WO2023193582A1 - Cleaning robot - Google Patents

Abstract

A cleaning robot, comprising: a machine body (10); a driving system (30), the driving system (30) being arranged on the machine body (10); a cleaning system (20), the cleaning system (20) being arranged on the machine body (10), the cleaning system (20) comprising a cleaning head (21) and a liquid supply part (22), and the liquid supply part (22) feeding a cleaning liquid into the cleaning head (21); a recovery system (40), the recovery system (40) being arranged on the machine body (10), and a doctor blade (42) removing the residue on the cleaning head (21) by interfering with the cleaning head (21), so as to achieve collection by a collection part (41); a detection system (60), the detection system (60) being arranged on the machine body (10); and a control system (80), the control system (80) being connected to the cleaning system (20), the driving system (30), and the detection system (60), and the control system (80) being capable of controlling at least one of the cleaning system (20) and the driving system (30) according to information fed back by the detection system (60), so that a cleaning mode and a travel route of the cleaning robot can be controlled.

Description

cleaning robot

Cross-references to related applications

This disclosure claims priority to the Chinese patent application entitled "Cleaning Robot" with application number 202210369184.3 filed on April 8, 2022, the entire content of which is incorporated herein by reference.

Technical field

The present disclosure relates to the field of smart home technology, and in particular to a cleaning robot.

Background technique

Most of the cleaning robots in the related art are sweeping robots. When the cleaning robot performs a cleaning task, the cleaning head of the cleaning robot achieves effective cleaning of the ground.

Contents of the invention

The present disclosure provides a cleaning robot to improve the performance of the cleaning robot.

The present disclosure provides a cleaning robot, including:

Machine body;

The drive system is installed on the machine body to drive the cleaning robot to run on the work surface;

The cleaning system is installed on the machine body. The cleaning system includes a cleaning head and a liquid supply part. The liquid supply part sends cleaning liquid into the cleaning head;

The recovery system is arranged on the machine body. The recovery system includes a collection part and a scraper. The scraper is in contact with the cleaning head. The scraper removes the residue on the cleaning head through interference with the cleaning head to be collected by the collection part. collect;

Detection system, the detection system is retractably arranged on the machine body;

A control system is connected to the cleaning system, the control system is connected to the drive system, the control system is connected to the detection system, and the control system can control at least one of the cleaning system and the drive system based on information fed back by the detection system.

In one embodiment of the present disclosure, at least part of the detection system can extend from the outer edge of the machine body, so that the detection system has a retracted state retracted in the machine body and an extended state extending out of the machine body, and the control system can control Detects system movement between contracted and extended states.

In one embodiment of the present disclosure, the machine body includes a forward portion, and the detection system is telescopically disposed on the forward portion.

In one embodiment of the present disclosure, the forward portion is generally rectangular, and the detection system is disposed at a corner position of the forward portion.

In one embodiment of the present disclosure, the detection system has a detection viewing angle toward the work surface.

In one embodiment of the present disclosure, when the detection system detects that the working surface has a depression or the material of the working surface changes, the control system controls the cleaning system or the driving system to change the working state.

In one embodiment of the present disclosure, the detection system includes an ultrasonic sensor or an infrared sensor.

In one embodiment of the present disclosure, there are multiple detection systems.

In one embodiment of the present disclosure, the liquid supply part and the collection part are overlapped.

In one embodiment of the present disclosure, the liquid supply part is located above the collection part.

In one embodiment of the present disclosure, the machine body includes a fixed bracket, the fixed bracket is formed with an accommodation cavity, the cleaning head is located in the accommodation cavity, the fixed bracket is provided with a liquid supply channel, and the liquid supply part sends cleaning liquid into the liquid supply channel through the liquid supply channel. cleaning head;

Wherein, the collection part is connected with the accommodation cavity.

In one embodiment of the present disclosure, the liquid supply channel includes a liquid inlet and a liquid outlet, the liquid inlet is connected with the liquid supply part, and the liquid outlet is used to send cleaning liquid into the cleaning head;

There are multiple liquid outlets, and the plurality of liquid outlets are spaced apart in a direction parallel to the cleaning head.

In one embodiment of the present disclosure, the scraper strip is parallel to the cleaning head.

In one embodiment of the present disclosure, the scraper is provided with a water suction port, and the water suction port is connected with the collection part.

In one embodiment of the present disclosure, the recycling system further includes:

The power part is in pneumatic communication with the collection part to collect the residue to the collection part.

In one embodiment of the present disclosure, the collection part includes an inlet and an outlet, and the cleaning robot further includes:

The blocking component is arranged on the machine body, and at least part of the position of the blocking component is adjustably arranged to close or release the inlet and outlet of the collection part.

In one embodiment of the present disclosure, the blocking assembly includes:

link;

The first blocking piece is arranged on the connecting rod;

a second blocking member, the second blocking member is arranged on the connecting rod;

Wherein, the connecting rod is movably arranged relative to the machine body, so that the first blocking member and the second blocking member respectively close or release the inlet and outlet of the collection part.

In one embodiment of the present disclosure, the control system is connected to the blocking component to control the blocking component to close or release the inlet and outlet of the collection part.

In one embodiment of the present disclosure, the cleaning system further includes:

Auxiliary cleaning head, the part of the auxiliary cleaning head overlaps with the cleaning head.

In one embodiment of the present disclosure, the outer edge of the auxiliary cleaning head extends beyond the outer edge of the machine body.

In one embodiment of the present disclosure, the machine body defines a transverse axis and a longitudinal axis, the cleaning head is rotatably disposed about the first axis, and the auxiliary cleaning head is rotatably disposed about the second axis;

Wherein, both the cleaning head and the scraper strip are parallel to the transverse axis, or there are preset clamps between the cleaning head and the scraper strip and the transverse axis.

In one embodiment of the present disclosure, the detection system is disposed adjacent to the auxiliary cleaning head, and at least part of the detection system is located directly above the auxiliary cleaning head.

Description of the drawings

The various objects, features and advantages of the present disclosure will become more apparent by considering the following detailed description of preferred embodiments of the present disclosure in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, like reference numbers refer to the same or similar parts throughout. in:

Figure 1 is a schematic structural diagram of a cleaning robot from a first perspective according to an exemplary embodiment;

Figure 2 is a schematic structural diagram of a cleaning robot from a second perspective according to an exemplary embodiment;

Figure 3 is a schematic structural diagram of a cleaning robot from a second perspective according to an exemplary embodiment;

Figure 4 is a schematic structural diagram of a liquid supply part of a cleaning robot according to an exemplary embodiment;

Figure 5 is a schematic structural diagram of a collection part of a cleaning robot according to an exemplary embodiment;

Figure 6 is a schematic structural diagram of a blocking component of a cleaning robot according to an exemplary embodiment;

Figure 7 is a schematic structural diagram of the inlet and outlet of a cleaning robot collection part according to an exemplary embodiment;

Figure 8 is a schematic structural diagram of a fixed bracket of a cleaning robot from one perspective according to an exemplary embodiment;

Figure 9 is a schematic structural diagram of a fixed bracket of a cleaning robot from another perspective according to an exemplary embodiment;

Figure 10 is a schematic structural diagram of a scraper strip of a cleaning robot from one perspective according to an exemplary embodiment;

Figure 11 is a schematic structural diagram of a scraper strip of a cleaning robot from another perspective according to an exemplary embodiment;

Figure 12 is a schematic structural diagram of a collection part of a cleaning robot according to an exemplary embodiment;

Figure 13 is a schematic structural diagram of a blocking component of a cleaning robot according to an exemplary embodiment;

Figure 14 is a schematic structural diagram of a blocking component of a cleaning robot according to another exemplary embodiment;

Figure 15 is a schematic view of a partial structure of a cleaning robot according to another exemplary embodiment;

Figure 16 is a schematic diagram of a partial structure of a cleaning robot from another perspective according to another exemplary embodiment;

Figure 17 is a schematic structural diagram of a liquid supply part and a collection part of a cleaning robot according to an exemplary embodiment.

