CN111358378A - Floor sweeping robot - Google Patents

Abstract

The invention discloses a sweeping robot, which comprises: the host computer, preceding subassembly of hitting, dirt box and two drive wheels, the host computer includes straight section and segmental arc along the fore-and-aft direction on horizontal projection, still be equipped with the navigation head of transmission and receipt navigation signal on the host computer, the bottom of host computer is equipped with the dust absorption mouth, be equipped with the round brush in the dust absorption mouth, preceding one side of keeping away from the segmental arc of straight section of locating the host computer of hitting the subassembly, preceding detection device who is equipped with on hitting the subassembly and is used for acquireing the robot collision signal of sweeping the floor, detection device includes a plurality ofly, the middle part that just is located the host computer on the host computer is located to the dirt box, the inner chamber and the dust absorption mouth intercommunication of dirt box, two drive wheels are located. The sweeping robot provided by the embodiment of the invention has higher sensitivity, so that the sweeping robot and a collided object can be prevented from being damaged by collision, and meanwhile, the sweeping robot has higher intelligence, so that the cleaning effect and the cleaning efficiency of the sweeping robot can be improved.

Description

Floor sweeping robot

Technical Field

The invention relates to the field of living electric appliances, in particular to a sweeping robot.

Background

Along with the continuous improvement of the living standard of people, the application of intelligent household appliances is more and more extensive, and the intelligent household appliances greatly improve the living comfort and the convenience of people. The floor sweeping robot is one kind of intelligent household appliance, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence.

In the related technology, the sweeping robot emphasizes intelligence excessively, so that key cleaning indexes, stable operation, front collision trigger sensitivity and the like are omitted, and the problems that the front collision trigger is insensitive, the gravity center of the whole machine is unstable and the like frequently occur in practical application of the sweeping robot.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a sweeping robot, which has high sensitivity, so as to prevent the sweeping robot and a collided object from being damaged by collision, and at the same time, has high intelligence, so as to improve the cleaning effect and cleaning efficiency of the sweeping robot.

The sweeping robot according to the embodiment of the invention comprises: the sweeping robot comprises a host, a front impact assembly, a dust box and two driving wheels, wherein the host comprises a straight section and an arc-shaped section along the front-back direction on a horizontal projection, the outer contour of the straight section forms a part of a rectangle, the outer contour of the arc-shaped section forms a part of a semicircle, the straight section and the arc-shaped section are mutually butted to enclose a closed outer contour, a navigation device for transmitting and receiving navigation signals is further arranged on the host, a dust suction port is formed in the bottom of the host, a rolling brush is arranged in the dust suction port, the front impact assembly is arranged on one side, far away from the arc-shaped section, of the straight section of the host, a detection device for acquiring collision signals of the sweeping robot is arranged on the front impact assembly, the detection devices comprise a plurality of dust boxes, the dust boxes are arranged on the host and are positioned in the middle of the host, and inner cavities of the dust boxes are communicated, the two driving wheels are arranged on the main machine and are respectively adjacent to the left side and the right side of the main machine.

Therefore, according to the sweeping robot provided by the embodiment of the invention, the navigation device is arranged on the host machine, so that the sweeping robot can detect and locate the current position, and can record the motion path of the sweeping robot, so that the sweeping robot can distinguish a cleaned area from an uncleaned area, and the intelligence of the sweeping robot can be improved. Meanwhile, after the sweeping robot is charged, the sweeping robot can return to the position where the sweeping robot is located before charging according to the recorded position information, so that the sweeping robot can continue to clean according to the planned path before charging, and the cleaning effect and the cleaning efficiency of the sweeping robot are improved.

In addition, through the straight section that keeps away from the one side of arc section with hitting the subassembly before with for when sweeping floor robot and bumping with the barrier, the subassembly that hits before can be at first with the barrier contact and bump the extrusion, thereby can prevent to crash the host computer.

In addition, through hitting in the front and being equipped with a plurality of detection device on the subassembly for a plurality of detection device can the omnidirectional detection, acquire the collision signal of robot of sweeping the floor, and through the detection device who receives the collision signal, can judge the position of barrier for the robot of sweeping the floor, thereby make the robot of sweeping the floor can avoid the barrier sooner.

In addition, the sweeping robot according to the invention can also have the following additional technical features:

in some embodiments of the invention, two of the drive wheels are located on the left and right sides of the dust box, respectively.

In one embodiment, the sweeping robot further comprises: the side brush motor with the side brush motor transversely sets up relatively and is located the both sides of the vertical central line of host computer, the side brush with the side brush motor links to each other, the side brush is located the front side of dust absorption mouth.

In some embodiments of the invention, the sweeping robot further comprises: the fan motor is arranged at the bottom of the arc-shaped section, and the battery and the fan motor are respectively arranged on two sides of the longitudinal center line of the host machine.

Optionally, the sweeping robot further comprises: the two driving force motors are respectively used for providing power for the two driving wheels, and the transverse center lines of the two driving wheel motors are positioned on the rear sides of the transverse center lines of the two driving wheels.

Optionally, the sweeping robot further comprises: the first auxiliary wheel is arranged in a first area defined by the fan motor, the driving wheel motor adjacent to the fan motor and the outer edge of the arc-shaped section, and the second auxiliary wheel is arranged in a second area defined by the battery, the driving wheel motor adjacent to the battery and the outer edge of the arc-shaped section.

