CN111387889B

CN111387889B - Automatic cleaning machine

Info

Publication number: CN111387889B
Application number: CN202010234691.7A
Authority: CN
Inventors: 赵志谋
Original assignee: Hobot Technology Inc
Current assignee: Hobot Technology Inc
Priority date: 2016-06-15
Filing date: 2016-07-29
Publication date: 2022-03-08
Anticipated expiration: 2036-07-29
Also published as: RU2017106769A3; TW201808204A; RU2017106769A; TWI603700B; CN111493761B; CN107510417B; CN111493761A; BR102017011136A2; CN111387889A; RU2695047C2; CN111493762A; CN107510417A

Abstract

The invention provides an automatic cleaning machine, comprising: a reciprocating wiping mechanism comprising: at least one cleaning device for contacting a surface; and at least one reciprocating device connected to the at least one cleaning device and making the at least one cleaning device generate a reciprocating motion so as to wipe the plane in a reciprocating manner; a walking device for making the automatic cleaning machine walk on the plane; and a control system, coupled to the reciprocating wiping mechanism and the traveling device, for controlling the reciprocating wiping mechanism and the traveling device. The cleaning mechanism with high-speed reciprocating type makes the cleaning cloth to wipe the ground surface with high-speed reciprocating type, and the vacuum dust suction device can suck the garbage in front of the cleaning cloth.

Description

Automatic cleaning machine

The invention is a divisional application of an invention patent application with application number 201610609185.5 and name "automatic cleaning machine" on 2016.

Technical Field

The present invention relates to an automatic cleaning machine, and more particularly, to an automatic cleaning machine having a reciprocating cleaning mechanism.

Background

Currently, a sweeping cleaning robot (sweeping robot) on the market mainly sweeps garbage, and generally has a side brush, a vacuum suction port, a middle brush or a mopping cleaning cloth, but the cleaning cloth is dragged by the robot, so that the cleaning effect on water stains, foot marks and fine dust particles is limited.

The current commercial floor cleaning robot (irobot scooba) sprays water on the ground, the water is sucked back by a rubber scraper and filtered after being brushed by a middle brush, and the floor cleaning robot has the defects that when the ground is uneven, the water can be remained on the ground, and the floor cleaning robot cannot be used by a seam floor material.

The current commercial floor-cleaning robot (mint: mint) pushes a wet cloth machine to move back and forth to clean the floor, and has the following defects: the garbage accumulated in front of the cleaning cloth can not be collected, and the cleaning effect is limited when the wiping frequency is too low.

Therefore, there is a need for a robot for household liquidation that improves upon at least one of the aforementioned disadvantages of robots.

Disclosure of Invention

An object of an embodiment of the present invention is to provide an automatic cleaning machine, which has a reciprocating cleaning mechanism to enable a cleaning cloth to reciprocally wipe the ground, a pair of traveling wheels to enable the machine to travel, a microcomputer control system and various sensors to detect obstacles, detect the distance of the surrounding environment, and plan a cleaning path. In one embodiment, the automatic cleaning machine further comprises a dust collector for collecting the garbage in front of the cleaning cloth, and in one embodiment, the automatic cleaning machine further comprises a water spraying device for wetting and wiping the floor.

An automatic cleaning machine includes a reciprocating wiping mechanism, a traveling device and a control system. The reciprocating wiping mechanism comprises at least one cleaning device and at least one reciprocating device. At least one cleaning device is used for contacting a plane. At least one reciprocating device connected to the at least one cleaning device and making the at least one cleaning device generate a reciprocating motion so as to reciprocally wipe the plane. The walking device is used for enabling the automatic cleaning machine to walk on a plane. The control system is coupled with the reciprocating wiping mechanism and the traveling device and is used for controlling the reciprocating wiping mechanism and the traveling device.

In one embodiment, the at least one cleaning device includes a first cleaning device and a second cleaning device. The reciprocating device enables the first cleaning device to reciprocate in a first direction and enables the second cleaning device to reciprocate in a second direction, and the first direction is opposite to the second direction.