The reference symbols are explained as follows:
10. Machine body; 11. Fixed bracket; 111. Liquid inlet; 112. Liquid outlet; 113. Accommodating cavity; 114.
Through hole; 12. Forward part; 13. Rearward part; 20. Cleaning system; 21. Cleaning head; 22. Liquid supply part; 221. Water inlet; 23. Auxiliary cleaning head; 231. Wet auxiliary cleaning head; 232 , main part; 24. water pump; 30. drive system; 31. first driving wheel module; 32. second driving wheel module; 33. driven wheel; 40. recovery system System; 41. Collection part; 411. Inlet; 412. Exit; 413. Drainage outlet; 414. Main body; 415. Extension part; 42. Scraper; 421. Water suction port; 43. Power part; 50. Blocking component; 51. Connecting rod; 52. First blocking member; 53. Second blocking member; 54. Driving part; 55. Ejector; 56. Elastic member; 57. Seal; 60. Detection system; 70. Sensing system ; 71. Position determination device; 72. Buffer; 80. Control system; 90. Energy system; 100. Human-computer interaction system.

Detailed ways

Typical embodiments embodying the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various changes in different embodiments without departing from the scope of the present disclosure, and the description and drawings are for illustrative purposes in nature and are not used to limit the present disclosure. public.

In the following description of various exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part hereof and which illustrate by way of example various exemplary structures, systems, and steps that may implement aspects of the present disclosure. . It is to be understood that other specific arrangements of components, structures, exemplary devices, systems and steps may be utilized, and structural and functional modifications may be made without departing from the scope of the present disclosure. Furthermore, although the terms "on," "between," "within," etc. may be used in this specification to describe various exemplary features and elements of the present disclosure, these terms are used herein for convenience only, such as in accordance with Orientation of the example in the attached figure. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of a structure to fall within the scope of this disclosure.

As shown in Figures 1 to 17, the cleaning robot includes a machine body 10, a cleaning system 20, a driving system 30, a recovery system 40, a blocking component 50, a detection system 60, a sensing system 70, a control system 80, an energy system 90 and a human Computer interaction system 100.

As shown in Figure 1, the machine body 10 includes a forward portion 12 and a rearward portion 13, which has an approximately circular shape (both front and rear are circular), and can also have other shapes, including but not limited to an approximately D-shape with a round front and rear. Shape and rectangular or square shape at the front and rear.

As shown in FIG. 1 , the sensing system 70 includes a position determining device 71 located on the machine body 10 , a collision sensor provided on the buffer 72 of the forward portion 12 of the machine body 10 , and a proximity sensor provided on the machine body 10 , the cliff sensor provided at the lower part of the machine body, and the magnetometer, accelerometer, gyroscope, odometer and other sensing devices provided inside the machine body 10 are used to provide various position information and motion status of the machine to the control system 80 information. The position determining device 71 includes but is not limited to a camera and a laser distance measuring device (LDS, full name: Laser Distance Sensor).

As shown in Figure 1, the forward portion 12 of the machine body 10 can carry a buffer 72. When the driving system 30 propels the cleaning robot to walk on the ground during the cleaning process, the buffer 72 detects the impact of the cleaning robot via a collision sensor provided thereon. For one or more events in the traveling path, the cleaning robot can pass the events detected by the buffer 72, such as obstacles and walls, and the control drive system 30 causes the cleaning robot to respond to the event, such as moving away from the obstacles.

The control system 80 is disposed on the circuit mainboard in the machine body 10 and includes a computing processor, such as a central processing unit and an application processor, that communicates with non-transitory memories, such as hard disks, flash memories, and random access memories. The processor uses positioning algorithms, such as Simultaneous Localization and Mapping (SLAM, full name: Simultaneous Localization And Mapping), based on the obstacle information fed back by the laser ranging device to draw a real-time map of the environment where the cleaning robot is located. And combined with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices installed on the buffer 72, the current working state and location of the cleaning robot are comprehensively determined. As well as the current position and posture of the cleaning robot, such as crossing a threshold, getting on the carpet, being on a cliff, being stuck above or below, being filled with dust bins, being picked up, etc., specific next action strategies will also be given for different situations. This enables the cleaning robot to have better cleaning performance and user experience.

The cleaning robot provided by the embodiment of the present disclosure includes a machine body, a driving system, a cleaning system, a recovery system, a detection system and a control system. The cleaning system includes a cleaning head and a liquid supply part, and the liquid supply part sends cleaning liquid into the cleaning head. The control system can control at least one of the cleaning system and the driving system based on the information fed back by the detection system, thereby controlling the cleaning mode and operating route of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot and improving the performance of the cleaning robot.

As shown in FIGS. 2 and 3 , the drive system 30 may maneuver the machine body 10 to travel across the ground based on drive commands with distance and angle information (eg, x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32 . The first drive wheel module 31 and the second drive wheel module 32 are arranged along the transverse axis defined by the machine body 10 . In order for the cleaning robot to move more stably on the ground or have stronger movement ability, the cleaning robot may include one or more driven wheels 33 , and the driven wheels include but are not limited to universal wheels. The driving wheel module includes the traveling wheel and the driving motor as well as the control circuit for controlling the driving motor. The driving wheel module can also be connected to the circuit for measuring the driving current and the odometer. The driving wheel module can be detachably connected to the machine body 10 to facilitate disassembly, assembly and maintenance. The drive wheel may have an offset drop suspension system, movably fastened, such as rotatably attached, to the machine body 10 and receive a spring bias biased downwardly and away from the machine body 10 . The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning element of the cleaning robot also contacts the ground with a certain pressure.

The machine body 10 defines a transverse axis and a longitudinal axis, which are perpendicular to each other. The transverse axis and the longitudinal axis can be understood as the transverse centerline and the longitudinal centerline of the machine body 10 respectively.

Energy system 90 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit. The charging control circuit, battery pack charging temperature detection circuit, and battery under-voltage monitoring circuit are then connected to the microcontroller control circuit. The cleaning robot can be charged by connecting the charging electrodes set on the side, bottom or top of the fuselage to the charging pile.

The human-computer interaction system 100 includes buttons on the host panel for the user to select functions; it may also include a display screen and/or indicator lights and/or a speaker. The display screen, indicator lights, and speaker show the user the current status of the machine or Function options; can also include mobile client programs. For path navigation automatic cleaning equipment, the mobile client can show users a map of the environment where the equipment is located, as well as the location of the machine, and provide users with richer and more user-friendly functions.

In the cleaning robot provided by the embodiment of the present disclosure, the cleaning system 20 is arranged on the machine body 10. The cleaning system 20 includes a cleaning head 21. The transverse axis of the machine body 10 and the cleaning head 21 form a preset angle, so that cleaning can be achieved. machine When the robot passes through ground environments such as tile floor seams during advancement, the probability of the cleaning head 21 being stuck by the floor seams is reduced, thereby improving the cleaning efficiency of the cleaning robot and improving the performance of the cleaning robot. The preset included angle between the transverse axis and the cleaning head 21 may be an acute angle, and the preset included angle may range from 5 degrees to 70 degrees.

In the embodiment of the present disclosure, the cleaning system 20 may be a dry cleaning system, and the dry cleaning system may include a cleaning head 21, a dust box, a fan, an air outlet, etc. In the embodiment of the present disclosure, the cleaning head 21 can be a roller brush that can rotate around an axis parallel to the ground. The roller brush with certain interference with the ground sweeps up the garbage on the ground and entrains it between the roller brush and the dust box. In front of the dust suction port, the suction gas generated by the fan and passed through the dust box is sucked into the dust box. The dust removal ability of the cleaning robot can be characterized by the garbage cleaning efficiency (DPU, full name Dust pickup efficiency). The cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the relationship between the four. The wind utilization rate of the air duct composed of connecting components is affected by the type and power of the fan, which is a complex system design issue.

