation tasks in the operation area in sequence.

In another alternative embodiment of the present application, a job task may only relate to one job area, which is referred to as a target job area for short, but multiple job modes can be used for the target job area, and then the target job area and the multiple job modes corresponding to the target job area can be determined; determining an execution order among a plurality of job modes; and controlling the equipment main body to go to the workstation to replace different functional modules according to the execution sequence, and carrying the different functional modules to execute the operation tasks in the target operation area in sequence. The detailed procedures of the related operations can be referred to above, and are not described herein again.

In this embodiment, the job sequencing is preferentially performed from the dimension of the job region, which is beneficial to ensuring that job tasks in the job region with higher priority can be completed in time, ensuring the job efficiency of the job region with higher priority, and meeting the personalized job requirements of the user; or the operation sequencing is preferentially carried out according to the dimension of the operation area, so that the equipment main body can carry the functional modules required by the operation areas to execute the operation tasks on the operation areas in sequence, the personalized requirements of users can be met, and the use experience of the users is improved.

Fig. 6e is a schematic structural diagram of a self-moving device according to an embodiment of the present application. As shown in fig. 6e, the self-moving apparatus includes: an autonomously movable apparatus main body 610 and a plurality of function modules 620 for performing different specific job tasks and capable of being combined with or separated from the apparatus main body 610; the apparatus body 610 includes a processor 611 and a memory 612 in which computer programs are stored; the processor 611 and the memory 612 may be one or more. With regard to the hardware implementation structure and form of the device main body 610 and the function module 620, reference may be made to the description of the device main body and the function module in the foregoing embodiment, and the present embodiment focuses on describing the logical functions implemented by the self-moving device.

The memory 612 is mainly used for storing computer programs, and the computer programs can be executed by the processor 611, so that the processor 611 controls the device main body 610 to implement corresponding functions and complete corresponding actions or tasks. In addition to storing computer programs, the memory 611 may be configured to store various other data to support operations on the device body 610, examples of which include instructions for any application or method operating on the device body 610.

The memory 612, 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.

In the embodiment of the present application, the implementation form of the processor 611 is not limited, and for example, the processor may be, but is not limited to, a CPU, a GPU, an MCU, or the like. The processor 611 may be regarded as a control system of the device body 610 and may be configured to execute a computer program stored in the memory 612 to control the device body 610 to implement the corresponding functions and to perform the corresponding actions or tasks. It should be noted that, depending on the implementation form and the scene of the device main body 610, the functions, actions or tasks to be implemented may be different; accordingly, the computer programs stored in the memory 612 may vary, and execution of different computer programs by the processor 611 may control the device body 610 to perform different functions, perform different actions, or tasks.

In some alternative embodiments, as shown in fig. 6e, the device body 610 may further include: a display 613, a power component 614, and a communications component 615. The communication component 615 may be a sensor having a communication function such as laser or infrared. Only some components are schematically shown in fig. 6e, which does not mean that the device main body 610 only includes the components shown in fig. 6e, and the device main body 610 may further include other components according to different application requirements, depending on the product form of the device main body 610.

In the present embodiment, the processor 611, when executing the computer program in the memory 612, is configured to:

determining a plurality of operation modes required to be used by the operation and a corresponding relation between the operation modes and operation areas, wherein different operation modes require the equipment main body to combine different functional modules; determining an execution sequence among a plurality of operation modes, and controlling the equipment main body to go to a workstation to replace different functional modules according to the execution sequence; after the functional module is replaced every time, controlling the equipment main body to carry the currently combined functional module to a corresponding target operation area to execute an operation task according to the corresponding relation between the operation mode and the operation area; the target work area is a work area in which a work mode corresponding to the currently combined function module needs to be used in the work area. For detailed implementation of each operation, reference may be made to the foregoing embodiments, and details are not repeated herein.

Besides the self-moving device, another self-moving device is provided in the embodiment of the present application, and its structure is similar to that of the self-moving device described above, and see fig. 6 e. The self-moving device differs from the self-moving device shown in fig. 6e in that: the functions performed by the processor executing the computer programs stored in the memory are different. Specifically, the self-moving device of the present embodiment, when its processor executes the computer program in the memory, is configured to: determining a plurality of operation areas and corresponding relations between the operation areas and operation modes, wherein different operation modes require the equipment main body to combine different functional modules; determining a job order among a plurality of job regions; controlling the device main body to carry the functional module to sequentially execute the operation tasks in the plurality of operation areas according to the operation sequence among the plurality of operation areas; and in each working area, controlling the equipment main body to go to the workstation to replace different functional modules according to the corresponding relation between the working area and the working mode, and carrying the different functional modules to execute working tasks in the working area in sequence.

In an alternative embodiment, where the work area is one, the processor, when executing the computer program in the memory, is further configured to: determining a target operation area and a plurality of operation modes corresponding to the target operation area, wherein different operation modes require that a movable equipment main body is combined with different functional modules; determining an execution order among a plurality of job modes; and controlling the equipment main body to go to the workstation to replace different functional modules according to the execution sequence, and carrying the different functional modules to execute the operation tasks in the target operation area in sequence. For detailed implementation of each operation, reference may be made to the foregoing embodiments, which are not described herein again.

Further optionally, an embodiment of the present application further provides another self-moving device, a structure of which is similar to that of the self-moving device described above, and see fig. 6 e. The self-moving device differs from the self-moving device shown in fig. 6e in that: the functions performed by the processor executing the computer programs stored in the memory are different. Specifically, the self-moving device of the present embodiment, when its processor executes the computer program in the memory, is configured to: determining a target operation area and a plurality of operation modes corresponding to the target operation area, wherein different operation modes require an equipment main body capable of moving autonomously to combine different functional modules; determining an execution order among the plurality of job modes; and controlling the equipment main body to go to a workstation to replace different functional modules according to the execution sequence, and carrying different functional modules to execute operation tasks in the target operation area in sequence. For detailed implementation of each operation, reference may be made to the foregoing embodiments, and details are not repeated herein.