In some embodiments of the present invention, a predetermined distance L is provided between a complete machine center point of the sweeping robot and a transverse center line of the two driving wheels, and the predetermined distance L ranges from: 1-25 mm.

Optionally, the overall center point of the sweeping robot is located at the rear side of the transverse center lines of the two driving wheels.

Optionally, the center of gravity of the whole sweeping robot is adjacent to or located at the front side of the center line of the whole sweeping robot.

In some embodiments of the present invention, the front impact assembly comprises: the base and the preceding shell that hits that hit, the preceding base setting that hits is in the front end of host computer includes: straight axis, the center on of following the left and right directions extension arc surface and formation that straight axis circumference was convoluted are in two side planes of arc surface tip, it is used for acquireing to hit to be equipped with on the base before the detection device that sweeps floor robot collided the signal, detection device includes a plurality ofly, and is a plurality of detection device sets up respectively arc surface and two on the side plane, before hit the shell cover and be in before hit the outside of base, wherein before hit the shell for before hit the base portable.

Optionally, a visual detection device for acquiring a visual signal is further disposed on the front impact base.

Optionally, the front impact housing comprises: the shell body and the detachably with the separation blade that the shell body links to each other, the separation blade corresponds the visual detection device sets up and forms into light-permeable structure.

In some embodiments of the invention, the visual inspection device comprises: the first detection device is arranged on the upper surface of the front impact base; and/or the second detection device is arranged on the bottom surface of the front impact base.

Optionally, the visual detection device includes a third detection device, and the third detection device is disposed on the front surface of the front impact base.

Optionally, the front impact base comprises: the visual detection device is arranged on the base installation body, wherein the base installation body is rotatable around the length direction of the base main body.

In some embodiments of the present invention, the cross-section of the front impact assembly is circular.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of an angle of a sweeping robot according to the present invention;

fig. 2 is a schematic structural view of another angle of the sweeping robot implemented according to the present invention;

figure 3 is a cross-sectional view of a sweeping robot implemented in accordance with the present invention;

fig. 4 is a schematic structural diagram of a structure of a removing part of the sweeping robot implemented according to the invention;

fig. 5 is a schematic structural diagram of the sweeping robot with the front impact shell detached from the front impact base according to the embodiment of the invention;

fig. 6 is a schematic structural diagram of the separation of the housing main body and the blocking piece after the front impact housing of the sweeping robot is disassembled from the front impact base according to the embodiment of the invention;

figure 7 is a schematic view of an angle of an embodiment of a sweeping robot implemented in accordance with the present invention;

figure 8 is a schematic structural view of another angle of an embodiment of a sweeping robot implemented in accordance with the present invention;

fig. 9 is a schematic structural diagram of another embodiment of the sweeping robot implemented according to the invention.

Reference numerals:

100: a sweeping robot;

1: a host; 11: a straight section; 12: an arc-shaped section;

2: a front impact assembly; 21: a front impact base; 211: a base body; 212: a base mounting body; 22: front collision housing; 221: a housing main body; 222: a baffle plate;

3: a dust box;

4: a drive wheel motor; 41: a drive wheel;

5: a navigation device;

6: a dust suction port;

7: a detection device;

8: a roller brush motor; 81: rolling and brushing;

9: a side brush motor;

10: brushing edges;

13: a fan motor;

14: a battery;

15: a first auxiliary wheel;

16: a second auxiliary wheel;

17: a visual inspection device; 171: a first detection device; 172: a second detection device; 173: and a third detection device.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A sweeping robot 100 according to an embodiment of the present invention is described below with reference to fig. 1 to 9.

As shown in fig. 1 to 9, the sweeping robot 100 includes: host computer 1, front impact assembly 2, dirt box 3 and two drive wheels 41.

Specifically, the main body 1 includes a straight section 11 and an arc section 12 in a front-rear direction in a horizontal projection, an outer contour of the straight section 11 is formed as a part of a rectangle, an outer contour of the arc section 12 is formed as a part of a semicircle, the straight section 11 and the arc section 12 are butted with each other to enclose a closed outer contour, and thus, after the straight section 11 is connected to both end portions of the arc section 12, so that the horizontal projection of the main body 1 is formed substantially in a D-shape, as shown in figures 2-4, in the forward direction of the sweeping robot 100, the straight section 11 is located at the front end of the arc section 12, so that when the sweeping robot 100 cleans corners (for example, wall corners), the straight section 11 of the main machine 1 can be better matched with the corners of the cleaning area, further, the sweeping robot 100 can clean the area at the corner, thereby improving the cleaning effect of the sweeping robot 100.

It is understood that the outer contour of the straight section 11 may not be a standard rectangle, specifically, the outer contour of the straight section 11 is substantially rectangular, and the straight section 11 may be at least partially convex or at least partially concave, so that other structures may be more conveniently matched and connected with the straight section 11.

In addition, the arc-shaped section 12 is arranged at the rear side of the straight section 11, so that when the sweeping robot 100 turns at a corner, the rear side of the main machine 1, namely the arc-shaped section 12, cannot collide with the corner, the sweeping robot 100 can be protected, and the sweeping robot 100 can normally perform cleaning operation.