In the embodiment of the present disclosure, the cleaning system 20 may be a wet cleaning system. The cleaning head 21 includes a wet cleaning head. As shown in FIG. 4 , the cleaning system 20 also includes a liquid supply part 22 . The liquid supply part 22 sends cleaning liquid into the wet cleaning system. Clean the head. The cleaning head 21 can be disposed below the liquid supply part 22 , and the cleaning liquid inside the liquid supply part 22 is transmitted to the cleaning head 21 through the water supply mechanism, so that the cleaning head 21 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid supply part 22 can also be directly sprayed onto the surface to be cleaned, and the cleaning head 21 achieves cleaning of the surface by evenly applying the cleaning liquid.

In the embodiment of the present disclosure, the cleaning head 21 may be disposed at the bottom of the machine body 10. For example, the cleaning head 21 may be a cleaning pad disposed parallel to the surface to be cleaned. In this embodiment, the cleaning head 21 is used to clean the surface to be cleaned, and the driving system 30 is used to drive the cleaning head 21 to substantially reciprocate along the target surface, which is a part of the surface to be cleaned. The cleaning head 21 reciprocates along the surface to be cleaned. The contact surface between the cleaning head 21 and the surface to be cleaned is provided with a cleaning cloth or cleaning plate. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned. .

The higher the friction frequency, the more times there are frictions per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a cleaning capacity that is much greater than ordinary reciprocating motions, such as rotation and friction cleaning. Optionally, the friction frequency is close to sound waves. The cleaning effect will be much higher than that of dozens of rotations per minute. On the other hand, the tufts on the surface of the cleaning head 21 will be more uniform and extend in the same direction under the vibration of high frequency, so the overall cleaning effect is more uniform, instead of just being exerted downward pressure to increase under the condition of low frequency rotation. Friction improves the cleaning effect. Pressure alone does not make the hair tufts extend in nearly the same direction. The effect is reflected in the fact that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform and no messy water is left. stains. In other embodiments of the present disclosure, the cleaning head 21 may also be in a strip structure or the like. In the embodiment of the present disclosure, the cleaning head 21 may be a roller brush that can rotate about an axis parallel to the surface to be cleaned, as shown in FIG. 16 . The machine body 10 includes a fixed bracket 11. The cleaning head 21 is located in the fixed bracket 11. The fixed bracket 11 is provided with a liquid supply channel. The liquid supply part 22 sends cleaning liquid to the wet cleaning head through the liquid supply channel.

The liquid supply channel may be formed by a cavity formed inside the fixed bracket 11 . For example, a portion of the fixed bracket 11 may be hollow, thereby forming a liquid supply channel for circulating cleaning liquid. The liquid supply channel may be formed by a pipe body, so that the cleaning liquid in the liquid supply part 22 can be sent to the wet cleaning head, thereby ensuring that the cleaning head 21 effectively cleans the surface to be cleaned.

In the embodiment of the present disclosure, as shown in Figures 8 and 9, the liquid supply channel includes a liquid inlet 111 and a liquid outlet 112, The liquid inlet 111 is connected with the liquid supply part 22 , and the liquid outlet 112 is used to send cleaning liquid into the cleaning head 21 .

In the embodiment of the present disclosure, as shown in Figures 8 and 9, the fixed bracket 11 is provided with a liquid inlet 111 and a liquid outlet 112. One end of the liquid inlet 111 is located on the outer surface of the fixed bracket 11, and the liquid outlet 112 is located on the inner surface of the fixed bracket 11. The main part of the liquid supply channel can be disposed between the liquid inlet 111 and the liquid outlet 112, and the main part can be connected to multiple liquid outlets 112 at the same time, so that the liquid outlet 112 Used to send cleaning liquid into the cleaning head 21.

In the embodiment of the present disclosure, the fixed bracket 11 is formed with an accommodation cavity 113, and the liquid outlet 112 is located on the wall of the accommodation cavity 113. The liquid outlet 112 can be arranged at the top of the accommodation cavity 113, or the liquid outlet 112 It can be arranged on the side of the accommodation cavity 113, so that the cleaning liquid sent out from the liquid outlet 112 can be reliably sent to the cleaning head 21.

In the embodiment of the present disclosure, there may be multiple liquid outlets 112 , and the plurality of liquid outlets 112 are spaced apart in a direction parallel to the cleaning head 21 , thereby ensuring that the cleaning liquid can be evenly sent to various positions of the wet cleaning head. to ensure that the wet cleaning head can reliably clean the surface to be cleaned.

There may be one liquid inlet 111 of the liquid supply channel, and one liquid inlet 111 corresponds to all the liquid outlets 112 .

As an optional embodiment of the present disclosure, there can be at least two liquid inlets 111 of the liquid supply channel, and each liquid inlet 111 can correspond to multiple liquid outlets 112 respectively, so that the cleaning liquid can be reliably sent to the wet cleaning head. superior. The liquid inlet 111 may be formed by a columnar structure, thereby connecting a tubular structure for feeding cleaning liquid. The liquid outlet 112 may be a rectangular port, a circular port, or other polygonal structures, which are not limited here. The plurality of liquid outlets 112 are sequentially arranged in a direction parallel to the cleaning head 21 .

In the embodiment of the present disclosure, as shown in FIGS. 5 and 6 , the recovery system 40 is provided on the machine body 10 . The recovery system 40 includes a collection part 41 . The collection part 41 collects the cleaning head 21 and/or the cleaning head 21 and/or the surface to be cleaned. Residues can effectively clean the surface to be cleaned and ensure the cleanliness of the surface to be cleaned.

During the movement of the cleaning robot, the surface to be cleaned is cleaned by the rotation of the cleaning head 21. During this process, the residue on the surface to be cleaned can be adsorbed to the cleaning head 21, and the collection part 41 can collect this part of the residue. Collection is performed to ensure the cleanliness of the cleaning head 21. In addition, the collection part 41 can also collect residues on the surface to be cleaned, thereby cooperating with the cleaning head 21 to achieve reliable cleaning of the surface to be cleaned. Residues can be water, debris, etc., which are not limited here.

In the embodiment of the present disclosure, as shown in FIG. 3 , the recovery system 40 further includes: a scraper 42 , the scraper 42 is in contact with the cleaning head 21 , and the scraper 42 interferes with the cleaning head 21 to remove the scraper on the cleaning head 21 . The residue is removed to be collected by the collection part 41, thereby ensuring the cleanliness of the cleaning head 21, thereby ensuring effective cleaning of the surface to be cleaned.

Specifically, the scraper 42 can be a plate-like structure, and the plate-like structure interferes with the cleaning head 21 . During the rotation of the cleaning head 21 , the plate-like structure can remove the residue on the cleaning head 21 , thereby passing through the collection part 41 Collect, thereby ensuring that the residue adsorbed on the surface to be cleaned can be collected by the collection part 41 in time. The scraper 42 can be disposed on the machine body 10 . The scraper 42 is detachably arranged on the machine body 10 .

In the embodiment of the present disclosure, the scraper 42 is parallel to the cleaning head 21, so that the scraper 42 can reliably remove residues on the cleaning head 21 and facilitate the installation of the structure.

Specifically, the length of the scraper 42 can be equal to the length of the cleaning head 21 to ensure that the scraper 42 can completely connect with the cleaning head. On the basis of the interference of the heads 21, the scraper 42 can be prevented from occupying the space in the length direction, thereby ensuring the compactness of the structure.

As an optional embodiment of the present disclosure, the transverse axis of the machine body 10 is parallel to the cleaning head 21 , and the transverse axis of the machine body 10 is parallel to the scraper 42 .

In the embodiment of the present disclosure, as shown in FIGS. 10 and 11 , the scraper 42 is provided with a water suction port 421 , and the water suction port 421 is connected with the collection part 41 , thereby enabling the wastewater in the recovery system 40 to reliably pass through the water suction port 421 . Collected in the collection part 41.