In one embodiment, the robot cleaner further includes a housing. The machine shell is used for accommodating the reciprocating device, the control system and the walking device of the reciprocating wiping mechanism. The at least one cleaning device comprises: a brush disc, a roller and a cleaning cloth. The brush disc is arranged below a base of the machine shell. The roller is located between the brush disk and the casing and rolls on the brush disk or the base, so as to reduce the friction between the brush disk and the base. The cleaning cloth is arranged on the brush disc and is used for contacting the plane.

In one embodiment, the automatic cleaning machine further comprises a housing and an elastic element. The machine shell is used for accommodating the reciprocating device, the control system and the walking device of the reciprocating wiping mechanism. The elastic element is arranged between the walking device and the shell so as to apply force to the walking device in the direction away from the automatic cleaning machine through the elastic element.

In one embodiment, the automatic cleaning machine further comprises a dust-collecting device. The dust suction device comprises a suction inlet for sucking particles on a plane along with an air flow from the suction inlet into the dust suction device. The at least one cleaning device includes a first cleaning device. The suction opening is positioned in front of the first cleaning device, the suction opening is positioned within a predetermined distance of the first cleaning device, and the first cleaning device does not accumulate particles within the predetermined distance.

In one embodiment, the automatic cleaning machine further comprises a water spraying device for spraying water on the plane.

In one embodiment, the traveling device includes a movable wheel set and an outer casing, the outer casing is used for accommodating the movable wheel set and includes a sleeve. The casing comprises a base, a fixing column, a baffle and a fixing screw. The fixed column is arranged on the base and protrudes from the base, and the sleeve is sleeved on the outer peripheral face of the fixed column. The separation blade is located the top side of fixed column. The fixing screw is screwed into the fixing column and used for fixing the separation blade on the top side of the fixing column. One end of the elastic element is propped against the blocking sheet, and the other end of the elastic element is propped against the sleeve of the outer shell of the walking device.

In one embodiment, the at least one reciprocating device includes a wiping motor, a crank shaft, at least one crank and at least one slide rail. The crank shaft is driven to rotate by the wiping motor. At least one crank, one end of which is connected with the crank shaft and the other end of which is used for connecting a brush disc of the at least one cleaning device; and performs a reciprocating motion along with the rotation of the crank shaft. At least one slide rail for limiting a portion of the brush plate to thereby reciprocate the at least one cleaning device.

In one embodiment, the suction inlet of the dust suction device is arranged on a brush disc of the first cleaning device.

In one embodiment, the automatic cleaning machine further comprises an electric cleaning brush. The suction inlet of the dust suction device is arranged on a base of a shell of the automatic cleaning machine. An electric cleaning brush is fixed to the base and sweeps the particles into the suction inlet.

In one embodiment, the automatic cleaning machine further comprises at least one sensor disposed on the front side or the lower side of the housing for detecting an obstacle or a cliff in a non-contact manner.

In one embodiment, the automatic cleaning machine further comprises a safety lever and at least one limit switch. The bumper is arranged on the outer side of the automatic cleaning machine. At least one limit switch is used for detecting an obstacle after being touched by the bumper.

In one embodiment, the robot cleaner further comprises at least one laser ranging device for detecting a distance to an obstacle and measuring a distance to an ambient environment, so as to create a map and plan a cleaning path.

Technical improvements of various embodiments of the present invention include one of the following. The reciprocating type cleaning mechanism is designed, so that the wiping frequency of the cleaning cloth in unit time is improved, and the cleaning can be performed efficiently. The dust suction device sucks the garbage accumulated in front of the cleaning cloth. The intelligent control water spray keeps the optimum humidity of the cleaning cloth, and the optimum cleaning effect is achieved. The system integrates all devices, artificial intelligence is added, and the robot can clean a whole room.

Drawings

The present invention will be understood more fully from the detailed description given below and from the accompanying drawings, which are given by way of illustration only and are not limitative of the present invention.

Fig. 1 is a top view of an automatic cleaning machine according to an embodiment of the present invention.

Fig. 2 is a bottom view of an automatic cleaning machine according to an embodiment of the present invention.