The host 1 is provided with a navigation device 5 for transmitting and receiving navigation signals, for example, as shown in fig. 1, the navigation device 5 may be disposed at the top of the host 1, so that the navigation device 5 transmits and receives the navigation signals, the sweeping robot 100 can detect, locate and monitor the current position, and the sweeping robot 100 can record the movement path thereof, so that the sweeping robot 100 can distinguish a cleaned area from an uncleaned area, and the intelligence of the sweeping robot 100 can be improved.

In addition, the navigation device 5 transmits and receives the navigation signal, so that the sweeping robot 100 can accurately judge the position information of the sweeping robot, and after the charging of the sweeping robot is finished, the sweeping robot can return to the position where the sweeping robot is located before the charging according to the recorded position information, so that the sweeping robot 100 can continue to clean according to the planned path before the charging, the cleaning efficiency and the cleaning effect of the sweeping robot 100 can be improved, repeated cleaning of the cleaned area after the sweeping robot 100 is charged can be prevented, and the uncleaned area is not cleaned all the time.

It is understood that the navigation device 5 may be a laser navigation device, a vision device, or a laser navigation device, and may be a visual monitoring device for visual monitoring or a laser navigation device.

The bottom of host computer 1 is equipped with dust absorption mouth 6, be equipped with round brush 81 in the dust absorption mouth 6, from this, round brush 81 cooperation is behind dust absorption mouth 6 department, round brush 81 can with treat the regional base face contact of cleaning, and clean it, optionally, dust absorption mouth 6 can be located the front end of the straight section 11 of neighbouring host computer 1, from this, round brush 81 cooperation is behind dust absorption mouth 6 department, robot 100 of sweeping the floor is when cleaning the turning region, the round brush 81 that is located the host computer 1 front side can clean the regional base face of turning, thereby can less sweep the dead angle area that robot 100 of sweeping the floor can not clean, and then can mention robot 100's cleaning effect of sweeping the floor. Meanwhile, the dust suction port 6 is arranged at the front end of the straight section 11 adjacent to the main machine 1, so that the opening length of the dust suction port 6 can be increased, the length of the rolling brush 81 can be increased, the contact area between the rolling brush 81 and a cleaning area can be increased, and the cleaning efficiency of the sweeping robot 100 can be improved.

The subassembly 2 that hits before locates one side of keeping away from arc section 12 of straight section 11 of host computer 1, hit before being equipped with the detection device 7 that is used for acquireing 100 collision signals of robot that sweeps floor on the subassembly 2, detection device 7 includes a plurality ofly, that is to say, the subassembly 2 that hits before can cooperate at the front end of straight section 11, when robot 100 that sweeps floor bumps with the barrier, the subassembly 2 that hits before can be at first with the barrier contact and bump the extrusion to can prevent to crash host computer 1. Further, through being equipped with detection device 7 before hitting subassembly 2 for before hit subassembly 2 and the barrier after bumping, detection device 7 can detect, acquire the collision signal, thereby make robot 100 of sweeping the floor can effectively dodge the barrier after can receiving the collision signal, and then can avoid robot 100 of sweeping the floor to bump the barrier in succession.

In addition, the front collision assembly 2 is provided with the plurality of detection devices 7, so that the plurality of detection devices 7 can detect and acquire the collision signal of the sweeping robot 100 in an all-around manner, and the detection devices 7 receiving the collision signal can judge the direction of the obstacle relative to the sweeping robot 100, so that the sweeping robot 100 can avoid the obstacle quickly.

The dust box 3 is arranged on the host 1 and positioned in the middle of the host 1, the inner cavity of the dust box 3 is communicated with the dust collection port 6, therefore, garbage on a base surface can enter the dust box 3 from the dust collection port 6 through the rolling brush 81, the garbage enters the dust box 3, the dust box 3 can be stored in the dust box, when the stored garbage in the dust box 3 reaches the upper limit, the dust box 3 can be detached, and the stored garbage is thrown away in a centralized manner.

Wherein, through locating the middle part of host computer 1 with dirt box 3 for dirt box 3 is after accomodating rubbish, and its focus can be in the middle part position of host computer 1, thereby makes dirt box 3 can not make the position of sweeping floor robot 100's complete machine focus take place great change after accomodating rubbish, and then makes sweeping floor robot 100 its focus more steady in cleaning process, thereby makes sweeping floor robot 100 can walk more steadily, prevents that sweeping floor robot 100 from taking place to turn on one's side.

The two driving wheels 41 are disposed on the main body 1 and are respectively disposed adjacent to the left and right sides of the main body 1, for example, as shown in fig. 3, one driving wheel 41 is disposed on each of the left and right sides adjacent to the main body 1, and after the driving wheels 41 are fitted on the main body 1, the driving wheels 41 rotate to drive the main body 1 to move, so that the sweeping robot 100 can move and perform cleaning work.

Therefore, according to the sweeping robot 100 of the embodiment of the present invention, the navigation device 5 is arranged on the host 1, so that the sweeping robot 100 can detect, locate and monitor the current position, and the sweeping robot 100 can record the motion path thereof, so that the sweeping robot 100 can distinguish the cleaned area from the uncleaned area, and the intelligence of the sweeping robot 100 can be improved. Meanwhile, after the sweeping robot 100 is charged, the position of the sweeping robot 100 before charging can be returned to the position before charging according to the recorded position information, so that the sweeping robot 100 can continue to clean according to the planned path before charging, and the cleaning effect and the cleaning efficiency of the sweeping robot 100 are improved.