Specifically, the water suction port 421 can face the cleaning head 21 . After the scraper 42 hangs the sewage on the cleaning head 21 , the sewage can stay along the scraper 42 and flow to the water suction port 421 , so that it can be collected through the recovery system 40 The sewage is pumped into the collection part 41 through the water suction port 421.

As an optional embodiment of the present disclosure, the water suction port 421 can be located on the side of the scraper 42 away from the cleaning head 21. A part of the scraper 42 can be used to collect sewage, and the water suction port 421 can pump the collected sewage into the collection part. 41.

In the embodiment of the present disclosure, as shown in FIG. 7 , the recovery system 40 further includes: a power part 43 , the power part 43 is in pneumatic communication with the collection part 41 to collect residues to the collection part 41 . Negative pressure can be generated between the power part 43 and the collecting part 41 , so that the residue on the surface to be cleaned and the residue on the cleaning head 21 can be sucked into the collecting part 41 . Specifically, the negative pressure generated between the power part 43 and the collection part 41 can suck the sewage into the collection part 41 through the water suction port 421. The power part 43 may be a fan.

In the embodiment of the present disclosure, as shown in FIG. 9 , the fixed bracket 11 is formed with an accommodating cavity 113 , the cleaning head 21 is located in the accommodating cavity 113 , and the collection part 41 is connected with the accommodating cavity 113 , so that residues can pass through the accommodating cavity 113 Then enter the collection part 41.

Specifically, the fixed bracket 11 is provided with a through hole 114 , the through hole 114 is connected with the collection part 41 , the through hole 114 is connected with the accommodating cavity 113 , and the residue scraped off by the cleaning head 21 by the scraper 42 is located on the fixed bracket 11 In the accommodation cavity 113 , the negative pressure generated between the power part 43 and the collection part 41 can draw the residue in the accommodation cavity 113 into the collection part 41 through the through hole 114 . As an optional embodiment of the present disclosure, the accommodation cavity 113 of the fixed bracket 11 can form a relatively sealed space with the surface to be cleaned. Therefore, the negative pressure generated between the power part 43 and the collection part 41 can remove the surface on the surface to be cleaned. The residue is drawn into the collecting part 41 through the through hole 114 .

In the embodiment of the present disclosure, as shown in FIG. 7 , the collection part 41 includes an inlet 411 and an outlet 412. The inlet 411 can be connected with the accommodation cavity 113. Further, the inlet 411 can be connected with the through hole 114, and the outlet 412 can be connected with the through hole 114. The power part 43 is connected, so that the power part 43 can provide power through the outlet 412 of the collection part 41 to suck the residue from the through hole 114 of the accommodation chamber 113 into the inlet 411 of the collection part 41 and then enter the collection part 41 . When the airflow flows inside the collection part 41, sewage, debris, etc. carried in the airflow remain in the collection part 41 under the action of gravity. Therefore, when the flow path of the airflow inside the collection part 41 is long, it can be effectively Sewage, debris, etc. are separated from the air flow.

In the embodiment of the present disclosure, as shown in FIG. 12 , the inlet 411 and the outlet 412 of the collection part 41 can be disposed on the same side of the collection part 41 . For example, the inlet 411 and the outlet 412 of the collection part 41 are both located on the same side of the collection part 41 . On the front side, this arrangement can effectively extend the flow path of the airflow in the collection part 41, thereby more effectively collecting sewage, debris, etc. separated from the air flow.

In the embodiment of the present disclosure, as shown in FIGS. 5 and 6 , the blocking assembly 50 of the cleaning robot is disposed on the machine body 10 , and at least part of the position of the blocking assembly 50 is adjustably disposed to close or release the collection part 41 The inlet 411 and the outlet 412 of the collecting part 41 prevent the debris in the collecting part 41 from pouring out from the inlet 411 or entering the power part 43 from the outlet 412.

Specifically, the blocking assembly 50 can close the inlet 411 and the outlet 412 of the collection part 41 when the cleaning robot is not running, so it can avoid the problem of accidentally pouring out residues caused by manually moving the cleaning robot. When the cleaning robot starts to operate, the blocking assembly 50 can be caused to release the inlet 411 and the outlet 412 of the collection part 41 , so that the residue can be drawn into the collection part 41 through the inlet 411 .

In the embodiment of the present disclosure, the blocking assembly 50 can be controlled by an independent motor, and the inlet 411 and the outlet 412 of the collection part 41 can be closed at any time, for example, when the cleaning robot is not running. For example, the motor of the blocking assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the blocking assembly 50 may be controlled according to the motion status of the cleaning robot fed back by the control system 80 . For example, when the control system 80 controls the cleaning robot to stop running, the blocking assembly 50 can be controlled to close the inlet 411 and the outlet 412 of the collection part 41; or when the control system 80 detects that the cleaning robot is in a tilted state, the blocking assembly can be controlled 50 close the inlet 411 and outlet 412 of the collection part 41; or, when the control system 80 detects that the cleaning robot is idling for a long time, for example, the cleaning robot is stuck in a fixed position during the cleaning process and cannot continue to move forward. , at this time, the control system 80 can control the blocking assembly 50 to close the inlet 411 and the outlet 412 of the collection part 41; or, when the control system 80 detects that the amount of garbage in the collection part 41 reaches a certain height, the control system 80 can control the sealing The blocking assembly 50 closes the inlet 411 and the outlet 412 of the collection part 41 .

In addition, the user can also use the app to control the blocking component 50 to meet usage needs, and can flexibly control the closing of the inlet 411 and outlet 412 of the collection part 41 .

In the embodiment of the present disclosure, as shown in FIGS. 6 and 13 , the blocking assembly 50 includes: a connecting rod 51; a first blocking member 52, the first blocking member 52 is disposed on the connecting rod 51; and a second blocking member 52. member 53, and the second blocking member 53 is disposed on the connecting rod 51; wherein the connecting rod 51 is movably disposed relative to the machine body 10, so that the first blocking member 52 and the second blocking member 53 are respectively closed or released. The inlet 411 and the outlet 412, that is, the first blocking member 52 and the second blocking member 53 can simultaneously close or release the inlet 411 and the outlet 412, thereby improving the operating performance of the cleaning robot and ensuring that the residue is pumped into the collection part in a timely manner. Within 41.

In the embodiment of the present disclosure, as shown in Figures 6 and 13, the blocking assembly 50 may include a driving part 54. The driving part 54 may be a motor. The driving part 54 is drivingly connected to the connecting rod 51, thereby driving the connecting rod 51 to rotate. This drives the first blocking member 52 and the second blocking member 53 to rotate, thereby closing or releasing the inlet 411 and the outlet 412.

As shown in FIG. 13 , the first blocking member 52 and the second blocking member 53 are spaced apart on the connecting rod 51 . The first blocking member 52 and the second blocking member 53 are located in the middle of the connecting rod 51 . One end of the connecting rod 51 is connected to the driving part 54 , the other end of the connecting rod 51 is arranged beyond the second blocking part 53 , and the first blocking part 52 is located between the driving part 54 and the second blocking part 53 . The first blocking member 52 and the second blocking member 53 are respectively located near the two opposite ends of the connecting rod 51 . first letter Both the blocking member 52 and the second blocking member 53 are detachably provided on the connecting rod 51; or, the first blocking member 52 and the second blocking member 53 are both integrally formed on the connecting rod 51.

As an optional embodiment of the present disclosure, the driving part 54 can be a cylinder, an oil cylinder, or a telescopic motor. The driving part 54 is connected to the connecting rod 51 , and the telescopic rod of the driving part 54 performs telescopic motion, that is, the connecting rod 51 can perform telescopic motion. , the connecting rod 51 can move forward and backward, so that the first blocking member 52 and the second blocking member 53 can move forward and backward, that is, move in a direction parallel to the plane where the inlet 411 and the outlet 412 of the collecting part 41 are located, Thereby, the inlet 411 and the outlet 412 of the collection part 41 are closed or released.

