WO2021068908A1

WO2021068908A1 - Cleaning robot

Info

Publication number: WO2021068908A1
Application number: PCT/CN2020/120078
Authority: WO
Inventors: 冉沅忠; 冯书鹏
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2019-10-12
Filing date: 2020-10-10
Publication date: 2021-04-15
Also published as: CN212698739U; CN112641392A

Abstract

A cleaning robot (1), comprising: a machine body (10); a mobile module (11) supporting the machine body (10) and driving the cleaning robot (1) to move on an operation surface; a cleaning module (12) performing a cleaning operation on the operation surface; a control module (9) controlling the mobile module (11) to automatically drive the cleaning robot (1) to move; a power module (13) supplying power to the mobile module (11); and a target detection device (3) disposed under the machine body (10) and used to detect a target object protruding from the operation surface, wherein the target detection device (3) comprises a detection component (31) and a movable member (32) for triggering the detection component (31), and the movable member (32) can be moved by an external force so as to trigger the detection component (31).

Description

Cleaning robot

This application requires that the application date is October 12, 2019, the application number is 201910969691.9 and the application date is December 06, 2019, the application number is 201911239137.1 and the application date is December 06, 2019, the application number is 201922166786.5 China The priority of the patent application, the entire content of which is incorporated in this application by reference.

Technical field

The present invention relates to the field of robots, in particular to cleaning robots.

Background technique

With the development of science and technology, smart robots are well known to people. Not only that, smart sweepers, smart mopping machines and other similar cleaning robots, with their features of convenient cleaning, time-saving and labor-saving, make people get rid of tedious housework. Worked into the family life of ordinary people.

The current smart mopping machine or smart sweeping and mopping integrated machine is equipped with a mop to wipe the ground to improve the cleanliness of the ground. When cleaning robots are working, they often encounter indoor obstacles, such as carpets, thresholds, etc. When encountering these obstacles, the machine cannot pass the obstacles. In the prior art, the obstacles are detected by ultrasound or infrared and then avoided. Open these obstacles. However, the detection error by ultrasonic or infrared methods is large. For example, when the ultrasonic or infrared transmission is blocked by other obstacles on the way, or when encountering objects with small thickness or poor light reflection effects such as soft carpets, the detection error is very large. Large, it is easy to cause the machine to misjudge and cause misscanning/mistrailing.

Therefore, it is necessary to design a new cleaning robot to solve the above-mentioned problems.

Summary of the invention

In order to overcome the above drawbacks, the present invention adopts the following technical solutions:

A cleaning robot includes:

body;

A mobile module that supports the body and drives the cleaning robot to move on the work surface;

The cleaning module is used to install on the fuselage and perform cleaning work on the working surface;

A control module, which controls the movement module to automatically drive the cleaning robot to move;

The power module provides power for the mobile module; it is characterized by:

The cleaning robot further includes a target detection device arranged under the body and used to detect a target object protruding from the working surface. The target detection device includes a detection element and a device for triggering the detection element. A movable part and an elastic part for providing a restoring force to the movable part, the movable part is movable under the action of an external force to trigger the detection element; the front surface and both sides of the movable part are leaning against At least one of the outer surfaces includes a curved surface or an inclined surface with an inner low and an outer high;

The movable part is movable between the original position and the end position. When the movable part is not in contact with the target object, the movable part is located in the original position; when the movable part is in contact When the target object, the movable part is moved from the original position to the end position by the external force applied by the target object to trigger the detection element; when the movable part separates from the target object When in contact, the movable part returns to the original position from the termination position;

The cleaning robot further includes an auxiliary judgment module for judging whether the current object is a specific object, and the control module controls the state of the cleaning robot according to the judgment result of the auxiliary judgment module;

The cleaning robot further includes a liftable auxiliary wheel arranged under the body, and when the auxiliary judgment module determines that the current object is a specific object, the control module controls the auxiliary wheel to descend to touch the ground;

The cleaning robot includes an object detection valid state and an object detection invalid state. In the object detection valid state, the control module controls the state of the cleaning robot according to the detection result of the target detection device. In the detection invalid state, the control module does not control the movement state of the cleaning robot according to the detection result of the target detection device; when the auxiliary judgment module judges that the current object is a specific object, the control module controls The cleaning robot is in an object detection invalid state.

The present invention can also adopt the following technical solutions:

A cleaning robot includes:

body;

A power module, which provides power for the mobile module;

The cleaning robot also includes a target detection device arranged under the body and used to detect a target object protruding from the working surface, the target detection device including a detection element, and a detection element for triggering the detection element The movable part is movable under the action of external force to trigger the detection element.

Further, the movable part is movable between the original position and the end position. When the movable part is not in contact with the target object, the movable part is located in the original position; when the movable part is not in contact with the target object, the movable part is located at the original position; When the movable part contacts the target object, the movable part is moved from the original position to the end position by the external force exerted by the target object to trigger the detection element; when the movable part and the When the target object is out of contact, the movable part returns to the original position from the end position.