In addition, by arranging the front collision component 2 on the side of the straight section 11 of the main machine 1 far away from the arc-shaped section 12, when the sweeping robot 100 collides with an obstacle, the front collision component 2 firstly contacts with the obstacle and collides and extrudes, so that the main machine 1 can be prevented from being damaged.

In addition, through being equipped with a plurality of detection device 7 before hitting subassembly 2 for a plurality of detection device 7 can the omnidirectional detection, acquire the collision signal of robot 100 of sweeping the floor, and through receiving the detection device 7 of collision signal, can judge the position of the obstacle relative to robot 100 of sweeping the floor, thereby make robot 100 of sweeping the floor avoid the obstacle sooner.

In some embodiments of the present invention, the two driving wheels 41 are respectively located at the left and right sides of the dust box 3, for example, as shown in fig. 3, the two driving wheels 41 are respectively located behind the left and right sides of the dust box 3, so that after garbage is accommodated in the dust box 3, the left and right driving wheels 41 can stably support the weight of the dust box 3, and the phenomenon that the sweeping robot 100 turns on its left side, turns on its right side, leans forward, tilts backward, etc. due to unstable center of gravity is prevented, thereby affecting the cleaning operation of the sweeping robot 100. Further, the two driving wheels 41 are symmetrical left and right with respect to the vertical center line of the main machine 1, so that the two driving wheels 41 can stably support the sweeping robot 100, and the sweeping robot 100 can perform a cleaning work well.

In one embodiment, the sweeping robot 100 further comprises: the floor sweeping robot comprises a rolling brush motor 8, a side brush motor 9 and a side brush 10, wherein the rolling brush motor 8 is used for driving the rolling brush 81 to rotate, and therefore the rolling brush 81 is driven by the rolling brush motor 8, so that the rolling brush 81 can rotate stably, the rolling brush 81 can clean a base surface well, and the cleaning performance of the floor sweeping robot 100 can be improved.

The side brush motor 9 and the round brush motor 8 are transversely arranged oppositely and are positioned on two sides of the longitudinal central line of the host 1, the side brush 10 is connected with the side brush motor 9, namely, as shown in fig. 1 and 2, the side brush motor 9 can be arranged on the right side of the host 1 in the left-right direction, the round brush motor 8 can be arranged on the left side of the host 1, therefore, the round brush 81 and the side brush 10 can be respectively positioned on the left side and the right side of the host 1 and work independently, and the two can be prevented from influencing each other during working. In addition, the side brush motor 9 and the rolling brush motor 8 are respectively arranged at the left side and the right side of the main machine 1, so that the loads at the left side and the right side of the main machine 1 are relatively uniformly distributed, and the main machine 1 is prevented from inclining leftwards or rightwards.

It can be understood that the side brush motor 9 may also be disposed on the left side of the main machine 1, and the rolling brush motor 8 may be disposed on the right side of the main machine 1, without limitation.

Of course, it is also understood that the side brush motor 9 and the roller brush motor 8 may be disposed adjacent to the left and right ends of the main body 1, or may be disposed on an area between the ends and the center line of the main body 1, and the specific positions where the side brush motor 9 and the roller brush motor 8 are disposed are not limited herein.

It can also be understood that the side brush motor 9 and the rolling brush motor 8 may be symmetrically disposed about the center line of the main body 1, or may not be symmetrically disposed about the center line of the main body 1, so as to balance the forces applied to the left and right sides of the main body 1.

Further, the side brush 10 is located at the front side of the dust collection port 6, so that the cleaning area of the robot 100 for sweeping the floor in unit time can be increased, and the side brush 10 can sweep out garbage at corners, wall edges and the like, so that the rolling brush 81 at the rear side of the side brush 10 can conveniently clean the garbage and convey the garbage into the dust box 3, and the cleaning effect of the robot 100 for sweeping the floor can be improved.

In some embodiments of the present invention, the sweeping robot 100 further comprises: fan motor 13 and battery 14, fan motor 13 locates the bottom of segmental arc 12, battery 14 is located the longitudinal centerline both sides of host computer 1 respectively with fan motor 13, that is to say, fan motor 13 can cooperate in segmental arc 12 department of host computer 1, the rear end of robot 100 sweeps floor promptly, fan motor 13 cooperation back on segmental arc 12, the fan can be towards the setting of dirt box 3, when fan motor 13 drive fan rotates, the fan can convulsions, so that can produce the negative pressure in the dirt box 3, thereby make the rubbish of dust absorption mouth 6 department can get into in dirt box 3 betterly, and then can improve the efficiency of accomodating rubbish, thereby can further mention the clean efficiency of robot 100 that sweeps floor.

In addition, the battery 14 is installed on the main machine 1, so that the battery 14 can store electricity, and the power is supplied to the motor installed on the sweeping robot 100 in a matched manner, so that the sweeping robot 100 can move flexibly, when the electric quantity of the battery 14 is low, the sweeping robot 100 can move to an automatic charging position for automatic charging, and the base surface cleaning can be continuously performed after the charging is completed.