As an optional embodiment of the present disclosure, the driving part 54 can be a cylinder, an oil cylinder, or a telescopic motor. The driving part 54 is connected to the connecting rod 51 , and the telescopic rod of the driving part 54 performs telescopic motion, that is, the connecting rod 51 can perform telescopic motion. , the connecting rod 51 can move up and down, so that the first blocking member 52 and the second blocking member 53 can move up and down, that is, move in a direction perpendicular to the plane where the inlet 411 and the outlet 412 of the collecting part 41 are located, Thereby, the inlet 411 and the outlet 412 of the collection part 41 are closed or released.

As an optional embodiment of the present disclosure, the first blocking member 52 and the second blocking member 53 of the blocking assembly 50 may be independently provided on the first driving part and the second driving part. The first blocking member 52 and the second blocking member 53 are respectively driven to move, thereby closing or releasing the inlet 411 and the outlet 412. The first driving part and the second driving part may operate synchronously, so that the first blocking member 52 and the second blocking member 53 operate synchronously, thereby closing or releasing the inlet 411 and the outlet 412 synchronously. The first driving part and the second driving part may adopt power mechanisms such as motors, air cylinders, and oil cylinders.

As an optional embodiment of the present disclosure, as shown in FIG. 14 , the blocking assembly 50 may include a connecting rod 51 , a first blocking member 52 , a second blocking member 53 , a driving part 54 and a push rod 55 . The blocking member 52 and the second blocking member 53 are connected to the connecting rod 51, and the ejector rod 55 can be connected to the first blocking member 52. The driving part 54 is drivingly connected to the ejector rod 55, so that the driving part 54 can drive the ejector. The rod 55 moves up and down, thereby causing the first blocking member 52 and the second blocking member 53 to move up and down, or the connecting rod 51 drives the first blocking member 52 and the second blocking member 53 to rotate, thereby achieving synchronous closing or Release inlet 411 and outlet 412.

Alternatively, the blocking assembly 50 may also include an elastic member 56 , and after the driving part 54 releases power, the elastic member 56 may drive the push rod 55 to return to the original position, so that the first blocking member 52 and the second blocking member 53 Move from the position where the inlet 411 and the outlet 412 are released to the position where the inlet 411 and the outlet 412 are closed. The elastic member 56 can be a spring. For example, the spring can be sleeved on the connecting rod 51. One end of the spring can be in contact with the first blocking member 52, and the other end of the spring can be supported on other components of the cleaning robot. For example, a spring The other end can be in contact with the machine body 10, thereby compressing the spring when the push rod 55 moves upward, and after the push rod 55 loses power, the spring returns to the original position, thus driving the first blocking member 52 and the second blocking member 52. The blocking member 53 moves from a position where the inlet 411 and the outlet 412 are released to a position where the inlet 411 and the outlet 412 are closed. There can be one spring, and the spring can be set on one end of the connecting rod 51. At this time, the other end of the connecting rod 51 can passively rotate. For example, the spring can abut the first blocking member 52, or the spring can abut the second blocking member 52. Blocking piece 53. There may be at least two springs. The two springs are respectively provided at both ends of the connecting rod 51 , and the two springs are respectively in contact with the first blocking member 52 and the second blocking member 53 .

When the driving part 54 drives the push rod 55 to move upward, the connecting rod 51 can rotate in the first direction, so that the first blocking member 52 and the second blocking member 53 release the inlet 411 and the outlet 412. At this time, the elastic member 56 is pressed, and after the driving part 54 releases power, or after the driving part 54 runs in reverse, for example, when the motor rotates forward, the ejector rod 55 moves upward, and when the motor rotates reversely, the driving part 54 does not need to be in contact with the ejector rod 55 When the connection is fixed, the driving force of the elastic member 56 returning to the original state drives the connecting rod 51 to rotate in the second direction, thereby pressing the push rod 55 to move downward, so that the first sealing member 52 and the second sealing member 52 can be moved downward. The plug 53 blocks the inlet 411 and the outlet 412. The driving part 54 may include a cam mechanism, and the cam mechanism drives the push rod 55 to move upward. At this time, the push rod 55 may be in contact with the cam mechanism without being fixed. Alternatively, the driving part 54 may include an electric push rod, and the electric push rod and the push rod 55 may only be plugged in but not axially fixed. In some embodiments, it is not excluded that the driving part 54 can be fixedly connected to the connecting rod 51 , in which case the elastic member 56 can be eliminated. The driving part 54 drives the ejector pin 55 to move upward. The driving part 54 may include a cam mechanism, a gear mechanism, etc. As long as it can achieve linear motion, it can push the ejector pin 55 to move linearly.

In the embodiment of the present disclosure, as shown in FIG. 14 , the blocking assembly 50 may also include a seal 57 , and the seal 57 may be disposed on the collection part 41 , that is, the collection part 41 may be provided with a through hole, and the push rod 55 may pass through it. It is connected to the driving part 54 through the through hole, and the seal 57 is used to block the gap between the hole wall of the through hole and the push rod 55, so as to prevent the sewage in the collection part 41 from flowing out. The push rod 55 can be in the sealing part 57 moves up and down internally. The seal 57 may be a sealing ring.

The collection part 41 may include at least two sub-chambers, the first sub-chamber is used to store sewage, and the second sub-chamber is an empty cavity under normal conditions, and only after the water level in the first sub-chamber reaches a certain value will flow into the second sub-chamber, and the ejector rod 55 is disposed in the second sub-chamber. Therefore, under normal conditions, there will be no leakage problem in the second sub-chamber, but by providing a seal 57, it can Effectively avoid leakage when the second sub-chamber contains liquid.

In the embodiment of the present disclosure, when the collecting part 41 is installed into the complete machine, the ejector pin 55 can open the first blocking member 52 and the second blocking member 53, and when the collecting part 41 is taken out, the first blocking member The member 52 and the second blocking member 53 lose the support of the push rod 55, and under the action of the spring force, the first blocking member 52 and the second blocking member 53 are closed.

The sensor is used to detect that when the user flips or tilts the machine cleaning robot, the program controls the movement of the ejector rod 55 so that the ejector rod 55 cannot support the first blocking member 52 and the second blocking member 53. Under the action of the spring force , the first blocking member 52 and the second blocking member 53 are closed.

In the embodiment of the present disclosure, as shown in conjunction with FIGS. 1 and 2 , the cleaning system 20 may be disposed at the forward portion 12 of the machine body 10 , and at least part of the driving system 30 may be disposed at the rearward portion 13 of the machine body 10 , For example, the driven wheel 33 of the drive system 30 may be provided at an edge position of the rearward portion 13 . The forward portion 12 may be generally rectangular and the rearward portion 13 may be generally semicircular.

In the embodiment of the present disclosure, as shown in Figures 2 and 3, the cleaning system 20 also includes: an auxiliary cleaning head 23. The auxiliary cleaning head 23 is provided on the machine body 10. The auxiliary cleaning head 23 can enable the cleaning robot to clean better. Walls, corners and other areas to improve the cleaning effect of the cleaning system 20.

In the embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the auxiliary cleaning head 23 is disposed at a corner position of the machine body 10 , and a part of the auxiliary cleaning head 23 is disposed beyond the machine body 10 . The auxiliary cleaning head 23 exceeds the machine body 10 The part is smaller than the part of the auxiliary cleaning head 23 located below the machine body 10, so that on the basis of ensuring the cleaning range of the auxiliary cleaning head 23, the auxiliary cleaning head 23 can be prevented from excessively increasing the floor space of the cleaning robot.