Further, the movable member includes a triggering part for triggering the detection element.

Further, the movable part can be moved compared to the body, so that the triggering part can switch between triggering the detection element and not triggering the detection element.

Further, the movable part further includes a fixed part fixed to the body, and the movable part can rotate around the fixed part, so that the triggering part can trigger the detecting element and not trigger the fixed part. Switch between the detection elements.

Further, the fuselage further includes a limiting portion for limiting the range of movement of the movable part.

Further, when the movable part receives an external force applied by the target object, the triggering portion moves upward to trigger the detection element.

Further, when the movable part is in the original position, the distance between the lower end of the movable part and the ground is not less than 4 mm.

Further, the target detection device includes an elastic member for providing a restoring force to the movable member so that the movable member returns to the original position when the external force is eliminated.

Further, one end of the elastic member is against the body, and the other end is against the movable member.

Further, the fuselage includes a fuselage main body, and a positioning part fixed on the fuselage main body and used for abutting against one end of the elastic member.

Further, the movable member further includes a resisting portion for resisting the elastic member.

Further, after the external force is eliminated, the movable member returns to the original position under the action of its own gravity.

Further, the target detection device is arranged below at least one of the front, both sides, and the rear of the fuselage.

Further, the cleaning robot includes at least two target detection devices arranged below both sides of the front part of the fuselage.

Further, the movable part further includes a contact portion exposed outside the fuselage for contacting the target object, and the contact portion includes a curved surface or an inclined surface with a low inner side and a high outer surface.

Further, at least one of the front surface and the outer surfaces on both sides of the movable member includes a curved surface or an inclined surface with a low inside and a high outside.

Further, the contact portion is tapered.

Further, the control module controls the movement state of the cleaning robot according to the detection result of the detection element.

Further, the cleaning robot further includes an auxiliary judgment module for judging whether the current object is a specific object, and the control module controls the state of the cleaning robot according to the judgment result of the auxiliary judgment module.

Further, the cleaning robot further includes an auxiliary wheel that can be raised and lowered below the body. When the auxiliary judgment module determines that the current object is a specific object, the control module controls the auxiliary wheel to descend to Touch the ground.

Further, the cleaning robot includes an object detection valid state and an object detection invalid state. In the object detection valid state, the control module controls the state of the cleaning robot according to the detection result of the target detection device. In the object detection invalid state, the control module does not control the movement state of the cleaning robot according to the detection result of the target detection device.

Further, when the auxiliary judgment module judges that the current object is a specific object, the control module controls the cleaning robot to be in an object detection invalid state.

Further, the cleaning module includes a mopping module.

Further, the mopping module includes a mopping floor and a mop that is detachably installed on the mopping floor.

Further, the cleaning robot further includes a liquid tank, and the control module controls the liquid tank to supply liquid to the mopping module when the cleaning robot mopping the floor.

Further, the target detection device is used to detect carpets.

Further, when the movable part is in the original position, the distance between the lower end of the movable part and the ground is not less than 2 mm.

Compared with the prior art, the present invention has the following beneficial effects: by setting a new target detection device on the cleaning robot to identify target objects within a preset height range, the target objects can be accurately identified, and the cleaning robot can prevent misjudgments .

Description of the drawings

Fig. 1 is a front view of a cleaning robot according to an embodiment of the present invention.

Fig. 2 is a top view of the cleaning robot shown in Fig. 1.

Fig. 3 is a cross-sectional view along the line A-A when the target detection device of the cleaning robot shown in Fig. 2 is in a free state.

4 is a cross-sectional view along the line A-A when the target detection device of the cleaning robot shown in FIG. 2 hits the target object.

Fig. 5 is an enlarged view of the target detection device on the left side of the cleaning robot shown in Fig. 3.

Fig. 6 is an enlarged view of the target detection device on the left side of the cleaning robot shown in Fig. 4.

Fig. 7 is a schematic diagram of the target detection device in a free state in an embodiment of the present invention.

FIG. 8 is a schematic diagram of the target detection device shown in FIG. 7 when it hits the target object.

Fig. 9 is a schematic diagram of the target detection device in a free state in an embodiment of the present invention.

FIG. 10 is a schematic diagram of the target detection device shown in FIG. 9 when it hits the target object.

Fig. 11 is a schematic diagram of the cleaning robot shown in Fig. 1 encountering a target object when moving forward.

Fig. 12 is a schematic diagram of the cleaning robot shown in Fig. 1 encountering a target object when turning.

Fig. 13 is a schematic diagram of the cleaning robot shown in Fig. 1 encountering a specific object.

Fig. 14 is a schematic diagram of the cleaning robot shown in Fig. 1 driving on a specific object.