Under the condition that the self-moving equipment supports a plurality of functional modules and a plurality of operation modes, a user can flexibly select the used operation mode according to application requirements, and the plurality of operation modes can be used in a combined mode so as to realize operation tasks with higher quality. In the above embodiments of the present application, when a plurality of job modes are required to be used in one job task, the execution logic of the job task is preferably and reasonably planned from the dimension of the job mode, or the execution logic of the job task is preferably and reasonably planned from the dimension of the job area, so that the job tasks in all job areas can be completed quickly, efficiently and reasonably.

In the above-described embodiment, the traveling scheme when the apparatus main body executes the job task within the job area in accordance with the job mode is not limited. In the present embodiment, the travel plan is used to define a travel locus and/or a travel speed, etc. used by the apparatus main body to execute the job task within the work area in accordance with the job mode. In some alternative embodiments, the travel scheme may define the travel trajectory or travel speed alone; in other alternative embodiments, the travel profile may define both a travel trajectory and a travel speed. Further optionally, the running scheme may further define an execution condition of the apparatus main body at any time when executing the job in the job region according to the job mode.

The execution condition is used for describing a condition when the device main body carries a function module corresponding to a certain operation mode to execute an operation task according to the operation mode in an operation area, and may be an environmental condition, such as ground cleanliness, air humidity, temperature, whether a window is opened, whether a person is present, and the like. The travel track is used for describing a movement track of the device main body carrying a function module corresponding to a certain operation mode when executing the operation task according to the operation mode in the operation area. The travel locus relates to a pattern of the travel locus, an interval of the travel locus, and the like. The track may be a zigzag track shown in fig. 7a, a zigzag track shown in fig. 7b, an M or W-shaped track shown in fig. 7c, or a Y-shaped track shown in fig. 7 d. In addition, the track patterns shown in fig. 7 a-7 d may have different track spacings. The travel speed is used to describe a moving speed of the apparatus main body carrying the function module when executing a job task within the job area. In this embodiment, the travel speed may define a specific travel speed value, and may also define a change in travel speed, such as a deceleration with respect to the current speed, or an acceleration with respect to the current speed.

In this embodiment, since there are a plurality of operation modes, the functions that can be realized by different operation modes are different, there may be different requirements for the execution conditions, the travel trajectory and/or the travel speed, and it may be unreasonable to adopt the same travel trajectory and travel speed if the apparatus main body carries different function modules to execute the operation tasks. This is illustrated below:

for example, in the sweeping mode and the mopping mode, the main purpose is to carry the sweeping or mopping module by the device body to traverse the working area completely, and the floor of the working area is cleaned by using the rag or the mop cloth. Therefore, the mode is suitable for adopting a travel mode that the track intervals are relatively dense and the whole operation area can be covered, so that the whole operation area is ensured to be swept and dragged, and the aim of comprehensive cleaning is fulfilled.

For another example, for the aromatherapy mode, the main purpose is that the aromatherapy module is carried by the device main body to move in the operation area, and the aromatherapy module volatilizes aromatherapy in the moving process, so that the taste of air in the operation area can be fresher, and people feel happy. In particular, in some tasty work areas, such as toilets, kitchens, etc. in a domestic environment. In the embodiment, the way of volatilizing the fragrance of the fragrance module is not limited, and may be, for example, a heating type, a blower blowing type, or a natural volatilization type. Compare in the mode of sweeping the floor and mopping the ground mode, the mode of marcing under the champignon mode does not need the full coverage formula, only need satisfy as fast as possible in the operation region of champignon taste diffusion can. In addition, in the embodiment of the application, the speed of the aroma volatilization of the aroma module is not limited, and the speed can be flexibly adjusted according to factors such as the size of the operation area, the air fluidity, the temperature, the self aroma, the caliber size of the aroma diffusion opening and the like.

For another example, for the humidification mode, the main purpose is to move the humidification module carried by the apparatus body within the working area, the humidification module spraying moisture during the movement, thereby making the humidity of the working area suitable, for example keeping the humidity between 40% and 60%, neither too wet nor too dry. If the ambient humidity is too high, mold is liable to grow, whereas if the ambient humidity is too low (i.e. too dry), the body is liable to become dry and uncomfortable. In the present embodiment, the humidification method of the humidification module is not limited, and for example, an ultrasonic type, an electric heating type, and a direct evaporation type may be used. Compare in the mode of sweeping the floor and mopping the ground mode, the mode of marcing under the humidification mode does not need the full coverage formula, only needs to satisfy as fast as possible in the operation region of moisture diffusion, reach operation regional humidity suitable can.

For another example, the disinfection and sterilization mode mainly aims to move the disinfection and sterilization module carried by the equipment main body in the working area, and the disinfection and sterilization module is used for disinfecting and sterilizing the ground in the working area in the moving process. In this embodiment, the sterilization method used by the sterilization module is not limited, and for example, an ultraviolet lamp, a spray disinfectant (hypochlorous acid, etc.), or the like may be used. Considering that the above sterilization methods all release some gases with pungent odor to some extent (the ultraviolet lamp irradiation generates ozone, and hypochlorous acid has a certain chlorine smell), and may not be suitable for sterilization in the presence of human, it may be necessary to perform the sterilization under unmanned conditions. In addition, sterilization by a low power ultraviolet lamp requires a certain time for irradiating the object to be effective, so it may be necessary to increase the irradiation time of the ultraviolet lamp to the ground, which requires the traveling speed to be as slow as possible to increase the irradiation time.