The machine body 10 includes a forward portion 12 and a rearward portion 13. The forward portion 12 is roughly a rectangular body, that is, ignoring manufacturing errors, installation errors, etc., the circumferential outer surface of the rectangular body can include a corner area with arc transition, The rectangular body here only emphasizes the general structure of the forward portion 12 . The auxiliary cleaning head 23 is provided at a corner position of the forward portion 12 .

In the embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the auxiliary cleaning head 23 is disposed at a position close to the forward portion 12 of the machine body 10 , and a part of the auxiliary cleaning head 23 exceeds the load-carrying buffer 72 , even if the cleaning robot is subjected to Even if there are obstacles ahead, the auxiliary cleaning head 23 can also clean gaps and other parts in front, thereby improving the cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, a preset angle is formed between the transverse axis of the machine body 10 and the cleaning head 21 , that is, the cleaning head 21 is arranged in an inclined manner, and the auxiliary cleaning head 23 is arranged on the side of the cleaning head 21 that is tilted backward. , thus the area of the auxiliary cleaning head 23 can be increased, that is, the area of the auxiliary cleaning head 23 can be made relatively larger without excessively increasing the portion of the auxiliary cleaning head 23 beyond the machine body 10 , thereby ensuring that the cleaning system 20 has a sufficient cleaning area. The outer edge of the auxiliary cleaning head 23 is roughly circular, and arranging the auxiliary cleaning head 23 on the side of the cleaning head 21 that tilts backward can make the auxiliary cleaning head 23 have a larger cleaning area, and can also make the auxiliary cleaning head The portion 23 overlaps the cleaning head 21 .

In the embodiment of the present disclosure, the auxiliary cleaning head 23 partially overlaps the cleaning head 21. On the basis of ensuring that the combination of the auxiliary cleaning head 23 and the cleaning head 21 can increase the cleaning area, the auxiliary cleaning head 23 and the cleaning head 21 can be avoided. There is a problem of leakage of cleaning, so as to improve the cleaning effect of the cleaning system 20.

In the embodiment of the present disclosure, the outer edge of the auxiliary cleaning head 23 exceeds the outer edge of the machine body 10 , that is, the auxiliary cleaning head 23 can clean the position outside the machine body 10 , such as walls, corners, etc., thereby improving the cleaning system. 20 cleaning area and increased cleaning performance of the cleaning robot.

In the embodiment of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231 , and the liquid supply part 22 sends cleaning liquid into the wet auxiliary cleaning head 231 . The auxiliary cleaning head 23 can be disposed below the liquid supply part 22 , and the cleaning liquid inside the liquid supply part 22 is transmitted to the auxiliary cleaning head 23 through the water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the surface to be cleaned.

Specifically, the cleaning system 20 may also include an auxiliary liquid supply channel, and the liquid supply part 22 sends the cleaning liquid into the wet auxiliary cleaning head 231 through the auxiliary liquid supply channel. The auxiliary liquid supply channel may be a space formed inside the auxiliary cleaning head 23 , and the cleaning liquid is sent to the wet auxiliary cleaning head 231 through the liquid outlet. The auxiliary liquid supply channel may be a liquid delivery pipe to deliver the cleaning liquid into the wet auxiliary cleaning head 231 .

In the embodiment of the present disclosure, as shown in FIGS. 15 and 16 , the cleaning system 20 also includes: a water pump 24 , the water pump 24 is connected with the liquid supply part 22 to send the cleaning liquid in the liquid supply part 22 to the cleaning head 21 and on at least one of the auxiliary cleaning heads 23. The water pump 24 can send the cleaning liquid in the liquid supply part 22 to the cleaning head 21 through the liquid supply channel, and/or send the cleaning liquid in the liquid supply part 22 to the auxiliary cleaning head 23 through the auxiliary liquid supply channel.

Specifically, there may be one water pump 24, and one water pump 24 connects the liquid supply channel and the auxiliary liquid supply channel at the same time. There may be two water pumps 24, and the two water pumps 24 are connected to the liquid supply channel and the auxiliary liquid supply channel respectively. The water pump 24 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc. The power/flow rate of the water pump 24 can be adjusted. The water pump 24 can cooperate with valves and other devices to control the supply of cleaning liquid in the liquid supply part 22 to the cleaning head 21 and the auxiliary cleaning head 23 .

In the embodiment of the present disclosure, the cleaning head 21 is rotatably arranged around the first axis, and the auxiliary cleaning head 23 is rotatably arranged around the second axis; there is a certain angle between the first axis and the second axis. The cleaning head 21 may be a mopping roller brush. The auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply part 22 passes through the penetration and centrifugal force of the cloth or wool, so that the water is evenly distributed on the auxiliary cleaning head 23 . The auxiliary cleaning head 23 can float to a certain extent in the up and down direction.

In the embodiment of the present disclosure, the first axis is perpendicular to the second axis, that is, the first axis may be parallel to the surface to be cleaned, and the second axis may be perpendicular to the surface to be cleaned.

As an optional embodiment of the present disclosure, the auxiliary cleaning head 23 may be a side brush. The rotation axis of the side brush is at a certain angle relative to the ground for moving residues on the surface to be cleaned into the cleaning area of the cleaning head 21 .

As an optional embodiment of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disc brush, a roller brush, or the like.

As shown in FIG. 4 , the auxiliary cleaning head 23 may also include a main body part 232 , the wet auxiliary cleaning head 231 is connected to the main body part 232 , and the main body part 232 is disposed on the machine body 10 . The main body part 232 may include a driving motor, and the driving motor may drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 can be made of cloth or wool, and the main body 232 can include a support structure. The support structure can be a tapered soft rubber support, which can transmit a large torque and allow the wet auxiliary cleaning head 231 to float up and down to a certain extent. This improves cleaning capabilities.

In the embodiment of the present disclosure, the liquid supply part 22 and the collection part 41 are stacked, thereby improving the space utilization of the cleaning robot and avoiding the problem of the cleaning robot being too large.

In the embodiment of the present disclosure, as shown in FIGS. 15 and 16 , the liquid supply part 22 is located above the collection part 41 . The liquid supply part 22 can be a clean water tank, and the collection part 41 can be a sewage tank. The clean water tank is located above to facilitate liquid supply to the cleaning head 21 and the auxiliary cleaning head 23 . The sewage tank is located below to facilitate the recycling of residues.

The clean water tank and the sewage tank can be stacked up and down, that is, as shown in Figure 15 and Figure 16, the liquid supply part 22 and the collection part 41 are stacked up and down. The clean water tank can be located above the sewage tank. The clean water tank is located above to facilitate cleaning. The head 21 and the auxiliary cleaning head 23 supply liquid, and the sewage tank is located below to facilitate the recovery of residues, and the stacking of the clean water tank and the sewage tank will also prevent the center of gravity of the cleaning robot from changing much in the horizontal direction. , to ensure the stability of the cleaning robot and avoid large shaking during the cleaning process.

The collection part 41 can be located at the middle position of the machine body 10 , that is, the collection part 41 can be located on the side of the cleaning system 20 away from the load-bearing buffer 72 , so that when the amount of water in the collection part 41 changes, the center of gravity of the cleaning robot does not change. There will be too many changes to ensure that the cleaning robot can stably clean the cleaning surface without the problem of unstable center of gravity during use.

In the embodiment of the present disclosure, as shown in FIG. 17 , the liquid supply part 22 and the collection part 41 are stacked one above the other, the liquid supply part 22 is provided with a water inlet 221, and the collection part 41 is provided with a drainage port 413. The water inlet 221 on the liquid supply part 22 is used to supply liquid to Clean water is injected into the part 22, and the drain port 413 on the collection part 41 is used to discharge the sewage in the collection part 41 from the collection part 41. The water inlet 221 can be disposed on the side of the liquid supply part 22, and the drain port 413 can be disposed on the side of the collection part 41. For example, there can be two interfaces at the bottom or side of the machine body 10, and the two interfaces are convenient. It can be used to connect the clean water injection structure and the sewage discharge structure. When the cleaning robot is used normally, the two interfaces need to be blocked to avoid water leakage. Alternatively, the water inlet 221 and the drain outlet 413 can be blocked by sealing members, and the liquid supply part 22 and the collection part 41 can be removed from the machine body 10 at the same time when filling or draining water. The liquid supply part 22 and the collection part 41 are connected, so that the liquid supply part 22 and the collection part 41 can be removed from the machine body 10 simultaneously.