Fig. 15 is a schematic diagram of a module of the cleaning robot shown in Fig. 1.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

As shown in Figure 1, a cleaning robot 1 includes a body 10, a mobile module 11 that supports the body 10 and drives the cleaning robot 1 to move on the working surface, and is installed on the body 10 for performing cleaning work on the working surface. The cleaning module 12, a power module 13 that provides power for the cleaning robot, an energy module 8 that provides energy for the cleaning robot, and a control module 9 that controls the movement module to automatically drive the cleaning robot 1 to move automatically and control the cleaning module 12 to work automatically. The cleaning robot 1 includes a target detection device 3 arranged under the body 10 and used to detect target objects protruding from the working surface and having a certain thickness range. The target detection device 3 includes a detection element 31 and a detection element 31 for triggering. The movable part 32 is movable under the action of an external force to trigger the detection element, and can return to the original position after the external force is eliminated. Specifically, when the external force is eliminated, the movable member 32 can be restored to its original position by its own gravity, or the elastic member 33 can provide a restoring force to restore it to the original position, or provide restoring force to it by other means. Return to the original location. The above external force refers to an external force other than the cleaning robot, and the above original position refers to the position of the movable member 32 when the movable member 32 is not subjected to an external force, or in other words, before the movable member 32 is subjected to an external force. The control module determines whether the cleaning robot 1 encounters the target object 5 within the preset height range according to the detection result of the detection element 31, and controls the movement state of the cleaning robot 1 according to the detection result.

The movable part 32 can move between the original position and the end position. In this embodiment, as shown in FIG. 3, when the movable part is not in contact with the target object 5, the movable part 32 is located in the original position; as shown in FIG. 4 As shown, when the movable part 32 contacts the target object 5, the movable part 32 is moved from the original position to the end position by the external force applied by the target object 5 to trigger the detection element; when the movable part 32 is out of contact with the target object 5 , The movable member 32 returns to the original position as shown in FIG. 3 from the end position.

The cleaning robot 1 is generally used to clean indoor floors, and it can be an automatic mopping machine, an automatic mopping and sweeping machine, or an automatic sweeping machine. When the cleaning robot 1 is an automatic sweeping machine, the cleaning module 12 is a cleaning device that sucks and sweeps garbage and dust on the ground. When the cleaning robot 1 is an automatic mopping machine, its cleaning module 12 includes a mop. When the moving module 11 drives the cleaning robot to move, the mop compacts the ground to realize the cleaning of the indoor ground by the mop. The cleaning robot 1 works in the working area and completes tasks such as mopping and sweeping the floor. When the cleaning robot 1 needs to return to the base station, such as when it is detected that the cleaning module 12 needs to be replaced or the cleaning robot 1 needs to be charged, the return to the base station program is started to clean The robot 1 returns to the base station to complete the mop automatic replacement action and/or the charging action.

In this embodiment, as shown in FIGS. 1 to 15, the cleaning robot 1 takes an automatic mopping machine as an example. The moving module 11 supports the fuselage 10 and drives the cleaning robot 1 to move, and is arranged at the rear end of the fuselage 10. In this embodiment, the moving module 11 specifically includes two driving wheels 110 located on both sides of the rear of the cleaning robot 1, which can be independently driven by the power module 13. Such an arrangement can control the traveling speed and direction of the mobile module 11 by controlling the speed and the speed difference of the two driving wheels 110, so that the walking and steering of the cleaning robot 1 are flexible and accurate. The mobile module 11 may have other forms, such as a crawler type.

The power module 13 provides power for the movement and work of the cleaning robot 1. Specifically, it includes a motor located in the cleaning robot 1 and a transmission structure connected with the motor to provide power for the mobile module 11. The transmission mechanism is connected to the mobile module 11, the motor drives the transmission mechanism to work, and the transmission action of the transmission mechanism makes the mobile module 11 move. The moving module 11 receives instructions from the control module, and drives the cleaning robot 1 to walk automatically on the work surface.

The control module 9 is the control center of the cleaning robot 1, and is electrically connected to the power module 13, the energy module 8, the mobile module 11, the cleaning module 12, etc., and receives information from each module. The control module 9 controls the moving module 11 to automatically drive the cleaning robot 1 to move automatically, and controls the cleaning module 12 to work automatically, and controls the cleaning robot 1 to perform various actions or tasks such as working area switching, returning to the base station, and charging. The control module can be an embedded digital signal processor (Digital Signal Processor, DSP), a microprocessor (Micro Processor Unit, MPU), a specific integrated circuit (Application Specific Integrated Circuit, ASIC), and a programmable logic device (Programmable Logic Device, PLD) System on Chip (SOC), Central Processing Unit (CPU) or Field Programmable Gate Array (FPGA), etc.

The energy module 8 provides energy for the movement and work of the cleaning robot 1. The energy module 8 may be a rechargeable battery pack that provides power for the operation of the cleaning robot 1, and the energy module may have a charging or discharging protection unit, which can protect the charging or discharging of the energy module.