Based on the analysis, in this embodiment, the running schemes adapted to different operation modes are respectively determined, and by reasonably planning the running schemes (including but not limited to execution conditions, running tracks and/or running speeds), the running schemes adapted to each operation mode are adopted to execute operation tasks, so that the operation tasks in all operation areas can be completed more quickly, efficiently and reasonably, the characteristic of mobility of the main body of the device is brought into full play, richer, reasonable and efficient cleaning services are provided for users, and the use experience of the users is further improved.

Specifically, an embodiment of the present application provides a control method for a self-moving device, and as shown in fig. 7e, the method includes the following steps:

71e, determining a target operation mode required for executing the operation task in the target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require the equipment main body to carry different functional modules.

And 72e, determining a target traveling scheme matched with the target work mode, wherein the target traveling scheme comprises at least one of a traveling track and a traveling speed when the work task is executed according to the target work mode.

73e, the control equipment main body carries a target function module corresponding to the target operation mode, and executes the operation task in the target operation area according to the target advancing scheme.

In the embodiment of the present application, a process of executing a job task by a self-moving device will be described by taking the self-moving device as an example to execute the job task in a target job region. The target work area may be any area in the work environment where a work task needs to be performed. When the self-moving device executes a job task in a target job region, a job mode required for executing the job task in the target job region is first determined, and is called a target job mode.

In an optional embodiment, the task of the current operation only relates to one operation area, and the operation area is a target operation area; in this case, if the operation area only needs to use one operation mode, the operation mode is the target operation mode; if the operation area needs to use a plurality of operation modes, the execution sequence among the plurality of operation modes can be determined, and the operation mode to be executed currently is determined as the target operation mode according to the execution sequence.

In another alternative embodiment, if the task of the current job relates to a plurality of working areas and a plurality of working modes, the corresponding relationship between the plurality of working modes required to be used by the current job and the plurality of working areas may be determined, and the execution sequence between the plurality of working modes and the working sequence between the plurality of working areas may be determined according to the corresponding relationship; and determining the current work area and the work mode needing to be executed in the current work area according to the execution sequence among the plurality of work modes and the work sequence among the plurality of work areas, and respectively taking the current work area and the work mode as a target work area and a target work mode.

In an optional embodiment, the operation modes are preferentially sorted according to the dimension of the operation modes, so that the operation mode which needs to be executed currently can be determined as a target operation mode according to the execution sequence among the plurality of operation modes, and the device main body is controlled to move to the workstation to replace a target function module; further, after the target function module is replaced, a work area, in which a work task currently needs to be executed using the replaced function module, may be determined as a target work area according to a work order among the plurality of work areas. For example, if the job task to be executed currently is a floor mopping task, the floor mopping mode is determined to be the target job mode. Since different operation modes correspond to different function modules, the control equipment body is combined with the floor mopping module in the workstation under the condition of determining the target operation mode, and the self-moving equipment with the floor mopping function is formed. Further, in the case that the work area in which the floor mopping task needs to be executed includes a plurality of work areas, such as a bedroom, a living room, a study room, a dining room, a kitchen and a toilet, wherein the areas in which the user wants to execute the floor mopping task are the bedroom, the living room and the dining room in sequence, the bedroom is determined to be the current work area, and the floor mopping module is carried to the bedroom to execute the floor mopping task; after the floor mopping task is completed in the bedroom, the living room can be determined to be the current operation area, and the floor mopping module is continuously carried to the living room to execute the floor mopping task; after the floor mopping task is completed in the living room, the restaurant can be determined as the current working area, and the floor mopping module is continuously carried to the restaurant to execute the floor mopping task. After the floor mopping task is completed, the next operation mode of the floor mopping mode can be determined to be a target operation mode, for example, the aromatherapy mode, the user can return to the workstation to replace the aromatherapy module, and the operation task is continuously executed according to the similar logic until the operation task is completed.

In another optional embodiment, the operation areas are preferentially sorted from the dimension of the operation area, so that the operation area which needs to execute the operation task currently can be determined according to the operation sequence among the operation areas and is taken as the target operation area; further, the operation mode currently required to be executed in the target operation area is determined as the target operation mode according to the execution sequence among the plurality of operation modes, and the apparatus main body is controlled to go to the workstation to replace the target function module. For example, if the work area needing to execute the work task at this time includes a plurality of work areas, which are a bedroom, a living room, a study room, a dining room, a kitchen and a bathroom in sequence, the bedroom can be used as a target work area, wherein the work modes used by the bedroom in sequence are sweeping and mopping, the work mode needing to be used at present can be determined to be a sweeping mode, the sweeping mode is used as a target work mode, the device main body is controlled to be combined with the sweeping module in the workstation to form the self-moving device with the sweeping function, and then the sweeping task is executed in the bedroom; after the floor sweeping task in the bedroom is completed, determining that the next operation mode needing to be used in the bedroom is the floor mopping mode, taking the floor mopping mode as a target operation mode, controlling the equipment main body to be combined with the floor mopping module in the workstation to form self-moving equipment with the floor mopping function, and then executing the floor mopping task in the bedroom. After the work tasks are completed in all the work modes in the bedroom, the living room can be determined as a target work area, the target work mode is determined continuously according to the execution sequence among the various work modes required by the living room, the work tasks in the living room are continuously completed, and the like until the work tasks are completed.