Figure 3 is a cross-sectional view taken along section line a-a of figure 2.

Figure 4 is a cross-sectional view taken along section line B-B of figure 2.

Figure 5 is a cross-sectional view of section line C-C in figure 2.

Figure 6 is a cross-sectional view of section line K-K in figure 2.

FIG. 7 is a cross-sectional view of an automatic cleaning machine corresponding to section line A-A in FIG. 2 according to another embodiment of the present invention.

FIG. 8 is a schematic view of a reciprocating wiping mechanism according to another embodiment of the present invention.

Fig. 9 is a functional block diagram of a control system according to an embodiment of the present invention.

Fig. 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention.

Reference numerals:

100 automatic cleaning machine 441 spring catch

110 wiping motor 442 fixing screw

120 belt pulley device 443 fixing column

130 crankshaft 500 control system

131 rotating wheel 510 processor

140 crank 511 memory

141 straight rod 512 flash memory

150 crank 520 pulse width modulation device

20a airflow 521 power drive

20b airflow 600 garbage collection can

20c air flow 610 primary screen

20d air flow 611 active intake

20e air flow 612 throat

20f air stream 613 exhaust port

210 tripod 619 stationary suction inlet

220 front brush 620 high-efficiency filter screen

230 cleaning cloth 630 vacuum pump impeller

231 cleaning device 640 pump motor

240 tripod 690 drum brush

250 rear brush plate 700 water storage tank

260 cleaning cloth 710 water pipe

270 gyro wheel 720 water pump

271 spout 730 water pipe

280 roller 740 left nozzle

Spraying range of 281 sliding grooves 741

310 base 750 right nozzle

320 casing 751 ejection range

330 bumper 810 front proximity sensor

Proximity sensor under 400 moving wheel set 820

401 sleeve 830 limit switch

402 outer shell 840 range sensor

410 crawler driving wheel 900 remote control emitter

420 crawler 910 remote control receiver

430 motor 910 brush

440 spring

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals will be used to identify identical or similar elements from multiple viewpoints. It should be noted that the drawings should be viewed in the direction of the orientation of the reference numerals.

According to the known sweeping robot, the cleaning cloth can only wipe the ground by walking of the sweeping robot, that is, the walking times are the wiping times, and another known sweeping robot has only a dry sweeping function, so that according to the known technology, water stain marks, foot prints, fine dust particles and the like cannot be cleaned. In accordance with one embodiment of the present invention, an automatic cleaning machine 100 is provided having a high-speed reciprocating cleaning mechanism for high-speed reciprocating cleaning of a cleaning cloth across a floor surface, and a pair of road wheels for travel of the machine. In one embodiment, a vacuum cleaner may be provided to remove the garbage in front of the cleaning cloth. In one embodiment, a water spray device may be provided to wet the floor. In one embodiment, a microcomputer control system and various sensors can be provided to detect obstacles, detect the distance of the surrounding environment and plan the cleaning path. More specific structures are described in detail below.

Fig. 1 is a top view of an automatic cleaning machine according to an embodiment of the present invention. Fig. 2 is a bottom view of an automatic cleaning machine according to an embodiment of the present invention. Figure 3 is a cross-sectional view taken along section line a-a of figure 2. Figure 4 is a cross-sectional view taken along section line B-B of figure 2. Figure 5 is a cross-sectional view of section line C-C in figure 2. Figure 6 is a cross-sectional view of section line K-K in figure 2.

With respect to the reciprocating wiping mechanism:

as shown in fig. 2-6, the reciprocating wiping mechanism according to one embodiment of the present invention includes a wiping motor 110, a pulley device 120, a crank shaft 130, at least one crank, and at least one cleaning device. In the present embodiment, at least one crank comprises two

cranks

140 and 150, and the free ends of the

cranks

140 and 150 are provided with cleaning devices. As shown in fig. 4, the wiping motor 110 rotates, and the crankshaft 130 is rotated by the speed reduction of the pulley device 120. As shown in fig. 3, the crankshaft 130 rotates to drive at least one crank to perform a linear reciprocating motion, and in this embodiment, the crankshaft 130 further drives two

cranks

140 and 150 to perform a linear reciprocating motion. Preferably, the phase difference between the

cranks

140 and 150 is 180 °, so that the cleaning devices at both ends of the

cranks

140 and 150 exhibit reciprocating linear motions in opposite directions.