The cleaning module 12 is installed on the body 10. The cleaning module 12 includes a mopping module 120, wherein the mopping module 120 includes a mopping floor and a mop detachably installed on the mopping floor. In this embodiment, the mopping module 120 is arranged below the front of the fuselage 10. Of course, the mopping module 120 can also be arranged at a position lower and front of the middle of the fuselage 10. In other embodiments, the mopping module 120 is also It can be arranged below the rear of the fuselage 10 according to requirements. Generally, the mopping module 120 is installed in the middle and front of the fuselage 10 to clean the ground as soon as possible to prevent dust on the ground from polluting other areas of the cleaning robot. In this embodiment, the mopping module 120 and the moving module 11 are respectively located at opposite ends of the body 10, for example, the mopping module 120 is arranged forward, and the moving module 11 is arranged backward to support the body 10 stably. The surface of the working area, the mopping module 120 compacts the surface of the working area, and avoids being set on the same side as the mobile module 11 to cause the mop to be driven by the mobile module 11, and the mop cannot compact the ground, causing problems such as uncleanliness of the working area. Further, the cleaning robot 1 further includes a liquid tank, and the control module 9 controls the liquid tank to supply liquid to the mopping module when the cleaning robot mops the floor, so as to wet the ground.

In another embodiment, the cleaning robot 1 is an automatic sweeping and mopping integrated machine, including a dust collecting device and a cleaning module, wherein the cleaning module 12 includes a mopping module 120, a rolling brush and a side brush. In one embodiment, the mopping module 120 is arranged in the front part of the body 10, between the roller brush and the roller brush and the driving wheel 110. Such a layout facilitates the cleaning robot 1 to sweep the floor first and then mop the floor, thereby enhancing the cleaning effect. The rolling brush and side brush mechanism adopts the common rolling brushes and side brushes in the industry, which are used to clean the dust and other debris on the ground, corners, etc.; the dust collection device includes a dust box, a fan and other components, which use the fan to generate suction to remove The dust scraps cleaned by brushes, rolling brushes, etc. are collected in the dust box.

In this embodiment, the target detection device 3 includes an elastic member 33 for providing a restoring force to the movable member 32, so that the movable member 32 returns to the original position when the external force is eliminated, so that the elastic member 33 provides a restoring force so that The return of the movable member 32 to the original position is described in detail. Of course, in other embodiments, the movable member 32 can also be restored to the original position by its own gravity or other restoring force.

As shown in FIGS. 1 to 14, one end of the elastic member 33 abuts against the body 10, and the other end abuts against the movable member 32. As shown in Figures 5 and 6, the fuselage 10 includes a fuselage body 101 and a positioning portion 102 fixed to the fuselage body 101 and used to resist one end of the elastic member 33, and one end of the elastic member 33 resists Positioning unit 102. Specifically, the positioning portion 102 may be a separate part, which is fixed to the main body 101 of the fuselage through a fastener or an adhesive material or the like. In another embodiment, the positioning portion 102 may also be a part of the fuselage 10, for example, the positioning portion 102 and the fuselage body 101 are integral parts.

The movable member 32 includes a trigger portion 321 for triggering the detection element 31, a resisting portion 322 for resisting the elastic member 33, and a contact portion 325 exposed outside the fuselage and used for contacting a target object. When the movable member 32 moves upward by an external force, the resisting portion 322 also moves upward, compressing the elastic member 33. When the external force received by the movable member 32 is eliminated, the elastic member 33 is compressed to generate a restoring force, pushing the resisting The portion 322 moves downward, so that the movable member 32 returns to the original position. The elastic member 33 can be a spring, a torsion spring, an elastic gasket, and so on. In this embodiment, in order to detect softer objects such as carpets, the external force generated when the softer objects collide is relatively small, so the elastic resistance of the elastic member 33 is generally less than 5N, so that the movable member 32 touches the softer carpet, etc. The elastic member 33 can be easily compressed to trigger the detection element 31 when the object is in the same state.

The contact portion 325 is located on at least one of the outer surfaces of the movable member 32. At least one of the outer surfaces of the movable member 32 includes a contact portion 325. When the cleaning robot 1 encounters a target object, the contact portion 325 will When the target object is touched (in contact with the target object), the force exerted by the target object on the movable member 32 is obtained. Compared with the fuselage 10, the movable member 32 is movable, but its movement is also restricted to limit the range of its movement. The movable part 32 can move or rotate compared to the main body 10 to realize its mobility compared to the main body 10, and then the movement of the movable part 32 realizes that the triggering part 321 triggers the detection element 31 and does not trigger the detection. Switch between elements 31.