Further, the battery 14 and the fan motor 13 may be respectively located at two sides of a longitudinal center line of the host 1, that is, the battery 14 and the fan motor 13 may be located at two sides of the host 1, so that the fan may not interfere with the battery 14 during operation, and the fan and the battery 14 may operate more stably.

In the specific example shown in fig. 3, the roll brush motor 8 is fittingly installed at the left side of the main body 1, the side brush motor 9 is fittingly installed at the right side of the main body 1, and the roll brush motor 8 and the side brush motor 9 may be bilaterally symmetric with respect to the center line of the main body 1, in addition, through the left driving wheel 41 and the right driving wheel 41 which are symmetrical left and right about the central line, and the fan motor 13 and the battery 14 which are symmetrical left and right about the central line, therefore, the total weight of the rolling brush motor 8, the left driving wheel 41 and the fan motor 13 on the left side of the central line of the main machine 1 can be balanced with the total weight of the side brush motor 9, the right driving wheel 41 and the battery 14 on the right side of the central line of the main machine 1, so that the weight of the left side and the right side of the main machine 1 can be balanced, and further, the sweeping robot 100 can be prevented from inclining towards the left side or the right side, so that the sweeping robot 100 can walk and clean more smoothly.

In some embodiments of the present invention, the sweeping robot 100 further comprises: the two driving wheel motors 4 and the two driving wheel motors 4 are respectively used for providing power to the two driving wheels 41, that is, the driving wheel motor 4 on the left side of the sweeping robot 100 can drive the driving wheel 41 on the left side of the sweeping robot 100 to rotate, and the driving wheel motor 4 on the right side of the sweeping robot 100 can drive the driving wheel 41 on the right side of the sweeping robot 100 to rotate, so that the left driving wheel 41 and the right driving wheel 41 can rotate stably, and the sweeping robot 100 can walk, clean and the like stably.

Further, the transverse center lines of the two driving wheel motors 4 are located at the rear sides of the transverse center lines of the two driving wheels 41, so that the total weight of the rolling brush motor 8 and the side brush motor 9 at the front sides of the axes of the two driving wheels 41 can be balanced with the total weight of the two driving wheel motors 4, the fan motor 13 and the battery 14 at the rear sides of the two driving wheels 41, the weight of the front side and the weight of the rear side of the main machine 1 can be balanced, the sweeping robot 100 can be prevented from inclining towards the front side or the rear side, and the sweeping robot 100 can walk and clean more stably.

Optionally, the sweeping robot 100 further comprises: a first auxiliary wheel 15 and a second auxiliary wheel 16, the first auxiliary wheel 15 is arranged in a first area enclosed by the fan motor 13, the driving wheel motor 4 adjacent to the fan motor 13 and the outer edge of the arc-shaped section 12, and the second auxiliary wheel 16 is arranged in a second area enclosed by the battery 14, the driving wheel motor 4 adjacent to the battery 14 and the outer edge of the arc-shaped section 12.

Therefore, after the first auxiliary wheel 15 is arranged in the first area, the first auxiliary wheel 15 can assist the right driving wheel 41 to support the sweeping robot 100, and after the second auxiliary wheel 16 is arranged in the second area, the second auxiliary wheel 16 can assist the left driving wheel 41 to support the sweeping robot 100, so that the sweeping robot 100 is prevented from tilting to the left and back side. In addition, after the first auxiliary wheel 15 and the second auxiliary wheel 16 are matched on the main machine 1, the first auxiliary wheel 15 and the second auxiliary wheel 16 can be bilaterally symmetrical about the center line of the main machine 1, so that the main machine 1 can be well supported in an auxiliary manner, and the sweeping robot 100 can walk and clean more stably.

Alternatively, the first auxiliary wheel 15 and the second auxiliary wheel 16 are universal wheels, so that the walking flexibility of the sweeping robot 100 can be improved, and the cleaning efficiency and the cleaning effect of the sweeping robot 100 can be improved. Of course, the first auxiliary wheel 15 and the second auxiliary wheel 16 may have other wheel-like structures, and are not limited herein.

In some embodiments of the present invention, as shown in fig. 4, the overall center point of the sweeping robot 100 is spaced from the lateral center lines of the two driving wheels 41 by a predetermined distance L, and the predetermined distance L ranges from: 1-25 mm, that is, a certain distance L may be provided between the center point of the whole sweeping robot 100 and the center point of the axes of the two driving wheels 41, and the value range of L may be limited to 1-25 mm, for example, L may be 5mm, 10mm, 18mm, 23mm, and the like, which is not limited herein. Through injecing L between 1 ~ 25mm, can make two drive wheels 41 support robot 100 of sweeping the floor more stably, prevent that it from taking place to incline, turning on one's side etc..

In some preferred examples, L may be defined between 1-15 mm, for example, L may be 3mm, 7mm, 10mm, 13mm, etc., without limitation. Through injecing L between 1 ~ 15mm, can be so that two drive wheels 41 can support robot 100 of sweeping the floor more stably to make robot 100's of sweeping the floor motion gesture more steady, and then can improve robot 100's of sweeping the floor reliability.