Referring to fig. 3 again, the front cleaning device includes a tripod 210, a front brush plate 220 and a cleaning cloth 230. The spider 210 is connected between the free end of the crank 140 and the front brush plate 220, and the cleaning cloth 230 is mounted or attached to the underside of the front brush plate 220. The free end of the crank 140 pushes the tripod 210, and thus the front brush plate 220, so that the front cleaning cloth 230 adhered to the front brush plate 220 reciprocates back and forth on the floor. The rear cleaning device includes a tripod 240, a rear brush plate 250 and a cleaning cloth 260. The spider 240 is connected between the free end of the crank 150 and the rear brush plate 250, and the cleaning cloth 260 is mounted or attached to the underside of the rear brush plate 250. The free end of the crank 150 pushes the spider 240, thereby pushing the rear brush plate 250, so that the cleaning cloth 260 adhered to the rear brush plate 250 reciprocates back and forth on the floor.

The front and

rear brush plates

220 and 250 move in opposite directions so that the reaction forces can be offset, and the automatic cleaning machine 100 can operate stably. Referring to fig. 2 and 4, the front cleaning device further includes at least one roller 270, and the front brush tray 220 has two sliding rails. The roller 270 is fixed to the front brush tray 220 and is located between the top surface of the front brush tray 220 and the bottom surface of the base 310 of the cabinet 320 of the robot cleaner 100. When the front brush plate 220 reciprocates back and forth, as shown in fig. 4, the roller 270 rolls the base 310 or the front brush plate 220, so as to reduce the friction force generated during the relative movement between the front brush plate 220 and the base 310. In one embodiment, a sliding groove 271 is formed at the upper side of the base 310, and a portion of the front brush tray 220 is limited in the sliding groove 271, so that the front brush tray 220 is limited by the upper sliding groove 271, and the front brush tray 220 does not fall down.

The rear cleaning device further comprises at least one roller 280, and the rear brush plate 250 has two sliding rails. The roller 280 is fixed to the rear brush tray 250 between the top surface of the rear brush tray 250 and the lower bottom surface of the base 310 of the cabinet 320 of the robot cleaner 100. When the rear brush plate 250 reciprocates back and forth, the roller 280 rolls on the base 310 or the rear brush plate 250, so that the friction force generated during the relative movement between the rear brush plate 250 and the base 310 can be reduced. In one embodiment, a sliding slot 281 is formed at the upper side of the base 310, and a portion of the rear brush plate 250 is limited in the sliding slot 281, so that the rear brush plate 250 is limited by the sliding slot 281, and the rear brush plate 250 does not fall down.

The rotation speed of the wiping motor 110 can determine the back-and-forth wiping speed of the cleaning

cloths

230 and 260, and the wiping mechanism can wipe back and forth 100-2000 times per minute, which is a high-performance wiping mechanism.

Although an embodiment of a reciprocating wiping mechanism has been described in detail above, the present invention is not limited to the foregoing structure. Any structure capable of converting rotational motion into linear motion may be used in one embodiment, and for example, the reciprocating wiping mechanism may include a cam and a straight rod (not shown). The straight rod is abutted against the cam. The cam has a non-circular shape, such as an oval shape, or a nearly semi-oval with a protrusion formed at one end and a semi-circular shape formed at the other end. When the cam rotates, the straight rod can do linear reciprocating motion. For another example, FIG. 8 shows a schematic view of a reciprocating wiping mechanism according to another embodiment of the present invention. As shown in FIG. 8, in one embodiment, the reciprocating wiping mechanism comprises a rotating wheel 131, a straight rod 141 and a cleaning device 231. A cleaning cloth 230 is installed at the lower side of the cleaning device 231. When the rotation wheel 131 rotates, one end of the straight bar 141 is pulled to move, and the other end cleaning device 231 connected to the straight bar 141 performs a back and forth reciprocating motion, and wipes and cleans the floor surface reciprocally by the cleaning cloth 230.