As shown in FIGS. 5 to 6, the movable member 32 further includes a fixed portion 323 fixed on the body 10, and the movable member 32 can rotate around the fixed portion 323, so that the trigger portion 321 is in the trigger detection element 31 and does not trigger Switch between detection elements 31. In another embodiment, as shown in FIGS. 7 to 8, the movable member 32 may also move compared to the body 10, so that the trigger portion 321 is located between the trigger detection element 31 and the non-trigger detection element 31 Switching. In this embodiment, only parallel movement is taken as an example. In other embodiments, non-parallel movement may also be used. The fuselage 10 also includes a limit part 103 for limiting the range of motion of the movable part 32. The limit part 103 limits the range of motion of the movable part 32, and the movable part 32 is between the original position and the end position of the range of motion. Movement to realize that the triggering part 321 switches between triggering the detecting element 31 and not triggering the detecting element 31. For example, as shown in FIG. 8, when the movable member 32 moves to the end position of the movement range, the triggering portion 321 triggers the detection element 31; as shown in FIG. 7, when the movable member 32 moves to the original position of the movement range, The trigger part 321 does not trigger the detection element 31. The limiting portion 103 may be a part of the fuselage 10, that is, a structure integrated with the fuselage body 101; of course, the limiting portion 103 may also be a separate component fixed to the fuselage body 101.

In this embodiment, when the movable member 32 receives an external force applied by the target object 5, the trigger portion 321 moves upward to trigger the detection element 32. The upward movement of the trigger portion 321 refers to the upward displacement of the trigger portion 321 before and after the movement, including rotation upward or movement upward. For example, the movable member 32 rotates to drive the triggering portion 321 to move upward, or the movable member 32 moves, and the triggering portion 321 is driven to move upwards. In the above case, the triggering portion 321 has both before and after movement. The upward displacement is therefore referred to as the upward movement of the trigger portion 321.

The detection element 31 can be of different switch types. For example, as shown in Figs. 5 to 8, the detection element 31 can be a photoelectric switch, which is triggered by the blocking or reflection of the light beam by the trigger part 321; it can also be shown in Fig. 9 As shown in FIG. 10, the detection element 31 is a micro switch, and the action reed 311 of the micro switch is pushed by the trigger portion 321 to trigger the closing of the micro switch; of course, in other embodiments, the detection element 31 may also be Other types of switches, such as Hall switches, reed switches, etc., will not be illustrated one by one in this application.

As shown in FIGS. 1 and 2, the target detection device 3 is disposed under the fuselage 10, and the lower end of the movable member 32 protrudes below the fuselage 10 and faces the ground. When the movable part 32 is in the original position, the height of its lower end from the ground is H1. When there is an object with a height greater than H1 on the ground, the trigger part 321 can be pushed upwards to trigger the detection element 31, and the control module 9 follows the detection element 31 According to the detection result of, it is determined whether the cleaning robot 1 encounters an object within the preset height range, where the minimum value of the preset height range is H1. In one embodiment, H1 is not less than 4mm, because the dust with larger particles on the ground may generally reach 3mm in height, but generally does not exceed 4mm. In this embodiment, H1 is controlled to be not less than 4mm to prevent the cleaning robot from encountering Larger dust particles also trigger the detection element, making it impossible to remove the dust. Of course, in other embodiments, H1 can also be set to be not less than 3 mm or even smaller (for example, H1 is not less than 2.5 mm or 2 mm, etc.). Of course, in other embodiments, H1 can also be set to not less than 1 mm.

In this embodiment, the cleaning robot 1 is an automatic mopping machine. When it is working automatically, the mop closely adheres to the ground. When the cleaning robot 1 encounters the carpet 5, if it continues to drive on the carpet 5, the mop of the automatic mopping machine will be It will closely adhere to the carpet 5, which will not only contaminate the carpet 5, but may also cause damage to the carpet. The target detection device 3 can be used to detect the carpet 5 and other target objects. When the target detection device 3 detects the carpet 5, the control module 9 controls the cleaning robot 1 not to drive on the carpet 5, so as to avoid pollution or damage to the carpet 5. Generally, the thickness h of the carpet 5 is about 5-12mm. When the cleaning robot 1 moves near the carpet, the height H1 from the lower end of the target detection device 3 to the ground is less than the thickness h of the carpet 5. Therefore, when the target detection device 3 When the lower end of the movable part 32 moves to the position where the carpet 5 is located, the lower end of the movable part 32 will touch the carpet 5, the carpet 5 exerts an external force on the movable part 32, the movable part 32 moves upward under the force, and the triggering part 321 triggers detection Component 31, the cleaning robot 1 judges that it encounters a target object (carpet 5 or other obstacles), and the control module 9 controls the cleaning robot 1 to execute corresponding instructions, for example, controls the cleaning robot 1 to back and turn to avoid the carpet 5 and avoid the cleaning robot 1 Drive to the carpet 5 to protect the carpet from contamination or damage.

