CN106388700B - Active noise reduction device for automatic cleaning equipment and automatic cleaning equipment - Google Patents

Abstract

The present disclosure relates to an active noise reduction device for automatic cleaning equipment and automatic cleaning equipment. The device may include: a signal acquisition module for acquiring an anti-phase acoustic wave signal corresponding to noise generated by the automatic cleaning equipment in a working state; A noise reduction module, connected to the signal acquisition module, is configured to play the anti-phase acoustic wave signal obtained from the signal acquisition module to at least partially cancel the noise generated by the automatic cleaning device. Through the technical solutions of the present disclosure, active noise reduction of the self-cleaning device can be achieved, thereby reducing the impact of the cleaning operation on the user.

Description

Active Noise Cancellation and Automatic Cleaning Equipment for Automatic Cleaning Equipment

technical field

The present disclosure relates to the field of smart home technology, and in particular, to an active noise reduction device for automatic cleaning equipment and automatic cleaning equipment.

Background technique

With the development of technology, a variety of automatic cleaning equipment has appeared, such as automatic sweeping robots, automatic mopping robots, etc. The automatic cleaning device can automatically perform the cleaning operation, which is convenient for the user. Taking the automatic sweeping robot as an example, it can automatically clean the place through technologies such as direct brushing and vacuuming.

SUMMARY OF THE INVENTION

The present disclosure provides an active noise reduction device for automatic cleaning equipment and automatic cleaning equipment to solve the deficiencies in the related art.

According to a first aspect of the embodiments of the present disclosure, there is provided an active noise reduction device for automatic cleaning equipment, including:

The signal acquisition module is used to acquire the anti-phase acoustic wave signal corresponding to the noise generated by the automatic cleaning equipment in the working state;

A noise reduction module, connected to the signal acquisition module, is configured to play the anti-phase acoustic wave signal obtained from the signal acquisition module to at least partially cancel the noise generated by the automatic cleaning device.

Optionally, the signal acquisition module includes:

a sound storage sub-module, pre-stored with a preset sound wave signal obtained by inverting the pre-sampling noise generated by the automatic cleaning equipment in a working state;

Wherein, the noise reduction module is connected to the sound storage sub-module, so as to play the preset sound wave signal as the inverted sound wave signal.

Optionally, the signal acquisition module includes:

a noise collection sub-module, used to collect real-time noise generated by the automatic cleaning equipment under working conditions;

a noise processing submodule, connected to the noise acquisition submodule, for acquiring the real-time noise output by the noise acquisition submodule, and performing inversion processing on the real-time noise to obtain a corresponding real-time inversion acoustic wave signal;

Wherein, the noise reduction module is connected to the noise processing sub-module, so as to play the real-time reverse phase sound wave signal as the reverse phase sound wave signal.

Optionally, the signal acquisition module includes:

a sound storage sub-module, pre-stored with a preset sound wave signal obtained by inverting the pre-sampling noise generated by the automatic cleaning equipment in a working state;

a noise collection sub-module, used to collect real-time noise generated by the automatic cleaning equipment under working conditions;

a noise processing submodule, connected to the noise acquisition submodule, for acquiring the real-time noise output by the noise acquisition submodule, and performing inversion processing on the real-time noise to obtain a corresponding real-time inversion acoustic wave signal;

Wherein, the noise reduction module is respectively connected to the sound storage sub-module and the noise processing sub-module, so as to superimpose and play the preset sound wave signal and the real-time reversed-phase sound wave signal as the reversed-phase sound wave signal .

Optionally, also include:

The first sound wave adjustment module is connected to the signal acquisition module, and is configured to adjust and reduce at least one of the preset sound wave signal and the real-time anti-phase sound wave signal according to a preset amplitude.

Optionally, also include:

an effect collection module, configured to collect the effect sound wave signal after the noise reduction module plays the preset sound wave signal and/or the real-time reversed-phase sound wave signal;

A second sound wave adjustment module, connected to the effect acquisition module, and configured to adjust the real-time inverse sound wave signal according to at least one of the real-time noise, the real-time inverse-phase sound wave signal, and the effect sound wave signal, so as to The effect sound wave signal is reduced or eliminated.