With respect to the vacuum cleaner:

the reciprocal movement of the front and

rear brush plates

220 and 250, although cleaning the floor, accumulates dust at the front edge of the front cleaning cloth 230, i.e., near the movable suction opening 611 of the dust suction apparatus of fig. 2. In one embodiment, the automatic cleaning machine 100 further comprises a dust-collecting device. The vacuum cleaner includes a vacuum pump motor 640, a vacuum pump impeller 630 and an air line. The air line includes an active intake 611, a throat 612, screen modules (610 and 620), a trash collection can 600, and an exhaust 613. The vacuum pump motor 640 rotates the vacuum pump impeller 630 to form an air flow, and the air flow is made to flow in the air pipe along the path from the air flow 20a to the air flow 20 f.

The movable suction port 611 of the dust suction device is disposed in front of the front edge of the front cleaning cloth 230, so that when the traveling device travels forward along a traveling direction, the dust suction device sucks in advance the garbage particles, and then the front cleaning cloth 230 wipes the portion of the plane where the garbage particles are located. The movable suction opening 611 is located further within a predetermined distance at the leading edge of the front cleaning cloth 230 within which the dust suction apparatus can suck the dust accumulated at the leading edge of the front cleaning cloth 230 by the air flow 20a without the leading edge of the front cleaning cloth 230 accumulating the dust particles. Those skilled in the art can determine the predetermined distance by performing experiments on various efficiencies of the dust collector or various sizes of the movable suction inlet 611 according to the purpose of not accumulating the garbage particles, that is, the predetermined distance can be determined by the efficiency of the dust collector or the size of the movable suction inlet 611, and the longer the predetermined distance is when the efficiency of the dust collector is higher. As shown in fig. 1 and 3, the movable suction port 611 of the vacuum cleaner is provided at the front side of the front brush tray 220, and after the air flow 20a is sucked from the movable suction port 611 near the front side of the front brush tray 220, the air flow 20b passes through the throat pipe 612. As shown in FIG. 1, throat 612 engages the trash receptacle 600, and airflow 20c passes through the primary screen 610 of the screen module, and airflow 20d passes through the high efficiency screen 620 to reach airflow 20e, where most of all the dust is filtered. Subsequently, the air flow 20e passes through the air flow 20f and is discharged from the discharge port 613. So that dust on the floor can be sucked away by the suction device. In an embodiment, the High Efficiency filter 620 may be a filter of a High Efficiency Air filter (HEPA filter) of a filter module.

Regarding the running gear:

referring to fig. 2 and 5, according to an embodiment of the automatic cleaning machine 100, the traveling device has two sets of moving wheel sets 400 and two sets of outer housings 402. The outer housing 402 is used for accommodating the moving wheel set 400. The moving wheel set 400 includes a track wheel motor 430, a track drive wheel 410, and a track 420. In one embodiment, the moving wheel assembly 400 may also be composed of a roller and a motor for driving the roller. The track wheel motor 430 of the moving wheel set 400 rotates the track driving wheel 410 through an internal speed reducer, and the track driving wheel 410 drives the entire track 420, so that the automatic cleaning machine 100 moves on the floor. Referring to fig. 10, the control system 500 has a driving circuit connected to the two track wheel motors 430, and software in the control system 500 can control the two track wheel motors 430, so that the automatic cleaning machine 100 can move forward, backward, and turn. In conjunction with Artificial Intelligence (AI) software within the control system 500, the robot 100 can automatically wipe the entire room floor (as described in detail below).

Regarding the track wheel constant pressure structure:

the entire machine 100 contacts the floor only in two parts, the cleaning

cloths

230 and 260 and the track 420, and the automatic cleaning machine 100 cannot operate properly when the pressure distribution between the two parts is uneven. When the cleaning

cloths

230 and 260 are assigned too much positive pressure, the tracks 420 may slip and not propel the machine when the tracks 420 are not assigned sufficient positive pressure. In other words, when the positive pressure is too much distributed to the caterpillar 420 and the cleaning

cloths

230 and 260 are not distributed with a sufficient positive pressure, the floor will not be wiped cleanly. Therefore, a fixed ratio of pressure distribution must be designed to allow the machine to walk normally and clean the floor.