In order to detect the target object at the first time, the target detection device 3 is arranged below at least one of the front, both sides, and the rear of the fuselage. In this embodiment, as shown in FIGS. 11 to 12, the cleaning robot 1 includes at least two target detection devices 3 arranged below both sides of the front of the fuselage 10, so as to realize that when the cleaning robot 1 moves forward and turns left and right At this time, the two target detection devices 3 located on both sides of the front part can quickly detect whether there is a target object in front of the movement direction. In an embodiment, the cleaning robot 1 may only be provided with two target detection devices 3 located below the two sides of the front of the fuselage 10, and the two target detection devices 3 can quickly detect the direction of the cleaning robot 1 When moving forward, whether there is a target object in front of its moving direction, it can also quickly detect whether there is a target object in front of its moving direction when the cleaning robot 1 turns, only two target detection devices 3 are needed to detect the cleaning robot at the same time When moving forward and turning, whether there is a target object in front of the moving direction, which reduces the cost and avoids occupying the space of the fuselage 10. The target detection device 3 is located in front of the mopping module, specifically, in front of the mop, to detect whether there is a target in front of the mopping module before the mop of the mopping module touches the target object such as the carpet 5, so as to prevent the mop from contacting the target object. Of course, in other embodiments, the cleaning robot 1 can also be equipped with other target detection devices 3 at its rear or other locations to accurately detect whether the cleaning robot 1 is located in various directions around the cleaning robot 1 when the cleaning robot 1 moves forward, backward, and turns. Target object.

As shown in FIGS. 1 and 3 to 10, the contact portion 325 is exposed outside the fuselage, so that when the cleaning robot 1 touches the target object, the contact portion 325 can contact the target object. In order to quickly contact the target object 5, the length and width of the contact portion 325 in the horizontal direction should not be too small. Generally, the length and width of the contact portion 325 should not be less than 20mm to avoid the contact portion 325 from being too small and failing to be detected. The target object; of course, the specific length and width of the contact portion 325 can also be set according to actual conditions. If the body 10 has insufficient space or the contact portion 325 is more sensitive, etc., the length and width of the contact portion 325 can also be set within 20 mm.

The contact portion 325 includes a curved or inclined surface with a low inside and a high outside, so that when the movable part 32 touches a target object such as a carpet, the target object such as the carpet exerts an upward force on the movable part 32, thereby driving the movable part 32 to move upward. The piece 32 moves upward to trigger the detection element 31. Specifically, at least one of the front surface and the outer surfaces on both sides of the movable member 32 is the contact portion 325. Therefore, at least one of the front surface and the outer surfaces on both sides of the movable member 32 includes an inner low and an outer high surface. Curved surfaces or inclined surfaces. In this embodiment, the front surface and the outer surfaces on both sides of the movable member 32 are curved surfaces or inclined surfaces with a low inner side and a high outer surface, so that when the cleaning robot 1 moves forward and turns, when it encounters objects such as carpets When it is an object, a target object such as a carpet exerts a force having an upward component force on the movable member 32, and then drives the movable member 32 to move upward to trigger the detection element 31. The angle between the tangent line of the inclined plane or curved surface and the horizontal line is not 90 degrees, and the angle between the tangent line and the horizontal line and the horizontal line may be 40-60 degrees (including 40 degrees and 60 degrees); of course, in other embodiments, it can also be It is any angle between 0-90 degrees (not including 0 degrees and 90 degrees).

In one embodiment, the contact portion 325 is approximately conical. As shown in FIGS. 3-9, the contact portion 325 includes a number of inclined surfaces or curved surfaces, and these inclined surfaces or curved surfaces enclose an approximate cone shape; of course, in other In the embodiment, depending on the number and positions of the inclined surfaces or curved surfaces, the contact portion 325 may also have other shapes.

Generally, the cleaning robot 1 works in the user's home or other indoor working environment. In the working area of the cleaning robot 1, except when the height of the carpet 5 is greater than the height of the movable part 32 in the original position, the height of the lower end of the robot 1 from the ground is H1. , There are other objects whose height is greater than the height H1 of the lower end of the movable member 32 from the ground when the movable member 32 is in the original position, for example, indoor door sills or other obstacles. In general, most objects in the working area whose height is greater than H1 should be avoided by the cleaning robot 1. Therefore, in most cases when the detection element is triggered, the control module 9 controls the cleaning robot 1 to execute when it encounters the carpet. 5 The same instruction (for example, to control the cleaning robot 1 to move back and turn).

However, in the working area of the cleaning robot 1, there are some specific objects that cannot be avoided and need to be driven over the surface, such as thresholds and other specific objects. When the cleaning robot 1 is working indoors, it needs to clean several small working areas separated by a threshold or other specific objects. At this time, the cleaning robot must cross the threshold or other specific objects.