Further, after determining a target job mode required for executing the job task within the target job area, it is necessary to determine a target traveling scheme adapted to the target job mode to control the self-moving device to execute the job task within the target job area according to the target traveling scheme. The target traveling scheme at least comprises at least one of a traveling track and a traveling speed when the device main body executes the job task according to the target job mode. In the present embodiment, the target traveling scenario adapted to the target job mode can be determined by:

mode 1: and selecting a traveling scheme corresponding to the target operation mode from the preset corresponding relation between the operation modes and the traveling schemes as a target traveling scheme. The method includes the steps of determining a running scheme respectively adapted to each operation mode according to the type of each operation mode supported by the mobile device and the type of each operation mode, and generating a corresponding relationship between the operation mode and the running scheme according to each operation mode and the running scheme adapted to the operation mode. Wherein, for each operation mode, the detailed process of determining the traveling scheme adapted to the operation mode according to the type of the operation mode is the same as or similar to the process of determining the traveling scheme adapted to the target operation mode according to the type of the target operation mode, so the following embodiments can be referred to, and are not repeated herein

Mode 2: and determining a target advancing scheme matched with the target operation mode in real time according to the category of the target operation mode. As can be seen from the above embodiments, different operation modes have different characteristics and operation requirements, and the travel tracks and/or the travel speeds adopted by the mobile device when the mobile device executes the operation tasks in the different operation modes are different. Therefore, in the case of determining the target job mode, the apparatus main body may determine a travel trajectory and a travel speed adapted thereto according to the category of the target job mode as the target travel plan.

Optionally, if the target travel scheme is a sweeping or mopping mode, determining a first travel speed adapted to the sweeping or mopping mode and a first travel track along the edge, wherein the travel track along the edge is adopted to ensure the overall coverage of the working area and ensure the cleaning of the corners; if the target advancing scheme is in an aromatherapy or humidification mode, determining a second advancing speed matched with the aromatherapy or humidification mode and a second advancing track without a rim; and if the target advancing scheme is the disinfection and sterilization mode, determining a third advancing speed matched with the disinfection and sterilization mode and a third advancing track without edges. Wherein, the aromatherapy, the humidification or the disinfection and sterilization mode can be realized by diffusion, so the edge is not necessary, and the edge mode can also be adopted. As can be seen from the above embodiments, the floor sweeping or mopping mode requires that the mobile device perform relatively intensive and comprehensive cleaning in the working area, and can cover the entire working area, and has certain requirements on the execution efficiency; the aromatherapy and humidification modes do not have high requirements on the density and the advancing speed of the advancing track of the mobile equipment, and only the aromatherapy or the moisture can be ensured to be diffused to the whole area; in the sterilization mode, the traveling speed of the self-moving equipment is not easy to be too high. Therefore, in the present embodiment, when the travel trajectory and the travel speed required for the sweeping or mopping mode are taken as references, the second and third travel speeds are lower than the first travel speed, and the trajectory interval between the second and third travel trajectories is greater than the trajectory interval between the first travel trajectories. Alternatively, the first travel speed may be a reference travel speed, corresponding to one reference speed value or speed range; the second travel speed and the third travel speed are both speed reduction modes relative to the reference travel speed and correspond to speed values or speed ranges smaller than the reference speed value or speed range; it should be noted that the speed values or speed ranges corresponding to the two deceleration modes may be the same or different.

In the embodiment of the application, when the self-moving equipment performs a sweeping or mopping task, only the target operation area needs to be completely covered and cleaned, and no other special requirements exist. Thus, in the sweeping or mopping mode, the first travel track may be a bow-shaped track as shown in fig. 7b with relatively small track intervals (e.g., W1), or other tracks with relatively small track intervals as shown in fig. 7 b-7 d may be used. In the aromatherapy or humidification mode, due to the influence of the area of the operation area, the track interval and the shape of the self-moving device may be different when the self-moving device performs the aromatherapy or humidification task. Alternatively, when the area of the target working area is larger than the set area threshold, it indicates that aromatherapy needs to be performed in a larger area, and in order to facilitate diffusion of aromatherapy to the whole working area, the second travel track may be a zigzag track as shown in fig. 7f with a relatively large track interval (e.g., W2), or may be another track as shown in fig. 7b to 7d with a relatively large track interval; when the area of the current operation area is smaller than or equal to the set area threshold, the fragrance is only needed to be performed at a small number of positions, and the whole operation area can be quickly filled with fragrance, so that the second travel track can be a cross track, as shown in fig. 7g, but the invention is not limited thereto. Wherein W1 and W2 are natural numbers greater than 0, and W1 < W2, which means that the aromatherapy mode can use a travel trajectory with a relatively large trajectory interval, and the sweeping or mopping mode can use a travel trajectory with a relatively small trajectory interval, relative to the sweeping or mopping mode. In the sterilization mode, the shape of the travel track of the self-moving device is not particularly limited, as long as the self-moving device can travel at a proper speed to ensure the sterilization effect on the operation area, for example, the third travel track may be an M-shaped or W-shaped track, or may be other tracks shown in fig. 7a to 7 d.

In any of the above manners, after the target traveling scheme adapted to the target job mode is obtained, the device main body can be controlled to carry the target function module corresponding to the target job mode to execute the job task in the target job area according to the target traveling scheme. And under the condition that the target traveling scheme comprises a traveling track and a traveling speed which are required when the job task is executed according to the target job mode, the device main body can be controlled to carry the target function module to execute the job task in the target job area according to the traveling speed in the target traveling scheme by adopting the traveling track in the target traveling scheme.

Fig. 7h is a flowchart of executing a job task in a target job region according to a target travel scheme from a mobile device in the embodiment of the present application. As shown in fig. 7h, if the target operation mode is the sweeping or mopping mode, the control device main body carries the sweeping or mopping module to execute the operation task in the target operation area according to the first travel speed (e.g. the reference speed) and by using the first travel track along the edge (e.g. the zigzag track with the track width of W1); if the target operation mode is an aromatherapy or humidification mode, the control device main body carries the aromatherapy or humidification module to execute an operation task in the target operation area according to a second advancing speed (such as speed reduction) and by adopting a second advancing track without a rim (such as a bow-shaped track with the track width of W2); if the target operation mode is the disinfection and sterilization mode, the control equipment main body carries the disinfection and sterilization module to execute the operation task in the target operation area according to a third advancing speed (such as speed reduction) and by adopting a third advancing track without a rim (such as a W-shaped track or an M-shaped track).