As shown in fig. 5, according to the constant-pressure structure of the track wheel of the embodiment of the invention, the automatic cleaning machine 100 may further include a spring 440, and the spring 440 is disposed between the traveling device and the housing 320 of the automatic cleaning machine 100, so that the traveling device is forced away from the automatic cleaning machine 100 by the spring 440, that is, the traveling device is pressed downward. More specifically, in the present embodiment, the spring 440 is disposed between the base 310 and the traveling device, so that the moving wheel assembly 400 is pressed downward by the spring 440, and thus a fixed pressure can be designed as long as the spring constant of the spring 440 is designed, and the cleaning

cloths

230 and 260 can be dispensed; and positive pressure of the track 420 against the floor. More specifically, the constant-pressure structure of the track wheel according to the present embodiment is configured as follows. The outer housing 402 of the walking device comprises a sleeve 401 at one end of the outer housing 402. The housing 320 further includes a fixing post 443, a spring stop 441 and a fixing screw 442. The sleeve 401 is disposed at a protruding end of the outer casing of the movable wheel assembly 400. Please refer to fig. 5. The fixing post 443 is disposed on the base 310 and protrudes from the base 310, and the sleeve 401 is sleeved on the outer peripheral surface of the fixing post 443. The spring retaining plate 441 is disposed on the top side of the fixing post 443, and the fixing screw 442 is screwed into the fixing post 443 to fix the spring retaining plate 441 on the top side of the fixing post 443.

The upper end of the spring 440 abuts against the spring stop 441, and the lower end of the spring 440 abuts against a portion of the outer housing 402 of the walking device, more specifically, as shown in fig. 5, against the bottom end of the sleeve 401 of the outer housing 402. Accordingly, the moving wheel set 400 may be pressed downward by the spring 440. In one embodiment, another spring is not additionally provided to press the cleaning device downward, so that the reciprocating motion of the front brush plate 220 and the rear brush plate 250 of the cleaning device can be more smooth.

Regarding the water spray device:

according to the known art, only dry wiping cannot erase stains, footprints, water stains, fine soot, etc. Therefore, in an embodiment of the present invention, a water spraying device is further provided, and the water spraying device is used to spray some water to easily remove the dirty marks on the floor. As shown in fig. 1 and 6, the water spraying device includes a water storage tank 700, a water pipe 710, a water pump 720, a water pipe 730, a left nozzle 740 and a right nozzle 750. As shown in fig. 9, the control system 500 may control the water pump 720 to drive the water spray. As shown in fig. 1, water is stored in a water storage tank 700, passing through a water inlet pipe 710 to a water pump 720. As shown in fig. 1 and 6, the cleaning water is pressurized by the water pump 720, passes through the water outlet pipe 730, and is then ejected through the left nozzle 740 and the right nozzle 750 shown in fig. 6. Reference numeral 741 denotes an ejection range of the left nozzle 740, and reference numeral 751 denotes an ejection range of the right nozzle 750. The control system 500 controls the water pump 720 to spray water at a time and quantity according to the traveling speed of the machine, so that the cleaning

cloths

230 and 260 are not too wet or too dry, and the optimal cleaning effect can be achieved.

With regard to the control system:

driving a motor:

fig. 9 is a functional block diagram of a control system according to an embodiment of the present invention. As shown in fig. 9, a control system 500 according to an embodiment of the present invention includes: a processor (CPU)510, a memory (RAM)511, a flash memory (flash)512, a Pulse Width Modulation (PWM) device 520, at least one power driver 521, and a remote control receiver 910. The processor 510, the memory 511 and the flash memory 512 are basic modules for microcomputer operation and storage. An operating software is stored in the flash memory 512, and the operating software controls the pwm device 520 to output power signals to the power drivers 521, so as to drive the

motors

430, 110, 640, and 720. The first and second track wheel motors 430 are responsible for the travel of the robot cleaner 100, the wiping motor 110 is responsible for the reciprocating wiping action of the reciprocating wiping mechanism, the vacuum pump motor 640 is responsible for vacuum cleaning, and the water pump motor 640 is responsible for spraying water.