Optionally, the noise collection sub-module includes a microphone installed on the automatic cleaning device and with a noise collecting direction facing a preset noise source of the automatic cleaning device.

Optionally, also include:

A noise preprocessing module, configured to obtain the real-time noise output by the noise acquisition sub-module, and after pre-processing the real-time noise, output the real-time noise to the noise processing sub-module for reverse processing to obtain the real-time inverse sound wave Signal.

Optionally, the noise preprocessing module includes:

The filter element is used to filter out the preset high frequency noise in the real-time noise.

According to a second aspect of the embodiments of the present disclosure, there is provided an automatic cleaning device, comprising: the active noise reduction device for the automatic cleaning device according to any one of the foregoing embodiments.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

It can be seen from the above embodiments that the present disclosure obtains and plays the anti-phase acoustic wave signal of the noise generated by the automatic cleaning equipment, so that the anti-phase acoustic wave signal and the noise signal can neutralize and cancel each other, so that at least part of the noise signal can be eliminated, which is helpful to reduce the noise. The noise generated by the automatic cleaning equipment during the cleaning process reduces the impact on the user.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

1-4 are schematic structural diagrams of a robot according to an exemplary embodiment.

Fig. 5 is a schematic structural diagram of an active noise reduction device for automatic cleaning equipment according to an exemplary embodiment.

Fig. 6 is a schematic diagram of active noise reduction according to an exemplary embodiment.

FIG. 7 is a schematic structural diagram of another active noise reduction device for automatic cleaning equipment according to an exemplary embodiment.

FIG. 8 is a schematic structural diagram of another active noise reduction device for automatic cleaning equipment according to an exemplary embodiment.

FIG. 9 is a schematic structural diagram of another active noise reduction device for automatic cleaning equipment according to an exemplary embodiment.

Fig. 10 is a schematic structural diagram of another active noise reduction device for automatic cleaning equipment according to an exemplary embodiment.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

Figures 1-4 are schematic structural diagrams of a robot according to an exemplary embodiment. As shown in Figures 1-4, the robot 100 may be an automatic cleaning device such as a sweeping robot or a mopping robot, and the robot 100 may include a machine body 110 , a perception system 120 , a control system 130 , a drive system 140 , a cleaning system 150 , an energy system 160 and a human-computer interaction system 170 . in:

The machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear), and may also have other shapes, including but not limited to an approximately D-shaped shape with front and rear circles.

The sensing system 120 includes a position determination device 121 located above the machine body 110, a buffer 122 located at the forward portion 111 of the machine body 110, a cliff sensor 123 and an ultrasonic sensor (not shown in the figure), an infrared sensor (not shown in the figure) out), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensing devices, to the control system 130 provides various position information and motion state information of the machine. The location determination device 121 includes, but is not limited to, a camera, a laser ranging device (LDS).

The forward portion 111 of the machine body 110 may carry the bumper 122. During the cleaning process, the drive wheel module 141 propels the robot to walk on the ground. Multiple events (or objects) to which the robot can respond by controlling the drive wheel module 141 through events (or objects) detected by the buffer 122, such as obstacles, walls , such as away from obstacles.

The control system 130 is arranged on the circuit board in the main body 110 of the machine, and includes a computing processor that communicates with non-transitory memory, such as hard disk, flash memory, and random access memory, such as central processing unit, application processor, application processing Based on the obstacle information fed back by the laser ranging device, the robot uses localization algorithms, such as SLAM, to draw a real-time map of the environment where the robot is located. And combined with buffer 122, cliff sensor 123, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices feedback distance information and speed information to comprehensively judge the current working state of the sweeper, such as When crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., specific next-step action strategies will be given according to different situations, so that the work of the robot is more in line with the owner's requirements. , have a better user experience. Further, the control system 130 can plan the most efficient and reasonable cleaning path and cleaning method based on the map information drawn by SLAM, which greatly improves the cleaning efficiency of the robot.