Optionally, the central point of the whole sweeping robot 100 is located at the rear side of the transverse center line of the two driving wheels 41, that is, the central point of the whole sweeping robot 100 is located at the rear side of the central point of the axes of the two driving wheels 41, so that the two driving wheels 41 can better support the weight of the sweeping robot 100, and prevent the sweeping robot 100 from turning forward during walking, cleaning and the like, thereby enabling the motion posture of the sweeping robot 100 to be more stable and reliable, and simultaneously facilitating the motion control of the sweeping robot, so as to improve the cleaning capability thereof.

Optionally, the center of gravity of the whole sweeping robot 100 is close to the center line of the whole sweeping robot 100 or located at the front side of the center line of the whole sweeping robot, that is, the center of gravity of the whole sweeping robot 100 may be located between the center line of the whole sweeping robot and the transverse center line of the driving wheels 41, and thus, the two driving wheels 41 may bear the weight of the whole sweeping robot, so that the sweeping robot 100 may stably walk, and further, the sweeping robot 100 may stably perform cleaning operation, thereby improving the cleaning efficiency and the cleaning effect.

It is understood that the center of gravity of the sweeping robot 100 can be adjacent to the driving wheel 41, so that the driving wheel 41 can support the weight of the whole machine.

It should be noted that the center point of the whole sweeping robot 100 is not the center point of gravity of the whole sweeping robot, the center point of gravity of the whole sweeping robot is usually deviated from the front side of the whole sweeping robot, and the two driving wheels 41 are arranged on the front side of the center point of the whole sweeping robot, so that the two driving wheels 41 can be adjacent to the center of gravity of the whole sweeping robot, and the driving wheels 41 can stably support the sweeping robot 100 to walk, clean, and the like.

In some embodiments of the present invention, the front impact assembly 2 includes: a front impact base 21 and a front impact housing 22, the front impact base 21 is arranged at the front end of the main machine 1, the front impact base 21 comprises: the device comprises a straight axis extending along the left-right direction, an arc surface circumferentially wound around the straight axis and two side planes formed at the ends of the arc surface.

That is, the front impact base 21 may be fitted at the front end of the main body 1 as shown in fig. 2, specifically, the front impact base 21 may extend in the left-right direction while rotating around the axis of the extending direction to form an arc-shaped surface, and further, a left side plane may be formed at the left end of the arc-shaped surface and a right side plane may be formed at the right end of the arc-shaped surface, so that the front impact base 21 may be formed in a cylindrical shape, and optionally, the front housing 22 may also be formed in a cylindrical shape and cover the outside of the front impact base 21, so that when the sweeping robot 100 collides with an obstacle, the front impact housing 22 makes contact with the obstacle in a point contact or a line contact, and under the same impact force condition, the pressure of the point contact or the line contact is relatively higher than the pressure of the surface contact, and thus the sensitivity of the sweeping robot 100 may be improved. Here, the front end can be understood as a moving direction of the sweeping robot 100.

The front collision base 21 is provided with a detection device 7 for acquiring a collision signal of the sweeping robot 100, the detection device 7 comprises a plurality of detection devices 7, the detection devices 7 are respectively arranged on an arc-shaped surface and two side planes, therefore, the detection devices 7 are arranged on the front collision base 21, the detection devices 7 can detect and acquire the environmental information of the front side of the sweeping robot 100 in the moving direction, when the front end of the sweeping robot 100 collides with an obstacle, the detection devices 7 can acquire the collision signal and feed the collision signal back to the control center, the control center can control the movement of the sweeping robot 100, so that the sweeping robot 100 can move to avoid the obstacle, thereby preventing the sweeping robot 100 from continuously colliding with the obstacle and leading the sweeping robot 100 to be damaged.

Further, detection device 7 can be equipped with a plurality ofly, through install a plurality of detection device 7 cooperation respectively on arc surface and two side planes of the left and right sides that hit base 21 before for detection device 7 can be more accurate, the omnidirectional inspection, acquire the ambient environment information of robot 100 of sweeping the floor, thereby makes robot 100 of sweeping the floor can avoid the barrier effectively at the cleaning in-process, and then can protect robot 100 of sweeping the floor. It is understood that the number of the detecting devices 7 may be four, five, or more, and is not limited herein.

The front impact housing 22 covers the outside of the front impact base 21, wherein the front impact housing 22 is movable relative to the front impact base 21, that is, the front impact housing 22 can be sleeved outside the front impact base 21, so that the front impact housing 22 can protect the front impact base 21, when the sweeping robot 100 collides with an obstacle, the front impact housing 22 collides with the obstacle, and the front impact base 21 does not contact with the obstacle, so that the front impact housing 22 can protect the front impact base 21. Further, the detection device 7 is fittingly installed on the front impact base 21, and the front impact housing 22 covers the outside of the detection device 7, so that the front impact housing 22 can protect the detection device 7 and prevent the detection device 7 from being damaged when the sweeping robot 100 collides with an obstacle.