As can be seen from the above embodiments, since the self-moving device is affected by the area of the target operation area during the execution of the aromatherapy or the humidification task, the corresponding travel tracks may also be different, and therefore, an area threshold may be set to determine which travel track the self-moving device adopts in the aromatherapy or the humidification mode. Alternatively, as shown in fig. 7h, if the area of the target working area is larger than the set area threshold, the control device main body carries the aromatherapy or humidification module to execute the working task in the target working area according to the second travel speed by adopting a bow-shaped track (as shown in fig. 7 f) with a non-edgewise track interval of W2; if the area of the target operation area is smaller than or equal to the set area threshold, the control device main body carries the aromatherapy or the humidification module to execute the operation task in the target operation area according to the second advancing speed by adopting a non-edgewise cross track (as shown in fig. 7 g).

In the above embodiment, taking fig. 7f as an example, the square and circular black blocks in fig. 7f are used as obstacles, and when the self-moving device encounters an obstacle during the process of executing an operation task in a non-full-coverage operation mode such as aromatherapy, humidification, disinfection, sterilization, or the like, the self-moving device can bypass the obstacle and continue to move according to the original moving track without winding around the obstacle edgewise, so that the execution efficiency can be improved. For each kind of travel track, and determination logic of track interval and travel speed, reference may be made to the above-mentioned embodiments, and repeated description is omitted here.

In the embodiment of the present application, because the job requirements of different job modes may be different, in the process that the control device main body carries the target function module to execute the job task in the target job area according to the target travel scheme, the state quantity of the target function module during working may be adjusted according to the type, area and/or environment information of the target job area, where the state quantity refers to a certain data parameter of the target function module.

Alternatively, as shown in fig. 7h, in the aromatherapy or humidification mode, when the area of the target operation area is greater than the set area threshold, or when the target operation area is a designated second operation area, the blower air volume of the humidification or aromatherapy module may be increased. The second operation area is an area in which aromatherapy or humidification is important, and the area may be an operation area designated by a user in advance. For example, if the second operation area is an area with heavy odor, such as a kitchen or a toilet, the air volume of the fan of the aromatherapy module can be increased when the aromatherapy task is executed, so as to achieve a better aromatherapy effect; if the second operation area is a relatively dry area such as a balcony, the air volume of a fan of the humidifying module can be increased when a humidifying task is executed, so that a better humidifying effect is achieved.

Further, in the present embodiment, the target travel plan may include an execution condition of the target job mode in addition to the travel speed and the travel trajectory. In this case, before the control device main body carries the target function module to execute the job task in the target operation area by adopting the travel track in the target travel scheme according to the travel speed in the target travel scheme, whether the execution condition in the target travel scheme is met or not can be judged according to the environment information of the target operation area; and if so, controlling the main body of the equipment to carry the target function module to execute the operation task in the target operation area according to the target advancing scheme. Since the execution conditions under which the job tasks are executed according to different job modes may be different, the corresponding determination logics are also different, and in the following embodiments, the execution conditions and the determination logics in different job modes are described.

According to the embodiment, when the target operation mode is the disinfection and sterilization mode, ultraviolet rays released by the disinfection and sterilization module or sprayed disinfection liquid are harmful to human bodies, and the disinfection and sterilization task cannot be easily executed under the condition that a user exists. Judging whether the execution condition in the disinfection and sterilization mode is met according to the environmental information of the target operation area, wherein the judgment operation comprises at least one of the following judgment operations: judging whether a user exists in the working environment of the target working area; judging whether a window in the operation environment is in a closed state or not; and if the judgment results of the judgment operations are negative, determining that the execution conditions in the target traveling scheme are met.

Optionally, if a user exists in the working environment, the confirmation information is output to allow the user to confirm whether to continue to execute the disinfection task, and the user can confirm whether to leave the target working area according to the prompt information and indicate whether to execute the disinfection task from the mobile device. And if the window in the operation environment is in a closed state, outputting prompt information to prompt a user whether to open the window. The user can confirm whether to open the window according to the actual situation and indicate whether to continue to execute the disinfection and sterilization task in the target operation area from the mobile equipment. Further, the self-moving apparatus may perform the task of sterilization in the target working area upon receiving the instruction information to continue the task. The self-moving equipment can output confirmation information or prompt information in the form of voice broadcasting, whistling, light flashing or sending messages to terminal equipment (such as a mobile phone, a tablet computer and the like) of a user, and the user can leave a target operation area or open a window after receiving the confirmation information or the prompt information and instruct the self-moving equipment to continue to execute a disinfection and sterilization task by operating the self-moving equipment or the terminal equipment.

In the embodiment of the present application, since the humidification amounts required for the working areas with different humidity and different area sizes may be different, in the case where the target working mode is the humidification mode, the determining whether the execution condition in the humidification mode is satisfied according to the environmental information of the target working area includes performing at least one of the following determination operations: judging whether the air humidity in the target operation area is greater than a set humidity threshold value or not; judging whether the target operation area is a preset first operation area or not; and if the judgment results of the judgment operations are negative, determining that the execution conditions in the target traveling scheme are met. The first work area is a work area that is not suitable for performing a humidification task. For example, since bacteria are likely to grow in areas with high humidity such as kitchens and toilets, these areas may be set as the first working area because humidification may not be performed or may be performed only slightly for environmental hygiene; areas with sufficient sunlight, such as balconies, living rooms or bedrooms, are dry and can be humidified in a proper amount for a user to move in the areas more comfortably.