Obstacle detection:

as shown in FIG. 1, the robot 100 further includes at least one front proximity sensor 810 disposed at the front of the robot 100 and configured to detect front obstacles to avoid collision. As shown in fig. 2, the robot 100 further includes at least one lower proximity sensor 820 disposed on the bottom side of the housing, preferably on the bottom surface of the base 310. The proximity sensors 820 may detect whether the front is a cliff to prevent the robot 100 from falling, the

proximity sensors

810 and 820 may be infrared sensors, laser ranging sensors, or ultrasonic sensors, and other sensors currently available or developed in the future may be used.

As shown in fig. 5, in one embodiment, the automatic cleaning machine 100 further comprises a safety lever 330 and a limit switch 830. The safety lever 330 may be disposed in front of the automatic cleaning machine 100, and when the safety lever 330 hits an obstacle, it will press a limit switch 830, so that the microcomputer or the processor 510 can know that the obstacle has been hit and perform other operations or movements.

In one embodiment, the robot 100 further includes a range sensor 840, such that the robot 100 may have a laser ranging function that measures the distance to obstacles in front or the distance to the surrounding environment to create a mapped cleaning path.

The automatic cleaning function:

the microcomputer of the control system 500 or a program built in the processor 510 can automatically control all the motors to perform obstacle detection or plan a cleaning path, thereby cleaning the entire room.

Remote control function:

the remote control receiver 910 and the remote control transmitter 900 of the control system 500 may be implemented by infrared or wireless transmission, or other existing or future developed remote control receivers 910 and remote control transmitters 900 may be used.

FIG. 7 is a cross-sectional view of an automatic cleaning machine corresponding to section line A-A in FIG. 2 according to another embodiment of the present invention. The embodiment of fig. 7 is similar to the embodiment of fig. 2 and 3, and therefore the same elements are denoted by the same reference numerals, and the description thereof is omitted, and only at least one difference between the two embodiments is described. Section line A1-A1 of FIG. 7 corresponds to section line A-A of FIG. 2. As shown in FIG. 7, the movable suction port 611 of the front brush plate 220 is changed into an electric barrel brush 690 fixed on the base 310 and a fixed suction port 619, the barrel of the barrel brush 690 is provided with spiral bristles 910, and the bristles 910 are located near the fixed suction port 619. The electric drum brush 690 can clean the floor, and dust, hair, and garbage rolled up by the brush 910 are sucked by the air flow 20a from the stationary suction inlet 619 to the garbage collection can 600, thereby achieving high efficiency cleaning.

It should be understood that the present invention is not limited to the external shape of the robot cleaner 100. Fig. 10 is a top view of an automatic cleaning machine according to another embodiment of the present invention. The embodiment of fig. 10 is similar to the embodiment of fig. 1, and therefore the same elements are denoted by the same reference numerals, and the description thereof will be omitted, only to illustrate at least one difference between the two embodiments. As shown in fig. 10, the external shape of the robot cleaner 100 may be designed to be circular. In one embodiment, the shape may be triangular (not shown).

According to an embodiment of the invention, due to the design of the high-speed reciprocating type cleaning mechanism, the wiping frequency of the cleaning cloth can be more than 200 times per minute, and high-efficiency cleaning can be achieved. In one embodiment, a vacuum cleaner is provided to remove debris that accumulates in front of the cleaning cloth. In one embodiment, a water spraying device is provided to intelligently control water spraying and maintain the optimal humidity of the cleaning cloth to achieve the optimal cleaning effect. Due to the embodiment of the invention, all the devices can be systematically integrated, artificial intelligence is added, and the robot can clean the floor of the whole room.