The liquid supply part 22 and the collection part 41 can be removed from the machine body 10, so that the liquid supply part 22 can be filled with liquid and the collection part 41 can be discharged with sewage. As shown in Figure 17, the collection part 41 may have a special-shaped structure. The collection part 41 may include a main body 414 and an extension part 415 connected to the main body 414. The main body 414 and the extension part 415 together form a chamber for collecting sewage, and the main body 414 can be roughly a rectangular body, and the extension portion 415 can be an irregular special-shaped structure. For example, the extension portion 415 can be roughly divided into triangles and rectangles, or semicircles and rectangles, etc., which are not limited here, and the extension portion 415 accommodates The space for sewage is smaller than the space for the main body 414 to accommodate sewage. By arranging the drain port 413 on the extension part 415, when sewage is discharged, the sewage can be concentrated at the extension part 415 by tilting the collection part 41, thereby ensuring that the sewage is discharged to the greatest extent, thereby avoiding the possibility of sewage in the collection part 41. There is a large accumulation of sewage that cannot be discharged.

In the embodiment of the present disclosure, a plurality of cliff sensors may be provided on the machine body 10. The plurality of cliff sensors are provided around the circumferential edge of the machine body 10, and the auxiliary cleaning head 23 is located at the corner of the machine body 10. The machine The body 10 can be provided with a cliff sensor near the auxiliary cleaning head 23 , and the machine body 10 can be provided with at least two cliff sensors near the auxiliary cleaning head 23 . The cliff sensors can identify the surface to be cleaned to determine the surface to be cleaned. The physical characteristics of the surface include surface material, cleanliness, etc., and the control system 80 can control the operating status of the auxiliary cleaning head 23 according to the recognition results of the cliff sensor, so as to ensure the cleaning function of the auxiliary cleaning head 23, for example, the cliff sensor When the surface to be cleaned identified by the cliff sensor is the floor, the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect; or when the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to reduce the humidity. Avoid getting the blanket wet.

In the embodiment of the present disclosure, as shown in FIG. 1 , the detection system 60 of the cleaning robot is disposed on the machine body 10 , and at least part of the detection system 60 extends from the outer edge of the machine body 10 , thereby increasing the detection system 60 detection range, thus increasing the flexible adjustment capabilities of the cleaning robot. The detection system 60 may be an ultrasonic, infrared, or other sensor, used to detect changes in the material of the surface to be cleaned, changes in the level of the surface to be cleaned, or detect dirt.

In the embodiment of the present disclosure, at least part of the detection system 60 is movably arranged relative to the machine body 10, so that the position of the detection system 60 can be reliably adjusted to adapt to different application environments. The detection system 60 can be driven by a driving mechanism to realize position adjustment, or the detection system 60 can include a flexible mechanism, and the position adjustment can be realized by deforming the flexible mechanism.

Specifically, the detection system 60 is telescopically disposed on the machine body 10. The detection system 60 has an extended state and a retracted state. When the detection system 60 is extended to the front of the cleaning robot, the ground condition of the front of the cleaning robot can be measured. Check the situation. For example, when the cleaning robot is a D-type, the detection system 60 can be installed near the corner of the cleaning robot to facilitate the detection system 60 to detect the ground conditions in front or side in the telescopic state. When the cleaning robot is a circular machine, the detection system 60 can be disposed at the front of the cleaning robot.

In the embodiment of the present disclosure, at least part of the detection system 60 can extend from the outer edge of the machine body 10, so that the detection system 60 has a retracted state of being retracted in the machine body 10 and an extended state of extending out of the machine body 10. Control The system 80 can control the movement of the detection system 60 between the contracted state and the extended state, so that the detection system 60 can be adjusted in real time according to the operating state or operating path of the cleaning robot, thereby ensuring that the detection system 60 can accurately determine the surface to be cleaned. state. In the embodiment of the present disclosure, a part of the detection system 60 may be made of elastic material. For example, the detection system 60 may include an elastic arm and a detection part. By changing the state of the elastic arm, the relative position of the detection system 60 relative to the machine body 10 can be changed. That is, the detection system 60 is extended and retracted. In addition, in other embodiments of the present disclosure, the detection system 60 can also rotate around the rotation axis provided on the machine body 10 to realize extension and contraction of the detection system 60 .

Specifically, the driving system 30 can drive the cleaning robot to run on the work surface. At this time, the control system 80 can drive the detection system 60 to move from the retracted state to the extended state, so that the detection system 60 can monitor the status of the work surface in real time. In addition, the detection system 60 has a detection perspective toward the work surface, so that it can accurately detect the status of the work surface, such as changes in the material of the work surface, changes in the level of the work surface, or dirt detection.

In the embodiment of the present disclosure, as shown in FIGS. 1 to 3 , the detection system 60 can be connected to the corner of the machine body 10 , and the auxiliary cleaning head 23 can be located at a position of the machine body 10 close to the detection system 60 . The detection system 60 The surface to be cleaned can be identified in advance to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and the control system 80 can control the operating status of the auxiliary cleaning head 23 based on the identification results of the detection system 60, so as to Ensure the cleaning function of the auxiliary cleaning head 23. For example, when the surface to be cleaned identified by the cliff sensor is the floor, the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect; or, the surface to be cleaned identified by the cliff sensor is When the blanket is being used, the auxiliary cleaning head 23 can be controlled to reduce the humidity and avoid getting the blanket wet.

In the embodiment of the present disclosure, the detection system 60 is telescopically disposed on the forward portion 12 of the machine body 10, so that the detection system 60 can determine the status of the surface to be cleaned earlier, thereby feeding back to the control system 80, so that the control system 80 can adjust the walking route and cleaning mode of the cleaning robot according to the information fed back by the detection system 60 . The detection system 60 is disposed at the corner of the forward part 12, so that the detection system 60 can be reasonably laid out, avoiding the detection system 60 from occupying a large area, and enabling the detection system 60 to reliably monitor the work surface located at the corner of the machine body 10 status to ensure that the cleaning robot can clean the work surface more efficiently.

In the embodiment of the present disclosure, as shown in FIGS. 1 and 4 , at least one detection system 60 is disposed adjacent to the auxiliary cleaning head 23 , and at least part of the detection system 60 is located directly above the auxiliary cleaning head 23 , so that the detection system 60 can be avoided. 60 interferes with the auxiliary cleaning head 23, and the corner position of the machine body 10 can be utilized to a greater extent, thereby rationally laying out the installation positions of the detection system 60 and the auxiliary cleaning head 23.

In the embodiment of the present disclosure, the control system 80 can be connected to the detection system 60 , and the control system 80 can control the telescopic state of the detection system 60 . For example, when the cleaning robot is running, the control system 80 can control the detection system 60 From the retracted state to the extended state; or, when the cleaning robot stops running, the control system 80 can control the detection system 60 to operate from the extended state to the retracted state. Alternatively, when the detection system 60 detects that the working surface has a depression or the material of the working surface changes, the control system 80 controls the cleaning system 20 or the driving system 30 to change the working state, and the working surface becomes the surface to be cleaned. For example, when the detection system 60 detects that the work surface has a depression, the control system 80 can control the driving system 30 to decelerate, and the control system 80 can also control the cleaning system 20 to decelerate and rotate. For example, when the detection system 60 detects that the material of the work surface changes, from carpet to ceramic tiles, the control system 80 can control the driving system 30 to accelerate, and the control system 80 can also control the cleaning system 20 to accelerate the rotation.