The drive system 140 may maneuver the robot 100 to travel across the ground based on drive commands having distance and angular information, such as x, y, and theta components. The driving system 140 includes a driving wheel module 141, which can control the left and right wheels at the same time. In order to control the movement of the machine more accurately, the driving wheel module 141 preferably includes a left driving wheel module and a right driving wheel module, respectively. The left and right drive wheel modules are opposed along a lateral axis defined by the body 110 . In order for the robot to move more stably or have stronger movement ability on the ground, the robot may include one or more driven wheels 142, and the driven wheels include but are not limited to universal wheels. The driving wheel module includes a traveling wheel, a driving motor and a control circuit for controlling the driving motor. The driving wheel module can also be connected to a circuit for measuring driving current and an odometer. The driving wheel module 141 can be detachably connected to the main body 110 for easy disassembly and maintenance. The drive wheel may have a biased drop suspension system, movably fastened, eg rotatably attached, to the robot body 110 and receiving a spring bias biased downward and away from the robot body 110 . The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain landing force, while the cleaning elements of the robot 100 also contact the ground 10 with a certain pressure.

Cleaning system 150 may be a dry cleaning system and/or a wet cleaning system. As a dry cleaning system, the main cleaning function is derived from the cleaning system 151 composed of the roller brush structure, the dust box structure, the fan structure, the air outlet and the connecting components between the four. The roller brush structure with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush structure and the dust box structure, and then is generated by the fan structure and passes through the dust box structure. The suction gas Suction dust box structure. The dust removal ability of the sweeper can be characterized by the dust pick up efficiency DPU (Dust pick up efficiency). The wind utilization rate of the air duct formed by the connected components is affected by the type and power of the fan, which is a responsible system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning robots with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can be evolved to clean 100 square meters or more with one charge. And the service life of the battery that reduces the number of charging times will also be greatly increased, so that the frequency of the user replacing the battery will also increase. What is more intuitive and important is that the improvement of dust removal ability is the most obvious and important user experience, and the user will directly come to the conclusion of whether the cleaning is clean or not. The dry cleaning system may also include a side brush 152 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning system 150 .

The energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit. The host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage. If there is dust on the bare charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of the charge during the charging process, and even the electrode itself will be deformed, making it impossible to continue normal charging.

The human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs. For the route navigation type cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.

However, whether the driving system 140 drives the robot 100 to walk, or the cleaning system 150 controls the robot 100 to perform cleaning operations, a certain degree of noise may be generated; especially when the user is resting, studying, etc., noise-sensitive In the scene, it is easy to form noise interference to the user.

Therefore, the present application can solve the noise problem existing in the related art by improving the automatic cleaning equipment such as the above-mentioned robot 100 .

FIG. 5 is a schematic structural diagram of an active noise reduction apparatus for automatic cleaning equipment according to an exemplary embodiment. As shown in FIG. 5 , the active noise reduction apparatus may include:

The signal acquisition module 51 is used to acquire the anti-phase acoustic wave signal corresponding to the noise generated by the automatic cleaning equipment in the working state;

The noise reduction module 52, connected to the signal acquisition module 51, is used for playing the anti-phase acoustic wave signal obtained from the signal acquisition module 51, so as to at least partially cancel the noise generated by the automatic cleaning device.

In this embodiment, by acquiring and playing the anti-phase sound wave signal corresponding to the noise, as shown in FIG. 6 , the anti-phase sound wave signal can be superimposed with the noise signal, so that the final effect is that the two cancel each other out, and thus at least partially cancel each other. The noise generated by the device is automatically cleaned, especially when the user is in a noise-sensitive scene such as resting or studying, which can avoid adverse effects on the user and help improve the user's application experience.

In this embodiment, the signal acquisition module 51, the noise reduction module 52 and the following functional modules can be selected according to the actual situation; After the mode is activated, the signal acquisition module 51, the noise reduction module 52 and other related functional modules are turned on, so as to realize the active noise reduction function of the automatic cleaning device.

In the technical solution of the present disclosure, the signal acquisition module 51 can acquire the inverse phase acoustic wave signal in various ways, which will be described below with an example.