Further optionally, a humidity sensor may be provided on the apparatus main body for detecting humidity information in the working environment. Based on the above, when the self-moving device (i.e. the device form formed by the device main body carrying the humidifying module) executes the humidifying task, the humidity index in the target working environment can be monitored, and when the humidity index in the target working environment is determined to be larger than the preset humidity threshold value, the humidifying task is not executed; and when the humidity index in the target working environment is determined to be less than the preset humidity threshold value, executing the humidification task, and when the humidity index in the target working environment reaches the preset humidity threshold value, stopping the humidification task. For example, if the preset humidity threshold is 40%, when the self-moving device performs a humidification task, the humidification task may be performed on a working area with a humidity index smaller than 40%, and the humidification task may not be performed on a working area with a humidity index larger than 40%.

In the embodiment of the application, except that the execution logic of the operation tasks is reasonably planned, the cleaning efficiency can be improved, the operation modes matched with the operation modes can be determined for the operation modes, the advancing scheme matched with the operation modes is adopted, the function modules corresponding to the operation modes are carried to execute the operation tasks, the operation tasks in all operation areas can be completed more quickly, efficiently and reasonably, the characteristic of mobility of the equipment main body is brought into full play, richer, reasonable and efficient cleaning services are provided for users, and the use experience of the users is further improved.

Accordingly, embodiments of the present application may provide a self-moving device that may implement the above-described control method logic, the self-moving device including a device main body that may move autonomously and a plurality of functional modules that may be combined with or separated from the device main body for performing different specific job tasks; the device body includes a processor and a memory storing a computer program; the processor and the memory may be one or more, among others. Further, an embodiment of the present application further provides an apparatus main body of a self-moving apparatus, where the apparatus main body includes a processor and a memory in which a computer program is stored; the processor and the memory may be one or more, among others. With regard to the hardware implementation structure and form of the device main body and the function module, reference may be made to the description in the foregoing embodiments, and the description in this embodiment focuses on the logical functions implemented by the mobile device or the device main body.

Wherein, the computer program stored in the memory is executed by the processor of the mobile device or the device body, and the following actions can be realized: determining a target operation mode required for executing an operation task in a target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require different functional modules carried by an equipment main body; determining a target advancing scheme adapted to the required target operation mode, wherein the target advancing scheme comprises at least one of an advancing track and an advancing speed when the operation task is executed according to the target operation mode; the control equipment main body carries a target function module corresponding to the target operation mode, and executes the operation task in the target operation area according to the target advancing scheme.

In an optional embodiment, when determining the target job mode required for executing the job task in the target job region, the processor is specifically configured to: determining the corresponding relation between a plurality of operation modes required to be used by the operation and a plurality of operation areas, and determining the execution sequence among the plurality of operation modes and the operation sequence among the plurality of operation areas according to the corresponding relation; and determining a current work area and a work mode needing to be executed in the current work area according to the execution sequence and the work sequence, wherein the current work area and the work mode are respectively used as a target work area and a target work mode.

In an optional embodiment, when determining, according to the execution order and the job order, the current job region and the job mode that needs to be executed in the current job region as the target job region and the target job mode, respectively, the processor is specifically configured to: according to the execution sequence, determining the current operation mode to be executed as a target operation mode, and controlling the equipment main body to move to the workstation to replace the target function module; after the target function module is replaced, according to the operation sequence, the operation area which needs to execute the operation task at present is determined as the target operation area.

In an optional embodiment, when determining, according to the execution order and the job order, the current job region and the job mode that needs to be executed in the current job region as the target job region and the target job mode, respectively, the processor is specifically configured to: determining a working area which needs to execute a working task at present according to the working sequence as a target working area; after the target work area is determined, according to the execution sequence, a work mode which needs to be executed currently in the target work area is determined as a target work mode, and the device main body is controlled to go to the workstation to replace the target function module.

In an optional embodiment, when determining the target traveling scheme adapted to the target job mode, the processor is specifically configured to:

selecting a traveling scheme corresponding to the target operation mode as a target traveling scheme according to the corresponding relation between the preset operation mode and the traveling scheme;

or

And determining a target traveling scheme matched with the target operation mode according to the category of the target operation mode.

In an optional embodiment, the target travel scheme at least includes a travel trajectory and a travel speed when the apparatus main body executes the job task in the target job mode. Based on this, when determining the target traveling scheme adapted to the target job mode according to the category of the target job mode, the processor is specifically configured to: and determining a traveling track and a traveling speed which are matched with the target work mode according to the category of the target work mode.

Further optionally, when determining the travel track and the travel speed adapted to the target job mode according to the category of the target job mode, the processor is specifically configured to:

if the target operation mode is a sweeping or mopping mode, determining a first traveling speed matched with the sweeping or mopping mode and a first traveling track along the edge;

If the target operation mode is the aromatherapy or the humidification mode, determining a second advancing speed matched with the aromatherapy or the humidification mode and a second advancing track without edges;

if the target operation mode is the disinfection and sterilization mode, determining a third advancing speed matched with the disinfection and sterilization mode and a third advancing track without edges;

the second and third travel speeds are lower than the first travel speed, and the track interval of the second and third travel tracks is greater than the track interval of the first travel track.

In an optional embodiment, when the control device main body carries a target function module corresponding to the target job mode and executes a job task in the current job area according to the target travel scheme, the processor is specifically configured to: the control equipment main body carries a target function module, and moves in a target operation area by adopting a travel track in a target travel scheme according to the travel speed in the target travel scheme so as to execute an operation task.