The cleaning robot 1 often needs to cross the threshold to enter another small working area from one small working area and continue to perform the cleaning task. In this embodiment, as shown in FIG. 15, the cleaning robot 1 further includes an auxiliary judgment module 4 for judging whether the current object is a specific object, and the control module 9 controls the state of the cleaning robot according to the judgment result of the auxiliary judgment module 4. The cleaning robot 1 includes an object detection valid state and an object detection invalid state. In the object detection valid state, the control module 9 controls the state of the cleaning robot according to the detection result of the target detection device 3; in the object detection invalid state, the control module 9 does not The state of the cleaning robot 1 is controlled based on the detection result of the target detection device 3. When the auxiliary judgment module judges that the current object (the object currently detected) is a specific object, the control module 9 controls the cleaning robot 1 to be in an object detection invalid state. For example, when the auxiliary judgment module 4 judges that the current target object detected by the target detection device 3 is a specific object 7 such as a threshold, the control module 9 controls the cleaning robot 1 to be in an object detection invalid state, and further, the cleaning robot 1 does not perform backing, Turn and other actions, but continue to move forward to cross certain objects such as thresholds and enter another small work area. The above-mentioned auxiliary judgment module 4 can assist in judging whether the current object is a specific object by means of mapping, APP partitioning, vision, etc., for example, by pre-storing the specific area where the specific object is located, and if the current object is located in the specific area, determine the current object For a specific object 7, the control module 9 controls the cleaning robot 1 to be in the object detection invalid state. At this time, the control module 9 does not control the state of the cleaning robot 1 according to the detection result of the target detection device 3; and the current object is not located in the specific area, Then, it is determined that the current object is not the specific object 7, and the control module 9 controls the cleaning robot 1 to be in the object detection effective state. At this time, the control module 9 controls the state of the cleaning robot according to the detection result of the target detection device 3. In another embodiment, the judgment can also be assisted by visually identifying whether the current object is a specific object, etc. Of course, in other embodiments, the judgment can also be assisted by other methods.

The cleaning robot 1 also includes a liftable auxiliary wheel 6 arranged under the body. When the auxiliary determination module 4 determines that the current object is a specific object 7, the control module 9 controls the auxiliary wheel 6 to descend to touch the ground. As shown in Figures 13 to 14, when the target detection device 3 touches a specific object 7 such as a threshold, at this time, the auxiliary determination module 4 determines that the current target object is the specific object 7. At this time, the control module 9 controls the cleaning robot 1 to be in Object detection invalid state, the control module 9 controls the cleaning robot 1 not to control the state of the cleaning robot 1 according to the detection result of the target detection device 3, but to continue to perform the original action (for example, continue to move forward), and at the same time, the auxiliary wheel 6 Descend to touch the ground. As shown in FIG. 13, the auxiliary wheel 6 directly touches the ground, and the target detection device 3 is still H1 away from the ground. The lowest point of the auxiliary wheel 6 is always lower than the lowest point of the target detection device 3. Therefore, as shown in FIG. 14, when the cleaning robot 1 drives on a specific object 7, such as a threshold, and the auxiliary wheel 6 is supported by a specific object 7, such as a threshold, the target detection device 3 will not touch the specific object 7, such as a threshold. , The cleaning robot 1 can drive on certain objects 7 such as door sills under the support of the auxiliary wheels 6 without being blocked by the target detection device 3.

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

Obviously, the foregoing embodiments are merely examples for clear description, and are not intended to limit the implementation manner. For those of ordinary skill in the art, other changes or modifications in different forms can be made on the basis of the above description. It is unnecessary and impossible to list all the implementation methods here. The obvious changes or changes derived from this are still within the protection scope of this application.

Claims

A cleaning robot includes:

body;

A mobile module that supports the body and drives the cleaning robot to move on the work surface;

The cleaning module is used to install on the fuselage and perform cleaning work on the working surface;

A control module, which controls the movement module to automatically drive the cleaning robot to move;

The power module provides power for the mobile module; it is characterized in that:

The cleaning robot further includes a target detection device arranged under the body and used to detect a target object protruding from the working surface. The target detection device includes a detection element and a device for triggering the detection element. A movable part and an elastic part for providing a restoring force to the movable part, the movable part is movable under the action of an external force to trigger the detection element; the front surface and both sides of the movable part are leaning against At least one of the outer surfaces includes a curved surface or an inclined surface with an inner low and an outer high;

The movable part is movable between the original position and the end position. When the movable part is not in contact with the target object, the movable part is located in the original position; when the movable part is in contact When the target object, the movable part is moved from the original position to the end position by the external force applied by the target object to trigger the detection element; when the movable part separates from the target object When in contact, the movable part returns to the original position from the termination position;

The cleaning robot further includes an auxiliary judgment module for judging whether the current object is a specific object, and the control module controls the state of the cleaning robot according to the judgment result of the auxiliary judgment module;

The cleaning robot further includes a liftable auxiliary wheel arranged under the body, and when the auxiliary judgment module determines that the current object is a specific object, the control module controls the auxiliary wheel to descend to touch the ground;

The cleaning robot includes an object detection valid state and an object detection invalid state. In the object detection valid state, the control module controls the state of the cleaning robot according to the detection result of the target detection device. In the detection invalid state, the control module does not control the movement state of the cleaning robot according to the detection result of the target detection device; when the auxiliary judgment module judges that the current object is a specific object, the control module controls The cleaning robot is in an object detection invalid state.
A cleaning robot includes:

body;