1) Pre-stored

As an exemplary embodiment, as shown in FIG. 7 , the signal acquisition module 51 may include: a sound storage sub-module 511 , which pre-stores a preset value obtained by inverting the pre-sampled noise generated by the automatic cleaning device in the working state. Sound wave signal; wherein, the noise reduction module 52 is connected to the sound storage sub-module 511 to play the preset sound wave signal as an inverse sound wave signal.

In this embodiment, the noise of the automatic cleaning equipment in the working state can be collected in advance, and the corresponding anti-phase acoustic wave signal can be determined and generated through experiments, tests, etc., and then the anti-phase acoustic wave signal can be pre-stored in the In the sound storage sub-module 511, for example, the sound storage sub-module 511 may be any storage device in the automatic cleaning device. For example, according to the applicant's repeated experimental analysis, it is found that the main sources of noise of automatic cleaning equipment can include:

A. The main brush gearbox. When the automatic cleaning equipment needs to drive the gear to rotate through the motor, and then drive the main brush to rotate, the motor will rotate at a high speed, then because the rotor of the motor is large, the motor itself will generate a lot of noise; at the same time, the friction of the gears in the gearbox Also causes a lot of noise.

B. Fan. The fan in the automatic cleaning equipment will generate air circulation, and when the air circulates along the air path in the automatic cleaning equipment, there will be vibrations and a lot of noise will be generated; at the same time, the motor of the fan will also generate a lot of noise when it rotates at a high speed.

C, the main brush. The main brush of the automatic cleaning equipment has a dynamic balance problem when it rotates, and when the dynamic balance is not good, it will cause a lot of noise; at the same time, when the main brush hits the ground, it will also generate a lot of noise.

Then, by the noise reduction module 52 reading and playing the pre-stored anti-phase sound wave signal (ie the preset sound wave signal) from the sound storage sub-module 511, the effect of neutralizing and canceling the noise signal can be realized, especially for The noise in the middle and low frequency bands produced by the automatic cleaning equipment has a good offsetting effect.

2) Real-time generation

As another exemplary embodiment, as shown in FIG. 8 , the signal acquisition module 51 may include: a noise acquisition sub-module 512 for acquiring real-time noise generated by the automatic cleaning equipment in a working state; a noise processing sub-module 513, connected to The noise acquisition sub-module 512 is used to acquire the real-time noise output by the noise acquisition sub-module 512, and perform inversion processing on the real-time noise to obtain a corresponding real-time inversion acoustic wave signal; wherein, the noise reduction module 52 is connected to the noise processing sub-module 513, to Plays the real-time inverted sonic signal as an inverted sonic signal.

In this embodiment, since the automatic cleaning device may travel to various cleaning environments under the working state, such as the size of the room, the number of obstacles, the type of cleaning objects (such as paper and other light objects, Or hard particles, etc.), etc., may cause differences in the noise generated by the automatic cleaning equipment. Therefore, by collecting real-time noise, the anti-phase sound wave signal finally played by the noise reduction module 52 is also real-time, so not only can better Offset real-time noise, especially for the high-frequency noise caused by the scene, has a good offsetting effect, and can also reduce the sound waves in the anti-phase sound wave signal that cannot be offset with the real-time noise, thereby reducing the noise impact that the anti-phase sound wave signal may cause.

3) The combination of pre-storage and real-time generation

As another exemplary embodiment, as shown in FIG. 9 , by combining the embodiments shown in FIG. 7 and FIG. 8 above, the signal acquisition module 51 may include:

The sound storage sub-module 511 is pre-stored with a preset sound wave signal obtained by inverting the pre-sampled noise generated by the automatic cleaning equipment in the working state;

The noise collection sub-module 512 is used to collect the real-time noise generated by the automatic cleaning equipment in the working state;

The noise processing sub-module 513 is connected to the noise collection sub-module 512, and is used for acquiring the real-time noise output by the noise collection sub-module 512, and performing inversion processing on the real-time noise to obtain the corresponding real-time inversion acoustic wave signal;

The noise reduction module 52 is connected to the sound storage sub-module 511 and the noise processing sub-module 513 respectively, so as to superimpose and play the preset sound wave signal and the real-time reversed-phase sound wave signal as the reversed-phase sound wave signal.