Further optionally, the target travel scheme further comprises an execution condition. Based on this, the processor is further configured to: judging whether the execution conditions in the target advancing scheme are met or not according to the environmental information of the target operation area; and if so, controlling the main body of the equipment to carry a target function module corresponding to the target operation mode, and executing the operation task in the target operation area according to the target advancing scheme.

In an optional embodiment, when the processor controls the device main body to carry the target function module, and moves within the target work area according to the travel speed in the target travel scheme and the travel track in the target travel scheme, so as to execute the job task, the processor is specifically configured to:

if the target operation mode is a sweeping or mopping mode, the control equipment main body carries a sweeping or mopping module, and moves in the target operation area by adopting a first travel track along the edge according to a first travel speed so as to execute an operation task;

if the target operation mode is the aromatherapy or the humidification mode, the control equipment main body carries the aromatherapy or the humidification module to execute an operation task in the current operation area according to a second advancing speed by adopting a second advancing track without a rim;

and if the target operation mode is the disinfection and sterilization mode, controlling the equipment main body to carry the disinfection and sterilization module to execute the operation task in the current operation area according to a third advancing speed by adopting a third advancing track without edges.

Further optionally, the treater carries champignon or humidification module at the control equipment main part, according to second speed of marcing, adopts no edgeless second orbit of marcing to move in the target operation region to when carrying out champignon or humidification task, specifically be used for:

If the area of the target operation area is larger than the set area threshold value, the control device main body carries an aromatherapy or humidification module, and moves in the target operation area by adopting a bow-shaped track with a edgeless track interval of W2 according to a second advancing speed so as to execute aromatherapy or humidification tasks;

if the area of the target operation area is smaller than or equal to the set area threshold value, the control equipment main body carries the aromatherapy or the humidification module, and the control equipment main body moves in the target operation area by adopting a weltless cross-shaped track according to the second advancing speed so as to execute the aromatherapy or the humidification task.

Further optionally, in a case that the target operation mode is a disinfection and sterilization mode, the processor specifically performs at least one of the following determination operations when determining whether the execution condition in the target travel plan is satisfied according to the environmental information of the target operation area:

judging whether a user exists in the working environment of the target working area;

judging whether a window in the operation environment is in a closed state or not;

and if the judgment results of the judgment operations are negative, determining that the execution conditions in the target advancing scheme are met.

In an alternative embodiment, the processor is further configured to perform at least one of:

If the user exists in the operation environment, outputting confirmation information for the user to confirm whether to continue executing the disinfection task;

and if the window in the operation environment is in a closed state, outputting prompt information to prompt a user whether to open the window.

Further optionally, in a case that the target operation mode is the humidification mode, the processor is specifically configured to perform at least one of the following determination operations when determining whether the execution condition in the target travel scheme is satisfied according to the environment information of the target operation area:

judging whether the air humidity in the target operation area is greater than a set humidity threshold value or not;

judging whether the target operation area is a preset first operation area or not;

and if the judgment results of the judgment operations are negative, determining that the execution conditions in the target traveling scheme are met.

In an optional embodiment, the processor is further configured to, during the process that the device main body carries the target function module to execute the job task in the target job region according to the target travel scheme, adjust the state quantity of the target function module during operation according to the category, area, and/or environment information of the target job region.

When the processor adjusts the working state quantity of the target function module according to the category, the area or the environmental information of the current working area, the processor is specifically configured to: if the target function module is a humidifying or aromatherapy module, when the area of the target operation area is larger than a set area threshold value, or when the target operation area is a specified second operation area, the fan air volume of the humidifying or aromatherapy module is increased.

Accordingly, the present application also provides a computer readable storage medium storing a computer program, which, when executed by a processor, causes the processor to implement the steps in the above-mentioned method embodiments.

Accordingly, embodiments of the present application also provide a computer program product, which includes computer program/instructions, when the computer program/instructions is executed by a processor, cause the processor to implement the steps in the above-mentioned method embodiments.

The communication component in the above embodiments is configured to facilitate communication between the device in which the communication component is located and other devices in a wired or wireless manner. The device where the communication component is located can access a wireless network based on a communication standard, such as a WiFi, a 2G, 3G, 4G/LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

The display in the above embodiments includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The power supply assembly of the above embodiments provides power to various components of the device in which the power supply assembly is located. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

The audio component in the above embodiments may be configured to output and/or input an audio signal. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method of controlling a mobile device, comprising:

determining a target operation mode required for executing an operation task in a target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require that an equipment main body carries different functional modules;

determining a target traveling scheme adapted to the target work mode, wherein the target traveling scheme comprises at least one of a traveling track and a traveling speed when a work task is executed according to the target work mode;

and controlling the equipment main body to carry a target function module corresponding to the target operation mode, and executing an operation task in a target operation area according to the target advancing scheme.

2. The method of claim 1, wherein determining a target job mode required to execute a job task within a target job zone comprises:

Determining the corresponding relation between a plurality of operation modes required to be used by the operation and a plurality of operation areas;

determining an execution sequence among the plurality of operation modes and an operation sequence among the plurality of operation areas according to the corresponding relation;

and determining a current work area and a work mode which needs to be executed in the current work area according to the execution sequence and the work sequence, wherein the current work area and the work mode are respectively used as a target work area and a target work mode.

3. The method according to claim 2, wherein determining a current work area and a work mode that needs to be executed in the current work area as a target work area and a target work mode, respectively, based on the execution order and the work order, comprises:

according to the execution sequence, determining the current operation mode to be executed as a target operation mode, and controlling the equipment main body to move to a workstation to replace a target function module;

and after replacing the target function module, determining a working area which needs to execute a working task currently according to the working sequence as a target working area.