The detection system 60 can be used to detect changes in the material of the surface to be cleaned, changes in the level of the surface to be cleaned, or detect dirt, etc., so that it can be fed back to the control system 80 to control the operating status of the cleaning robot. For example, the detection system 60 detects the surface to be cleaned. When the dirt is large, the control system 80 can control the cleaning robot to slow down to ensure that the cleaning system 20 can better clean the surface to be cleaned; or, when the detection system 60 detects that the surface to be cleaned is the floor, the control system 80 can Control the water pump 24 to increase the flow rate of the cleaning liquid in the liquid supply part 22 into the cleaning head 21 and the auxiliary cleaning head 23 to ensure reliable cleaning of the floor; alternatively, the control system 80 can adjust according to the information fed back by the detection system 60 The walking route and cleaning mode of the cleaning robot, etc., for example, when the detection system 60 is in the extended state, the detection system 60 can be located in front of the machine body 10, so that the detection system 60 can determine the status of the surface to be cleaned earlier and provide feedback. to the control system 80, so that the control system 80 can adjust the walking route and cleaning mode of the cleaning robot according to the information fed back by the detection system 60. The detection system 60 can detect changes in the ground material earlier, for example, when the ground changes from floor to carpet, The detection system 60 can provide relevant information to the control system 80 in real time, so that the control system 80 can timely control the walking direction or cleaning mode of the cleaning robot. For example, the cleaning robot can be controlled to decelerate when changing from floor to carpet, or from floor to carpet. When the carpet is removed, the cleaning robot can be controlled to reduce the amount of liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23 .

In the embodiment of the present disclosure, there may be multiple detection systems 60 , which can effectively expand the detection range of the detection system 60 , thereby accurately assisting the working status of the cleaning system 20 or the driving system 30 . There may be two detection systems 60. As shown in FIG. 1, the two detection systems 60 may be respectively disposed at two corner positions of the forward portion 12.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common common sense or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and example embodiments be considered as exemplary only, with a 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 various modifications and changes may be made without departing from the scope thereof. The scope of the disclosure is limited only by the appended claims.

Claims (22)

1. A cleaning robot including:

   Machine body(10);

   Driving system (30), the driving system (30) is provided on the machine body (10) to drive the cleaning robot to run on the work surface;

   Cleaning system (20), the cleaning system (20) is arranged on the machine body (10), the cleaning system (20) includes a cleaning head (21) and a liquid supply part (22), the liquid supply part (22) Send the cleaning liquid into the cleaning head (21);

   Recycling system (40), the recycling system (40) is arranged on the machine body (10), the recycling system (40) includes a collection part (41) and a scraper (42), the scraper (42) ) is in contact with the cleaning head (21), and the scraper (42) removes the residue on the cleaning head (21) through interference with the cleaning head (21) to be collected from the Department (41) collection;

   Detection system (60), the detection system (60) is retractably arranged on the machine body (10);

   Control system (80), the control system (80) is connected to the cleaning system (20), the control system (80) is connected to the driving system (30), the control system (80) is connected to the The detection system (60) is connected, and the control system (80) can control at least one of the cleaning system (20) and the driving system (30) according to information fed back by the detection system (60).
2. The cleaning robot according to claim 1, wherein at least part of the detection system (60) can extend from the outer edge of the machine body (10), so that the detection system (60) has the ability to shrink in In the contracted state of the machine body (10) and the extended state extending out of the machine body (10), the control system (80) can control the detection system (60) in the contracted state and the extended state. movement between.
3. The cleaning robot according to claim 1 or 2, wherein the machine body (10) includes a forward portion (12), and the detection system (60) is telescopically arranged on the forward portion (12).
4. The cleaning robot according to claim 3, wherein the forward portion (12) is generally rectangular, and the detection system (60) is provided at a corner position of the forward portion (12).
5. The cleaning robot according to any one of claims 1 to 4, wherein the detection system (60) has a detection viewing angle towards the work surface.
6. The cleaning robot according to claim 5, wherein when the detection system (60) detects that the working surface has a depression or the material of the working surface changes, the control system (80) controls the cleaning The working state of the system (20) or the driving system (30) changes.
7. The cleaning robot of claim 5, wherein the detection system (60) includes an ultrasonic sensor or an infrared sensor.
8. The cleaning robot according to any one of claims 1 to 4, wherein there are multiple detection systems (60).
9. The cleaning robot according to any one of claims 1 to 8, wherein the liquid supply part (22) and the collection part (41) are overlapped.
10. The cleaning robot according to claim 9, wherein the liquid supply part (22) is located above the collection part (41).
11. The cleaning robot according to any one of claims 1 to 10, wherein the machine body (10) includes a fixed bracket (11) formed with a receiving cavity (113), and the cleaning robot The head (21) is located in the accommodation cavity (113), the fixed bracket (11) is provided with a liquid supply channel, and the liquid supply part (22) sends cleaning liquid into the cleaning liquid through the liquid supply channel. head(21);

    Wherein, the collection part (41) is connected with the accommodation cavity (113).
12. The cleaning robot according to claim 11, wherein the liquid supply channel includes a liquid inlet (111) and a liquid outlet (112), and the liquid inlet (111) is connected to the liquid supply part (22) Pass, the liquid outlet (112) is used to send cleaning liquid into the cleaning head (21);

    There are multiple liquid outlets (112), and the plurality of liquid outlets (112) are spaced apart in a direction parallel to the cleaning head (21).
13. The cleaning robot according to any one of claims 1 to 12, wherein the scraper strip (42) is parallel to the cleaning head (21).
14. The cleaning robot according to any one of claims 1 to 13, wherein the scraper (42) is provided with a water suction port (421), and the water suction port (421) is connected to the collection part (41) Pass.
15. The cleaning robot according to any one of claims 1 to 14, wherein the recovery system (40) further includes:

    Power part (43), the power part (43) is in pneumatic communication with the collection part (41) to collect residues to the collection part (41).
16. The cleaning robot according to claim 15, wherein the collection part (41) includes an inlet (411) and an outlet (412), and the cleaning robot further includes:

    Blocking assembly (50), the blocking assembly (50) is arranged on the machine body (10), and at least part of the position of the blocking assembly (50) is adjustably arranged to close or release the inlet. (411) and said outlet (412).
17. The cleaning robot of claim 16, wherein the blocking assembly (50) includes:

    connecting rod(51);

    A first blocking member (52), the first blocking member (52) is provided on the connecting rod (51);

    a second blocking member (53), the second blocking member (53) is provided on the connecting rod (51);

    Wherein, the connecting rod (51) is movably arranged relative to the machine body (10), so that the first blocking member (52) and the second blocking member (53) are closed or released respectively. The inlet (411) and the outlet (412).
18. The cleaning robot according to claim 16 or 17, wherein the control system (80) is connected with the blocking component (50) to control the blocking component (50) to close or release the inlet ( 411) and said outlet (412).
19. The cleaning robot according to any one of claims 1 to 18, wherein the cleaning system (20) further includes:

    Auxiliary cleaning head (23), the part of the auxiliary cleaning head (23) overlaps with the cleaning head (21).
20. The cleaning robot according to claim 19, wherein the outer edge of the auxiliary cleaning head (23) exceeds the outer edge of the machine body (10).
21. The cleaning robot according to claim 19, wherein the machine body (10) defines a transverse axis and a longitudinal axis, the cleaning head (21) is rotatably arranged around a first axis, and the auxiliary cleaning head (23 ) is rotatably arranged about the second axis;

    Wherein, the cleaning head (21) and the scraper strip (42) are both parallel to the transverse axis, or the cleaning head (21) and the scraper strip (42) are both between the transverse axis and the transverse axis. Has preset fixtures.
22. The cleaning robot according to claim 19, wherein the detection system (60) is arranged adjacent to the auxiliary cleaning head (23), and at least part of the detection system (60) is located on the auxiliary cleaning head (23). ) directly above.