In this embodiment, by combining the sound storage sub-module 511, the noise acquisition sub-module 512 and the noise processing sub-module 513, the advantages of the preset sound wave signal and the real-time reversed-phase sound wave signal can be combined, respectively. The high-frequency noise caused by the frequency band noise and the scene difference can be neutralized and offset, which can more effectively reduce the noise generated by the automatic cleaning equipment in the working state, so as to avoid the impact on the user's rest and study.

In the above-mentioned second and third embodiments, the noise collection sub-module 512 may be a microphone installed on the automatic cleaning equipment, and the noise collection direction is toward the preset noise source of the automatic cleaning equipment, so that the noise of the automatic cleaning equipment can be collected. Real-time collection; of course, those skilled in the art can select other forms of noise collection sub-module 512 according to actual needs, and adopt other forms for the microphone, which is not limited in the present disclosure.

Further, the present disclosure can also realize the optimization of processing steps on the basis of the above-mentioned embodiment. The embodiment shown in FIG. 9 is taken as an example and described in conjunction with FIG. 10 :

1) Sonic preprocessing

In an embodiment, in the technical solution of the present disclosure, as shown in FIG. 10 , the active noise reduction device for automatic cleaning equipment may further include: a noise preprocessing module 53 for acquiring the output of the noise collection sub-module 512 Real-time noise, after the real-time noise is preprocessed, it is output to the noise processing sub-module 513 for reverse processing to obtain a real-time inverse acoustic wave signal. For example, the noise preprocessing module 53 may include: a filter element for filtering out preset high-frequency noise in the real-time noise, that is, a low-pass filter element.

In this embodiment, the high-frequency noise filtered out by the noise preprocessing module 53 is different from the noise generated by the automatic cleaning equipment contained in the real-time noise, and belongs to “noise” that may interfere with the real-time noise. By filtering, the anti-phase acoustic wave signal generated by the noise processing sub-module 513 can be prevented from being affected and interfered, thereby preventing the anti-phase acoustic wave signal from causing additional noise influence.

2) Sound wave playback adjustment

In one embodiment, in the technical solution of the present disclosure, as shown in FIG. 10 , the active noise reduction device for automatic cleaning equipment may further include: a first sound wave adjustment module 54 connected to the signal acquisition module 51 for at least one of the preset acoustic wave signal and the real-time inverted acoustic wave signal is adjusted and reduced according to the preset amplitude.

In this embodiment, since the anti-phase sound wave signal played by the noise reduction module 52 may not be able to completely form an anti-phase relationship with the noise actually generated by the automatic cleaning equipment, by appropriately reducing the amplitude of the anti-phase sound wave signal (for example, reducing the preset sound wave signal and at least one of the real-time anti-phase acoustic wave signal), although the effect of noise cancellation is reduced to a certain extent, it can effectively avoid new noise interference caused by the part of the anti-phase acoustic wave signal and the noise that is not accurately offset, which is helpful to obtain Better overall noise reduction.

3) Real-time adjustment of sound waves

In an embodiment, in the technical solution of the present disclosure, as shown in FIG. 10 , the active noise reduction device for automatic cleaning equipment may further include: an effect collection module 55 for collecting the noise reduction module 52 to play preset sound waves The effect sound wave signal after the signal and/or the real-time anti-phase sound wave signal; the second sound wave adjustment module 56, connected to the effect acquisition module 55, is used for adjusting according to at least one of the real-time noise, the real-time anti-phase sound wave signal and the effect sound wave signal Invert the sonic signal in real time to reduce or cancel the effect sonic signal.