A mobile module that supports the body and drives the cleaning robot to move on the work surface;

The cleaning module is used to install on the fuselage and perform cleaning work on the working surface;

A control module, which controls the movement module to automatically drive the cleaning robot to move;

The power module provides power for the mobile module; it is characterized in that:

The cleaning robot also includes a target detection device arranged under the body and used to detect a target object protruding from the working surface, the target detection device including a detection element, and a detection element for triggering the detection element The movable part is movable under the action of external force to trigger the detection element.
The cleaning robot according to claim 2, wherein the movable part is movable between the original position and the end position, and when the movable part is not in contact with the target object, the movable part When the movable member is in the original position; when the movable member contacts the target object, the movable member is moved from the original position to the end position by the external force exerted by the target object to trigger the detection Element; when the movable part is out of contact with the target object, the movable part returns to the original position from the end position.
The cleaning robot according to claim 2, wherein the movable member includes a triggering part for triggering the detection element.
The cleaning robot according to claim 4, wherein the movable part is movable compared to the body, so that the trigger part is between triggering the detection element and not triggering the detection element Switch.
The cleaning robot according to claim 4, wherein the movable part further comprises a fixed part fixed to the body, and the movable part can rotate around the fixed part to make the trigger The section switches between triggering the detection element and not triggering the detection element.
The cleaning robot according to claim 3 or 4 or 5 or 6, characterized in that: the body further comprises a limit part for limiting the range of movement of the movable part.
4. The cleaning robot according to claim 4, wherein when the movable part receives an external force applied by the target object, the triggering part moves upward to trigger the detection element.
The cleaning robot according to claim 2, wherein when the movable part is in the original position, the distance between the lower end of the movable part and the ground is not less than 4 mm.
The cleaning robot according to claim 2, wherein the target detection device includes a device for providing a restoring force to the movable part so that the movable part returns to the original when the external force is eliminated. Position of the elastic piece.
The cleaning robot according to claim 10, wherein one end of the elastic member is against the body, and the other end is against the movable member.
The cleaning robot according to claim 11, wherein the body includes a body body and a positioning part fixed on the body body and used to abut one end of the elastic member.
The cleaning robot according to claim 11, wherein the movable member further comprises a resisting portion for resisting the elastic member.
The cleaning robot according to claim 2, wherein after the external force is eliminated, the movable member returns to the original position under the action of its own gravity.
3. The cleaning robot according to claim 2, wherein the target detection device is arranged below at least one of the front, both sides, and the rear of the body.
15. The cleaning robot according to claim 15, wherein the cleaning robot includes at least two target detection devices arranged below both sides of the front part of the fuselage.
The cleaning robot according to claim 2, wherein the movable part further comprises a contact part exposed outside the body for contact with the target object, and the contact part includes an inner low and an outer high Curved or inclined surface.
The cleaning robot according to claim 17, wherein at least one of the front surface and the outer surfaces on both sides of the movable member comprises a curved surface or an inclined surface with a low inside and a high outside.
The cleaning robot according to claim 2, wherein the contact portion is tapered.
The cleaning robot according to claim 2, wherein the control module controls the movement state of the cleaning robot according to the detection result of the detection element.
The cleaning robot according to claim 2, wherein the cleaning robot further comprises an auxiliary judgment module for judging whether the current object is a specific object, and the control module controls the auxiliary judgment module according to the judgment result of the auxiliary judgment module. The state of the cleaning robot.
22. The cleaning robot according to claim 21, wherein the cleaning robot further comprises a liftable auxiliary wheel arranged under the body, and when the auxiliary judgment module judges that the current object is a specific object, The control module controls the auxiliary wheel to descend to touch the ground.
The cleaning robot according to claim 21, characterized in that: the cleaning robot includes an object detection valid state and an object detection invalid state, in the object detection valid state, the control module according to the object detection device The detection result controls the state of the cleaning robot. In the object detection invalid state, the control module does not control the movement state of the cleaning robot according to the detection result of the target detection device.
23. The cleaning robot according to claim 23, wherein when the auxiliary determination module determines that the current object is a specific object, the control module controls the cleaning robot to be in an object detection invalid state.
The cleaning robot according to claim 2, wherein the cleaning module comprises a mopping module.
The cleaning robot according to claim 25, wherein the mopping module comprises a mopping floor and a mop detachably installed on the mopping floor.
The cleaning robot according to claim 25, wherein the cleaning robot further comprises a liquid tank, and the control module controls the liquid tank to supply liquid to the mopping module when the cleaning robot is mopping the floor.
The cleaning robot according to claim 2, wherein the target detection device is used to detect carpets.
The cleaning robot according to claim 2, wherein when the movable part is in the original position, the distance between the lower end of the movable part and the ground is not less than 2 mm.