Having described the invention in detail, it will be apparent that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention. All such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

Claims

1. An automatic cleaning machine comprising:

a reciprocating wiping mechanism comprising:

at least one cleaning device for contacting a surface; and

at least one reciprocating device connected to the at least one cleaning device and making the at least one cleaning device generate a reciprocating motion so as to wipe the plane in a reciprocating manner;

a walking device for making the automatic cleaning machine walk on the plane; and

a control system coupled to the reciprocating wiping mechanism and the traveling device for controlling the reciprocating wiping mechanism and the traveling device,

wherein,

the walking device comprises a shell and at least one movable wheel set, wherein the shell is used for accommodating the movable wheel set, and the at least one movable wheel set comprises: a first track drive wheel, a second track drive wheel, a track wheel motor, and a track, and

the track is in contact with the flat surface,

the track wheel motor enables the first track driving wheel to rotate, and the first track driving wheel drives the track to enable the automatic cleaning machine to move on the plane;

wherein, the automatic cleaning machine further comprises a casing and an elastic element, the casing accommodates the at least one reciprocating device, the control system and the walking device of the reciprocating wiping mechanism;

the housing includes:

a base; and

the fixing column is arranged on the base and protrudes out of the base, a blocking piece is arranged on the top side of the fixing column, and the blocking piece is fixed on the top side of the fixing column;

the outer shell comprises a protruding end which is sleeved on the fixing column;

moreover, one end of the elastic element is abutted against the baffle sheet on the top side of the fixed column, the other end of the elastic element is abutted against the protruding end of the outer shell of the walking device and is used for applying pressure to the plane to the walking device,

wherein, no other spring is additionally arranged to press the at least one cleaning device downwards, and the automatic cleaning mechanism distributes the pressure of the at least one cleaning device and the crawler belt to the plane by utilizing the elastic element.

2. The robotic cleaning machine of claim 1, wherein the traveling device is urged away from the robotic cleaning machine by the resilient member.

3. The automatic cleaning machine according to claim 1,

the elastic element is a spring, and one end of the spring is abutted against the blocking sheet.

4. The automatic cleaning machine according to claim 3,

the other end of the spring is abutted against the protruding end of the outer shell of the walking device.

5. The automatic cleaning machine according to claim 4,

the outer shell of the walking device further comprises a sleeve, the sleeve is arranged on the protruding end,

the sleeve is sleeved on the peripheral surface of the fixed column,

the housing includes:

and the fixing screw is screwed into the fixing column and is used for fixing the baffle piece on the top side of the fixing column.

6. The automatic cleaning machine according to any one of claims 1 to 5,

the at least one cleaning device includes a first cleaning device and a second cleaning device, and

the reciprocating device makes the first cleaning device reciprocate in a first direction and makes the second cleaning device reciprocate in a second direction, and the first direction is opposite to the second direction.

7. The automatic cleaning machine according to any one of claims 1 to 5,

the first crawler belt driving wheel and the second crawler belt driving wheel are arranged on the inner side surface of the crawler belt and are respectively positioned at the two ends of the crawler belt,

the first track drive wheel is spaced a predetermined distance from the second track drive wheel at two points where the track contacts the surface.

8. The automatic cleaning machine according to any one of claims 1-5, further comprising:

at least one sensor, which is arranged on the front side or the lower side of the automatic cleaning machine and is used for detecting an obstacle or a cliff in a non-contact way;

a safety rod is arranged outside the automatic cleaning machine;

at least one limit switch for detecting an obstacle after being touched by the bumper; and

the laser ranging device is used for detecting the distance of an obstacle and measuring the distance of the surrounding environment, and is used for establishing a map and planning a clean path.

9. The automatic cleaning machine according to any one of claims 1 to 5, further comprising an electric cleaning brush and a dust suction device, wherein,

a suction port of the dust suction device is arranged on the base of the shell of the automatic cleaning machine,

the electric cleaning brush is fixed on the base and sweeps particles into the suction inlet, and

the at least one reciprocating device comprises:

a motor for wiping;

a crank shaft for being driven to rotate by the wiping motor; and

at least one crank, one end of which is connected to the crank shaft and the other end of which is used for connecting a brush disc of the at least one cleaning device and reciprocates along with the rotation of the crank shaft.