Optionally, the front impact base 21 is further provided with a visual detection device 17 for acquiring a visual signal, so that the visual detection device 17 is arranged behind the front impact base 21, so that the visual detection device 17 can detect whether an obstacle exists in an area to be cleaned, and then feeds detected visual information back to the host 1, if an obstacle exists, the sweeping robot 100 can decelerate to reduce the impact force generated by the sweeping robot 100 and the obstacle, and the sweeping robot 100 is prevented from being damaged by impact. The vision detection device 17 can also detect surrounding environment information, for example, when the sweeping robot 100 needs to be charged, the vision detection device 17 can detect the environment position information of the sweeping robot 100 at present, determine the position of the sweeping robot at present, and feed the position back to the host computer 1, then the sweeping robot 100 can automatically charge, after the charging is finished, the sweeping robot 100 can return to the position of the sweeping robot before the charging according to the position information detected by the vision detection device 17, so that the sweeping robot 100 can continue to perform cleaning work, and further the sweeping robot 100 can continue to clean an uncleaned area. Therefore, the phenomenon that the existing areas are repeatedly cleaned and the areas are not cleaned can be prevented, the intelligence of the sweeping robot 100 can be improved, and meanwhile, the cleaning effect and the cleaning efficiency of the sweeping robot 100 are also improved.

Optionally, the front impact shell 22 includes: the cover main body 221 and the blocking piece 222 detachably connected to the cover main body 221, the blocking piece 222 is disposed corresponding to the visual inspection device 17 and is formed into a light-permeable structure, that is, the blocking piece 222 can be connected to the cover main body 221, and after the blocking piece 222 is connected to the cover main body 221, the blocking piece 222 can be detached from the cover main body 221. Further, the blocking sheet 222 may be a light-transmitting structure and covers the outside of the visual inspection device 17. From this, visual detection device 17 sees through separation blade 222 and can detect external environment, and separation blade 222 can protect visual detection device 17 simultaneously, prevents that it from colliding with other objects, when visual detection device 17 damaged, can follow shell main part 221 with separation blade 222 and dismantle down to can change visual detection device 17 more conveniently, and then make robot 100 of sweeping the floor resume operating condition relatively fast, thereby can improve robot 100's of sweeping the floor cleaning efficiency.

In one example, the blocking piece 222 is movably connected to the housing main body 221, and the blocking piece 222 is disposed corresponding to the visual inspection device 17 and formed in a light-permeable structure, that is, the blocking piece 222 is movable relative to the housing main body 221, specifically, the blocking piece 222 is rotatable relative to the housing main body 221, and when the visual inspection device 17 is damaged or needs to be inspected, the blocking piece 222 can be opened, that is, the blocking piece 222 is rotated by a certain angle, so that the visual inspection device 17 can be maintained or inspected more conveniently.

It is understood that the flap 222 can be hinged to the housing body 221, and the flap 222 can be connected to the housing body 221 by other methods and structures. And are not intended to be limiting.

In another example, the blocking piece 222 is disposed in the middle of the housing main body 221, and the blocking piece 222 is connected to the housing main body 221 through a snap and slot structure, that is, the blocking piece 222 can be disposed in the middle of the housing main body 221, and the visual detection device 17 can be correspondingly disposed in the middle of the front impact base 21, so that a single visual detection device 17 can detect a larger range, and the sweeping robot 100 can obtain a larger range of environmental information.

In some embodiments of the invention, the visual detection means 17 comprise: a first detecting device 171 and a second detecting device 172, the first detecting device 171 being provided on the upper surface of the front impact base 21; and/or the second detecting device 172 is provided on the bottom surface of the front impact base 21.

In one example, the first detecting device 171 may be provided at the upper surface of the front impact base 21, and the first detecting device 171 may be centered at the upper surface, the second detecting device 172 may be provided at the bottom surface of the front impact base 21, and the second detecting device 172 may be centered at the bottom surface, so that the detection ranges of the first detecting device 171 and the second detecting device 172 may be increased. Specifically, as shown in fig. 7, the first detection device 171 can detect the environmental information of the upper space and the upper front space of the sweeping robot 100, for example, the first detection device 171 detects the upper environmental information and the upper front environmental information of the sweeping robot 100 and then coordinates and cooperates with the navigation device 5, so that the sweeping robot 100 can be accurately positioned, and after being charged, the sweeping robot can accurately return to the position before being charged, thereby improving the cleaning efficiency and the cleaning effect of the sweeping robot 100. For example, as shown in fig. 8, the second detecting device 172 may detect information of the floor, so that the sweeping robot 100 may identify an obstacle, for example, the second detecting device 172 may identify a power line, a rag, socks, etc., after the second detecting device 172 identifies the obstacle, the sweeping robot 100 may not clean the obstacle, so as to prevent the socks, the electric wire, etc. from being stuck in the sweeping robot 100, and thus the sweeping robot 100 cannot perform cleaning work.

Optionally, the visual detection device 17 includes a third detection device 173, and the third detection device 173 is disposed on the front surface of the front collision base 21, so that, as shown in fig. 9, after the third detection device 173 is fitted behind the front surface of the front collision base 21, the third detection device 173 can detect the front environmental information of the sweeping robot 100, so that the third detection device 173 can simultaneously achieve the functional requirements of identifying obstacles and assisting in positioning, and at the same time, the production and manufacturing costs of the sweeping robot 100 can also be reduced.

Alternatively, the front striker base 21 includes: base main part 211 and base installation body 212, visual detection device 17 is located on base installation body 212, wherein base installation body 212 is rotatable around the length direction of base main part 211, that is to say, base installation body 212 can be around the rotatory arbitrary angle of axis of base main part 211, after visual detection device 17 cooperation is installed on base installation body 212, it is rotatory around the axis of base main part 211 through base installation body 212, can increase visual detection device 17's detection scope, thereby make visual detection device 17 can the omnidirectional detection robot 100's of sweeping the surrounding environment of sweeping the floor, and then can protect robot 100 of sweeping the floor, also can improve robot 100's of sweeping the floor clean efficiency and clean effect.

In some embodiments of the present invention, the cross section of the front collision assembly 2 is circular, specifically, the cross section of the front collision assembly 2 in the direction perpendicular to the left-right direction is circular, or may be understood as the projection of the front collision assembly 2 on a vertical plane is circular, therefore, the outer shape of the front collision base 21 may be formed into a cylinder or an approximately cylinder shape, so that the front collision housing 22 may be more firmly covered on the outside of the front collision base 21, and the front collision housing 22 is covered behind the outside of the front collision base 21, so that the side surface of the front housing does not have edges and corners when colliding with an object, so that the object may be prevented from being damaged or colliding with traces, etc., and the influence on the sweeping robot 100 after colliding with the object may be reduced.

Other configurations and operations of the sweeping robot 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (16)

1. A sweeping robot is characterized by comprising:

the main machine comprises a straight section and an arc section along the front-back direction on the horizontal projection, the outline of the straight section forms a part of a rectangle, the outline of the arc section forms a part of a semicircle, the straight section and the arc section are mutually butted to enclose a closed outline, a navigation device for transmitting and receiving navigation signals is arranged on the main machine, a dust suction port is arranged at the bottom of the main machine, and a rolling brush is arranged in the dust suction port;

the front collision assembly is arranged on one side, far away from the arc-shaped section, of the straight section of the main machine, a detection device for acquiring collision signals of the sweeping robot is arranged on the front collision assembly, and the detection devices comprise a plurality of detection devices;

the dust box is arranged on the host and positioned in the middle of the host, and the inner cavity of the dust box is communicated with the dust suction port;

the two driving wheels are arranged on the main machine and are respectively adjacent to the left side and the right side of the main machine.

2. The sweeping robot of claim 1, wherein the two drive wheels are located on the left and right sides of the dust box, respectively.

3. The sweeping robot of claim 1, further comprising:

the rolling brush motor is used for driving the rolling brush to rotate;

the side brush motor and the rolling brush motor are transversely arranged oppositely and are positioned on two sides of the longitudinal center line of the main machine;

the side brush is connected with the side brush motor and is positioned on the front side of the dust collection port.

4. The sweeping robot of claim 1, further comprising:

the fan motor is arranged at the bottom of the arc-shaped section;

the battery and the fan motor are respectively arranged on two sides of the longitudinal center line of the host.

5. The sweeping robot of claim 4, further comprising: the two driving force motors are respectively used for providing power for the two driving wheels, and the transverse center lines of the two driving wheel motors are positioned on the rear sides of the transverse center lines of the two driving wheels.

6. The sweeping robot of claim 5, further comprising:

the first auxiliary wheel is arranged in a first area surrounded by the fan motor, the driving wheel motor adjacent to the fan motor and the outer edge of the arc-shaped section;

a second auxiliary wheel disposed within a second region enclosed by the battery, the drive wheel motor adjacent the battery, and an outer edge of the arcuate segment.

7. The sweeping robot of claim 1, wherein a predetermined distance L is provided between a center point of the sweeping robot and a transverse center line of the two driving wheels, and the predetermined distance L ranges from: 1-25 mm.

8. The sweeping robot of claim 7, wherein the overall center point of the sweeping robot is located rearward of the lateral centerlines of the two drive wheels.

9. The sweeping robot of claim 7, wherein the overall center of gravity of the sweeping robot is adjacent to or forward of the overall centerline of the sweeping robot.

10. The sweeping robot of claim 1, wherein the front impact assembly comprises:

the base is hit before, it hits the base setting before in the front end of host computer includes: the front impact base is provided with a plurality of detection devices used for acquiring collision signals of the sweeping robot, and the detection devices are respectively arranged on the arc-shaped surface and the two side planes;

a front impact housing covering an exterior of the front impact base, wherein the front impact housing is movable relative to the front impact base.

11. The sweeping robot of claim 10, wherein the front impact base is further provided with a visual detection device for acquiring a visual signal.

12. The sweeping robot of claim 11, wherein the front impact housing comprises:

the shell body and the detachably with the separation blade that the shell body links to each other, the separation blade corresponds the visual detection device sets up and forms into light-permeable structure.

13. The sweeping robot of claim 12, wherein the visual inspection device comprises:

the first detection device is arranged on the upper surface of the front collision base; and/or

And the second detection device is arranged on the bottom surface of the front impact base.

14. The sweeping robot according to claim 12 or 13, wherein the visual detection device comprises a third detection device, and the third detection device is arranged on the front surface of the front impact base.

15. The sweeping robot of claim 11, wherein said front impact base comprises:

the visual detection device is arranged on the base installation body, wherein the base installation body is rotatable around the length direction of the base main body.

16. The sweeping robot of claim 1, wherein the front impact assembly is circular in cross-section.

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