In this embodiment, the effect collection module 55 may be a microphone installed on the automatic cleaning device, with the noise collection direction facing the outside of the automatic cleaning device, so as to collect the effect of active noise reduction (that is, to collect the effect sound wave signal); then , through the real-time adjustment of the real-time anti-phase sound wave signal, when the adjusted real-time anti-phase sound wave signal and the preset sound wave signal are played by the noise reduction module 52, the parts that have not been canceled before can be neutralized and canceled, which is equivalent to the real-time anti-phase sound wave signal. Real-time feedback and iterative processing of inverse sound wave signals; especially, when the automatic cleaning equipment is in different scenarios, such as when entering another room from one room, through the collection of effect sound wave signals and the adjustment of real-time inverse sound wave signals, It can make the automatic cleaning equipment achieve better noise reduction effect in each scene.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or techniques in the technical field not disclosed by the present disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (9)

1. an active noise reduction device for automatic cleaning equipment, characterized in that, comprising: The signal acquisition module is used to acquire the anti-phase acoustic wave signal corresponding to the noise generated by the automatic cleaning equipment in the working state; a noise reduction module, connected to the signal acquisition module, for playing the anti-phase acoustic wave signal obtained from the signal acquisition module to at least partially cancel the noise generated by the automatic cleaning device; an effect collection module, configured to collect the effect sound wave signal after the noise reduction module plays the real-time inverted sound wave signal, and the effect collection module includes a microphone; The second sound wave adjustment module is connected to the effect acquisition module, and the second sound wave adjustment module is configured to adjust the real-time inversion sound wave signal according to the effect sound wave signal, so as to reduce or eliminate the effect sound wave signal. 2. The device according to claim 1, wherein the signal acquisition module comprises: a sound storage sub-module, pre-stored with a preset sound wave signal obtained by inverting the pre-sampling noise generated by the automatic cleaning equipment in a working state; Wherein, the noise reduction module is connected to the sound storage sub-module, so as to play the preset sound wave signal as the inverted sound wave signal. 3. The device according to claim 1, wherein the signal acquisition module comprises: a noise collection sub-module, used to collect real-time noise generated by the automatic cleaning equipment under working conditions; a noise processing submodule, connected to the noise acquisition submodule, for acquiring the real-time noise output by the noise acquisition submodule, and performing inversion processing on the real-time noise to obtain a corresponding real-time inversion acoustic wave signal; Wherein, the noise reduction module is connected to the noise processing sub-module, so as to play the real-time reverse phase sound wave signal as the reverse phase sound wave signal. 4. The device according to claim 1, wherein the signal acquisition module comprises: a sound storage sub-module, pre-stored with a preset sound wave signal obtained by inverting the pre-sampling noise generated by the automatic cleaning equipment in a working state; a noise collection sub-module, used to collect real-time noise generated by the automatic cleaning equipment under working conditions; a noise processing submodule, connected to the noise acquisition submodule, for acquiring the real-time noise output by the noise acquisition submodule, and performing inversion processing on the real-time noise to obtain a corresponding real-time inversion acoustic wave signal; Wherein, the noise reduction module is respectively connected to the sound storage sub-module and the noise processing sub-module, so as to superimpose and play the preset sound wave signal and the real-time reversed-phase sound wave signal as the reversed-phase sound wave signal . 5. The apparatus of claim 4, further comprising: an effect collection module, used for collecting the effect sound wave signal after the noise reduction module plays the real-time reversed-phase sound wave signal and the preset sound wave signal; The second sound wave adjustment module is connected to the effect acquisition module, and is used for according to the effect sound wave signal and the real-time noise, or the effect sound wave signal and the real-time inverted sound wave signal, or the effect sound wave signal, The real-time noise and the real-time inverse-phase acoustic wave signal, and the real-time inverse-phase acoustic wave signal is adjusted to reduce or eliminate the effect acoustic wave signal. 6. The apparatus according to claim 3 or 4, wherein the noise collection sub-module comprises a microphone installed on the automatic cleaning device and with a noise collection direction facing a preset noise source of the automatic cleaning device. 7. The device according to claim 3 or 4, characterized in that, further comprising: A noise preprocessing module, configured to obtain the real-time noise output by the noise acquisition sub-module, and after pre-processing the real-time noise, output the real-time noise to the noise processing sub-module for reverse processing to obtain the real-time inverse sound wave Signal. 8. The apparatus according to claim 7, wherein the noise preprocessing module comprises: The filter element is used to filter out the preset high frequency noise in the real-time noise. 9. An automatic cleaning device, comprising: the active noise reduction device for automatic cleaning device according to any one of claims 1-8.

Images