4. The method according to claim 2, wherein determining a current work area and a work mode that needs to be executed in the current work area as a target work area and a target work mode, respectively, based on the execution order and the work order, comprises:

Determining a working area which needs to execute a working task at present according to the working sequence as a target working area;

after the target operation area is determined, according to the execution sequence, the operation mode which needs to be executed in the target operation area at present is determined as the target operation mode, and the device main body is controlled to move to the workstation to replace the target function module.

5. The method of claim 1, wherein determining a target travel scheme that is adapted to the target job mode comprises:

selecting a traveling scheme corresponding to the target operation mode from the preset operation modes according to the corresponding relation between the preset operation modes and the traveling schemes as a target traveling scheme;

or

6. The method of claim 5, wherein determining a target travel scheme adapted to the target work mode based on the category of the target work mode comprises:

and determining a traveling track and a traveling speed which are matched with the target operation mode according to the category of the target operation mode.

7. The method of claim 6, wherein determining a travel trajectory and a travel speed adapted to the target work mode based on the category of the target work mode comprises:

if the target operation mode is an aromatherapy or humidification mode, determining a second advancing speed matched with the aromatherapy or humidification mode and a second advancing track without a rim;

if the target operation mode is a disinfection and sterilization mode, determining a third advancing speed matched with the disinfection and sterilization mode and a third advancing track without edges;

8. The method of claim 7, wherein the first travel trajectory is a bow-shaped trajectory having a trajectory interval of W1;

when the area of the target working area is larger than the set area threshold, the second travel track is a bow-shaped track with a track interval of W2;

under the condition that the area of the target operation area is smaller than or equal to the set area threshold value, the second travel track is a cross track;

the third travel track is an M-shaped track or a W-shaped track; wherein W1 is less than W2, and W1 and W2 are both more than 0.

9. The method according to any one of claims 6 to 8, wherein controlling the device main body to carry a target function module corresponding to the target operation mode, and executing an operation task in a target operation area according to the target travel scheme comprises:

and controlling the equipment main body to carry the target function module, and adopting the travel track in the target travel scheme to move in the target operation area according to the travel speed in the target travel scheme so as to execute the operation task.

10. The method of claim 9, wherein the target travel plan further comprises an execution condition; the method further comprises the following steps:

judging whether the execution conditions in the target advancing scheme are met or not according to the environmental information of the target operation area;

and if so, controlling the equipment main body to carry a target function module corresponding to the target operation mode, and executing an operation task in a target operation area according to the target advancing scheme.

11. The method according to claim 10, wherein controlling the device body to carry the target function module, and moving within a target working area using a travel track in the target travel plan according to a travel speed in the target travel plan to perform a working task comprises:

If the target operation mode is a sweeping or mopping mode, controlling the equipment main body to carry a sweeping or mopping module, and moving the equipment main body in the target operation area by adopting a first travel track along the edge according to a first travel speed so as to execute a sweeping or mopping task;

if the target operation mode is an aromatherapy or humidification mode, controlling the equipment main body to carry an aromatherapy or humidification module, and moving the equipment main body in a target operation area by adopting a second edgeless advancing track according to a second advancing speed so as to execute an aromatherapy or humidification task;

if the target operation mode is a disinfection and sterilization mode, controlling the equipment main body to carry a disinfection and sterilization module, and moving the equipment main body in the target operation area by adopting a third travel track without edges according to a third travel speed so as to execute a disinfection and sterilization task;

12. The method of claim 11, wherein controlling the device body to carry an aromatherapy or humidification module to move within the target work area at a second travel speed using a second edgeless travel trajectory to perform an aromatherapy or humidification task comprises:

If the area of the target operation area is larger than the set area threshold value, controlling the device main body to carry an aromatherapy or humidification module, and moving the device main body in the target operation area by adopting a bow-shaped track with a edgeless track interval of W2 according to a second advancing speed so as to execute an aromatherapy or humidification task;

and if the area of the target operation area is smaller than or equal to the set area threshold, controlling the equipment main body to carry the aromatherapy or humidification module, and moving in the target operation area by adopting a non-edge cross-shaped track according to a second advancing speed so as to execute the aromatherapy or humidification task.

13. The method according to claim 11, wherein in the case where the target work mode is a sterilization mode, determining whether the execution condition in the target travel plan is satisfied based on environmental information of a target work area includes performing at least one of the following determination operations:

14. The method of claim 13, further comprising at least one of:

15. The method according to claim 11, wherein in the case where the target operation mode is the humidification mode, determining whether the execution condition in the target traveling scenario is satisfied based on the environmental information of the target working area includes performing at least one of the following determination operations:

judging whether the air humidity in the target operation area is larger than a set humidity threshold value or not;

16. The method according to any one of claims 1-8, further comprising:

and in the process that the equipment main body carries the target function module to execute the operation task in the target operation area according to the target advancing scheme, adjusting the working state quantity of the target function module according to the type, the area and/or the environmental information of the target operation area.

17. The method according to claim 16, wherein adjusting the state quantity of the target function module when operating according to the type, area or environment information of the target working area comprises:

if the target function module is a humidifying or aromatherapy module, when the area of the target operation area is larger than a set area threshold value or the target operation area is a designated second operation area, the air volume of a fan of the humidifying or aromatherapy module is increased.

18. An autonomous mobile device, comprising: an apparatus main body which is autonomously movable and a plurality of function modules which are used for executing different specific job tasks and can be combined with or separated from the apparatus main body;

the device body includes a memory storing a computer program and a processor; the processor to execute the computer program to:

determining a target operation mode required by executing an operation task in a target operation area, wherein the target operation mode is one of at least two operation modes, and different operation modes require the equipment main body to be combined with different functional modules;

19. A device body of a self-moving device, comprising: a memory storing a computer program and a processor; the processor to execute the computer program to: