CN111466843A

CN111466843A - Floor sweeping robot for corner and skirting line and working method thereof

Info

Publication number: CN111466843A
Application number: CN202010359284.9A
Authority: CN
Inventors: 黎波; 曾拥华; 秦小东; 陈越灵; 吴术平; 周杰; 杨逸; 周梦
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2020-07-31
Anticipated expiration: 2040-04-29
Also published as: CN111466843B

Abstract

The invention discloses a sweeping robot for corners and skirting lines and a working method thereof, wherein the sweeping robot comprises a sweeping body, a travelling mechanism, a sweeping mechanism and a distance sensing mechanism, wherein the travelling mechanism comprises a plurality of universal wheel assemblies, and the sweeping mechanism comprises two groups of sweeping assemblies; the cleaning assembly comprises a Lelo triangular sweeping disc, a square assembly body, an equal-width triangular assembly body, an eccentric disc and a first driving motor, a rotating shaft of the first driving motor is fixedly connected with the eccentric disc, the eccentric disc is fixedly connected with the equal-width triangular assembly body through a protrusion, one end, far away from the connection protrusion, of the equal-width triangular assembly body protrudes out of the square assembly body and is fixedly connected with the Lelo triangular sweeping disc, the axis of the equal-width triangular assembly body is coincided with the axis of the Lelo triangular sweeping disc, the front end or the rear end of the Lelo triangular sweeping disc protrudes out of a cleaning body in a corresponding position, and the left end of the cleaning body protrudes out of the cleaning. The invention can effectively clean the dead angle positions of the skirting line and the right-angle wall corner.

Description

Floor sweeping robot for corner and skirting line and working method thereof

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a sweeping robot for corners and skirting lines and a working method thereof.

Background

The sweeping robot is also called a lazy person sweeper, is an intelligent household appliance capable of automatically absorbing dust on the ground, can detect factors such as room size, furniture placement, ground cleanliness and the like, and can make a reasonable cleaning route by means of a built-in program, and has certain intelligence, so the lazy person is called a robot, the sweeping robot is a cleaning tool which is divided into a hand-push type sweeper and a driving type sweeper and is an advanced sweeping tool, the sweeping robot is an integrated garbage sweeping device combining sweeping and dust absorption, and has the advantages of high working efficiency, low cleaning cost, good cleaning effect, high safety performance, high economic return rate, wide application range and the like, the electric sweeping robot is energy-saving and environment-friendly, has more and more use amount and less noise, is suitable for sweeping a silent environment, and at present, the intelligent degree of the sweeping robot is not as advanced as imagination, however, the robot is used as a new concept of intelligent home, and can be used for the robot to finally walk into thousands of households and inject forward power.

The robot of sweeping floor on the market at present is mostly circular structure, and the robot of sweeping floor of this kind of circular structure has following problem when using: 1. this kind of circular robot of sweeping floor is when using, when the robot of sweeping floor is close to the position of right angle shape corner, the robot of sweeping floor of circular structure can produce one at the root of right angle shape corner and clean the dead angle to lead to the dead angle position department of right angle shape corner can't be swept the robot of sweeping floor, consequently, when the robot of sweeping floor cleans the completion back to the room, often still need the people to hold the broom and clean once more to the dead angle position of right angle shape corner, and even if the people holds the broom and cleans to right angle shape corner position, the dead angle department of right angle shape corner position is also difficult to be cleaned totally. 2. The sweeping robot with the circular structure can only sweep the ground and cannot sweep the position of a skirting line.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a floor sweeping robot for wall corners and skirting lines, which can effectively clean dead angles and skirting lines of straight corner walls at the same time.

Meanwhile, the invention also provides a working method of the sweeping robot for the corner and the skirting line, so as to effectively clean the dead angle position of the right-angled corner and the position of the skirting line.

In order to solve the technical problems, the invention adopts the following technical scheme:

a floor sweeping robot for corners and skirting lines comprises a sweeping body, a travelling mechanism, a sweeping mechanism and a distance sensing mechanism, wherein the travelling mechanism comprises a plurality of universal wheel assemblies arranged at the bottom of the sweeping body, the sweeping mechanism comprises two groups of sweeping assemblies which are distributed on the left side of the sweeping body and symmetrically distributed on the front side and the rear side of the sweeping body, and the distance sensing mechanism comprises a front distance sensor arranged on the front side of the sweeping body, a rear distance sensor arranged on the rear side of the sweeping body and a first side distance sensor arranged on the sweeping body and provided with one side of the sweeping mechanism;

the cleaning assembly comprises a Lelo triangular cleaning disc, a square assembly body, an equal-width triangular assembly body, an eccentric disc and a first driving motor, the square assembly body is fixedly connected with the cleaning body, a mounting hole is formed in the square assembly body, the equal-width triangular assembly body, the eccentric disc and the first driving motor are sequentially arranged in the mounting hole, a rotating shaft of the first driving motor is fixedly connected with the eccentric disc, a protrusion is arranged at one end, far away from the eccentric disc, of the eccentric disc, which is connected with the first driving motor in a protruding mode, the axis of the protrusion deviates from the axis of the eccentric disc, the eccentric disc is fixedly connected with the equal-width triangular assembly body through the protrusion, the axis of the protrusion coincides with the axis of the equal-width triangular assembly body, one end, far away from the equal-width triangular assembly body, of the equal-width triangular assembly body, which is connected with the protrusion, protrudes out of the square assembly body and, the axis of the equal-width triangular assembly body is coincided with the axis of the Lelo triangular sweeping disc, the front end or the rear end of the Lelo triangular sweeping disc protrudes out of the cleaning body at the corresponding position, and the left end of the Lelo triangular sweeping disc protrudes out of the cleaning body.

In the present invention, two sides of the cleaning body along the advancing direction of the wall root are defined as the front side and the rear side of the cleaning body, wherein the front side of the cleaning body along the advancing direction of the wall root is the front side of the cleaning body, the side corresponding to the front side of the cleaning body is the rear side of the cleaning body, and the directions perpendicular to the front side and the rear side of the cleaning body are the left side and the right side of the cleaning body, wherein the left side of the cleaning body is the counterclockwise direction of the front side of the cleaning body, and the right side of the cleaning body is the clockwise direction of the front side of the cleaning body.

The working principle of the invention is as follows: when the sweeping robot works, the walking mechanism drives the sweeping robot to move forward;

the first side distance sensor transmits a signal to the wall root, the signal transmitted by the first side distance sensor is immediately reflected when meeting the wall root and stops timing, the distance between the left side of the sweeping robot and the wall root is measured and calculated through a time difference method, when the distance between the left side of the sweeping robot and the wall root is larger than a first set value, the walking mechanism drives the sweeping robot to continuously search and approach the wall root until the distance is smaller than or equal to the first set value, so that the sweeping robot and the wall root are kept within the set distance, the Lelo triangular sweeping disc, the wall root and a wall corner to be swept can be reliably attached, and the sweeping effect is improved.

When the distance between the left side of the sweeping robot and the wall root is within a first set value, the walking mechanism drives the sweeping robot to walk forwards along the wall root in a straight line, the foot skirting line at the wall root is swept by the aid of the triangular sweeping plates of the two sweeping assemblies, meanwhile, the front distance sensor transmits a signal to a corner to be swept, the front distance sensor measures the distance between the front side of the sweeping robot and the corner to be swept according to the time of the received signal reflected by the corner to be swept, when the distance between the front side of the sweeping robot and the corner to be swept is greater than a second set value, the walking mechanism drives the sweeping robot to continuously approach the corner to be swept along the wall root, the walking mechanism stops running until the distance between the front side of the sweeping robot and the corner to be swept is less than or equal to the second set value, the sweeping robot stops running, the sweeping robot stops, and the triangular sweeping plate at the front side of the sweeping body is driven by the first driving motor and rotates to sweep one corner to be swept The side is cleaned, when the distance from the front side of the sweeping robot to the corner to be cleaned is set to be a second set value, the effective matching of the Lelo triangular sweeping disc to the side of the corner to be cleaned can be guaranteed, and the cleaning effect of the sweeping robot is guaranteed.

When the distance between the left side of the sweeping robot and the wall root is larger than a first set value, the walking mechanism drives the sweeping robot to continuously approach the wall root until the distance between the left side of the sweeping robot and the wall root is smaller than or equal to the first set value, the rear distance sensor transmits a signal to determine the distance between the rear side of the sweeping robot and a corner to be swept, when the distance between the rear side of the sweeping robot and the corner to be swept is larger than a second set value, the traveling mechanism drives the sweeping robot to retreat continuously until the distance between the rear side of the sweeping robot and the corner to be swept is smaller than or equal to the second set value, the traveling mechanism stops running, the sweeping robot stops, and the Lelo triangular sweeping disc on the rear side of the sweeping body rotates under the driving of the first driving motor and sweeps the other side of the corner to be swept; like this, the lailuo triangle-shaped that cleans both sides around the body sweeps the dish and treats the both sides of cleaning the corner respectively and clean respectively, has just so realized treating effectively cleaning of cleaning right angle corner dead angle position from this, and simultaneously, the robot of sweeping the floor is at the in-process of walking along the wall root, and the lailuo triangle-shaped that cleans both sides around the body sweeps the dish and can also clean the skirting line position of wall root department simultaneously.

In the invention, in order to enable the sweeping track of the Lelo triangular sweeping disc to be more fit with the square track of the right-angle-shaped wall corner, the eccentric disc is arranged, the first driving motor is used for driving the eccentric disc to rotate, and the eccentric disc rotates and then drives the Lelo triangular sweeping disc to eccentrically rotate through the equal-width triangular assembly body, so that the motion track of the Lelo triangular sweeping disc is more close to the square track, and the effective sweeping of the dead angle position of the right-angle-shaped wall corner is realized.

The invention has the beneficial effects that: the invention utilizes the eccentric disc to drive the Lelo triangular sweeping disc to rotate along the square track, so that the sweeping track of the Lelo triangular sweeping disc is more fit with the shape at the position of a right-angle wall corner dead angle, meanwhile, the sweeping robot can automatically adjust the sweeping position in the using process, so that the sweeping robot always moves in a manner of being attached to the wall root, therefore, the skirting line at the position of the wall root can be cleaned in the moving process, and meanwhile, when the wall corner is cleaned, the two sides of the wall corner position are respectively cleaned by utilizing the front and the rear Lelo triangular sweeping discs, meanwhile, the motion trail of the Lelo triangular sweeping disc can be better attached to the shape of the corner of the wall, therefore, the sweeping robot can more effectively sweep the dead angle position of the right-angle-shaped wall corner, and can effectively sweep the dead angle positions of the skirting line and the right-angle-shaped wall corner.

Preferably, a second side distance sensor is further mounted on the side face of the cleaning body, the first side distance sensor and the second side distance sensor are symmetrically distributed along the front-back direction of the cleaning body, and a central connecting line of induction heads of the first side distance sensor and the second side distance sensor is parallel to the central connecting line direction of the two Lelo triangular cleaning discs.

Therefore, the principle that two points are used for determining a straight line is utilized, the distances between the first side surface distance sensor and the wall root are respectively determined by the first side surface distance sensor and the second side surface distance sensor, the position of the sweeping robot is adjusted according to the determined two distance data, the distance data determined by the first side surface distance sensor and the second side surface distance sensor are equal and within a preset range, the sweeping body of the sweeping robot moves forwards in a parallel state with the wall root, and the Lelo triangular sweeping plates on the front side and the rear side of the sweeping body can be effectively contacted with the wall root, so that the sweeping of the position of the skirting line is realized.

Preferably, still include dust absorption mechanism, dust absorption mechanism is including connecting gradually and communicating dust absorption mouth, dirt box and dust absorption sleeve, be equipped with the dust absorption flabellum in the dust absorption sleeve, the dust absorption mouth sets up two sets of clean between the subassembly, just the dust absorption mouth of dust absorption mouth sets up downwards.

Like this, when sweeping the floor the robot and sweeping the back off the dust, the dust will be inhaled after the dust absorption through dust absorption mouth, and the dust that inhales in the dust absorption mouth reenters the dirt box, when cleaning the completion back, only need to clear up the dust impurity in the dirt box can.

Preferably, the walking mechanism comprises four universal wheel assemblies arranged at the bottom of the cleaning body, the four universal wheel assemblies are symmetrically distributed at the bottom of the cleaning body in a group of two-by-two mode, and each universal wheel assembly comprises a universal wheel and a second driving motor used for driving the universal wheel to move.

Like this, through setting up four universal wheel subassemblies to with the two liang a set of symmetric distribution of four universal wheel subassemblies in the bottom of cleaning the body, like this, the robot of sweeping the floor when the motion, second driving motor drives the universal wheel motion, and the universal wheel can move towards all directions, makes from this that the robot of sweeping the floor can move towards all directions as required.

Preferably, the outer contour of the lyocell triangular sweeping disc is detachably provided with bristles. The outer contour of the Lelo triangular sweeping disc is provided with a groove, a rubber ring is sleeved at the groove, and the bristles are arranged on the rubber ring.

Like this, when the disc is swept to the lyocell triangle-shaped, the brush hair on its outline can be used for sweeping dust and the impurity on ground, starts the recess through the outline at the disc is swept to lyocell triangle-shaped simultaneously, and the rubber ring is established to the recess cover, installs the brush hair on the rubber ring again, like this, when the brush hair needs to be changed after using for a period, directly take off the rubber ring from the recess and change can.

Preferably, a wiper is further installed at one end of the root and corner of the wall for sweeping the Lelo triangular sweeping plate.

Like this, the disc is swept to lyocell triangle-shaped can drive the wiper and rotate together when rotating, and the wiper rotation can carry out more effective cleaning to skirting line and corner position, simultaneously, can install the wiper on lyocell triangle-shaped sweeps the disc through the magic subsides, convenient washing and change.

A working method of a floor sweeping robot for a corner and a skirting line is provided, and the floor sweeping robot for the corner and the skirting line comprises the following steps:

step 1), starting a sweeping robot, wherein the sweeping robot moves forward under the driving of a walking mechanism;

step 2) the first side distance sensor transmits a signal to the wall root, the first side distance sensor calculates the distance between the left side of the sweeping robot and the wall root according to the received time of the signal reflected by the wall root, when the distance between the left side of the sweeping robot and the wall root is greater than a first set value, the step 3) is executed, and when the distance between the left side of the sweeping robot and the wall root is less than or equal to the first set value, the step 4) is executed;

step 3) the traveling mechanism drives the sweeping robot to continuously search for and approach the wall root, and when the distance between the left side of the sweeping robot and the wall root is smaller than or equal to a first set value, the step 4) is executed;

step 4) the traveling mechanism drives the sweeping robot to linearly travel along the wall root, the Lelo triangular sweeping discs of the two sweeping assemblies sweep a skirting line at the wall root, meanwhile, the front distance sensor transmits a signal to a corner to be swept, the front distance sensor measures and calculates the distance from the front side of the sweeping robot to the corner to be swept according to the received time of a signal reflected by the corner to be swept, when the distance from the front side of the sweeping robot to the corner to be swept is greater than a second set value, the step 5) is executed, and when the distance from the front side of the sweeping robot to the corner to be swept is less than or equal to the second set value, the step 6) is executed;

step 5) the traveling mechanism drives the sweeping robot to continuously approach to the corner to be swept along the wall root until the distance from the front side of the sweeping robot to the corner to be swept is less than or equal to a second set value, and then step 6) is executed;

step 6), stopping running of the walking mechanism, stopping the sweeping robot, and enabling a Leiluo triangular sweeping disc on the front side of the sweeping body to rotate under the driving of a first driving motor and sweep one side of a corner to be swept;

step 7), after the Lelo triangular sweeping disc on the front side of the sweeping body sweeps one side of a corner to be swept for a set time, the walking mechanism drives the sweeping robot to retreat, the front distance sensor transmits a signal for determining the distance between the front side of the sweeping robot and the corner to be swept, when the distance between the front side of the sweeping robot and the corner to be swept is greater than a third set value, the step 9) is executed, and when the distance between the front side of the sweeping robot and the corner to be swept is less than or equal to the third set value, the step 8) is executed;

step 8), the walking mechanism drives the sweeping robot to retreat continuously until the distance between the front side of the sweeping robot and a corner to be swept is larger than a third set value, and then step 9) is executed;

step 9) the traveling mechanism drives the sweeping robot to turn, so that the Lelo triangular sweeping disc is parallel to the side, which is not swept yet, of the corner to be swept, the first side surface distance sensor transmits a signal to determine the distance from the left side of the sweeping robot to the wall root, when the distance from the left side of the sweeping robot to the wall root is greater than a first set value, the step 10) is executed, and when the distance from the left side of the sweeping robot to the wall root is smaller than or equal to the first set value, the step 11) is executed;

step 10), the walking mechanism drives the sweeping robot to continuously approach to the wall root until the distance between the left side of the sweeping robot and the wall root is less than or equal to a first set value, and then the step 11) is executed;

step 11) the rear distance sensor transmits a signal to determine the distance between the rear side of the sweeping robot and a corner to be swept, when the distance between the rear side of the sweeping robot and the corner to be swept is greater than a second set value, step 12) is executed, and when the distance between the rear side of the sweeping robot and the corner to be swept is less than or equal to the second set value, step 13) is executed;

step 12) the walking mechanism drives the sweeping robot to retreat continuously until the distance between the rear side of the sweeping robot and a corner to be swept is less than or equal to a second set value, and then step 13) is executed;

step 13) stopping the running mechanism, stopping the sweeping robot, and rotating a Leiluo triangular sweeping disc at the rear side of the sweeping body under the driving of a first driving motor and sweeping the other side of the corner to be swept;

and 14) after the cleaning roller at the rear side of the cleaning body cleans the corner to be cleaned for a set time, the walking mechanism drives the sweeping robot to move forward, and the step 2) is executed in a returning mode.

The method can automatically adjust the cleaning position of the sweeping robot, so that the sweeping robot always moves in a manner of being attached to the wall root, thereby being capable of cleaning a skirting line at the position of the wall root in the moving process, simultaneously, when the wall corner position is cleaned, two sides of the wall corner position are respectively cleaned by using the front and the rear Lelo triangular sweeping discs, and simultaneously, the motion trail of the Lelo triangular sweeping discs can be better attached to the shape of the wall corner, thereby the sweeping robot can more effectively clean the dead corner position of the right-angle-shaped wall corner, and therefore, the method can effectively clean the dead corner positions of the skirting line and the right-angle-shaped wall corner.

Meanwhile, the invention solves the problems of low wall corner cleaning efficiency and high cleaning difficulty, solves the problems of incomplete and non-integral cleaning of small modules and regionalized skirting lines, and achieves the good effects of wall corner dead angle free, skirting line cleaning and indoor and outdoor cleanness.

Preferably, a second side distance sensor is further mounted on the left side of the cleaning body, and the first side distance sensor and the second side distance sensor are distributed along the front-back direction of the cleaning body; the central connecting line of the induction heads of the first side surface distance sensor and the second side surface distance sensor is parallel to the central connecting line direction of the two Lelo triangular sweeping discs;

in the step 2), the first side surface distance sensor and the second side surface distance sensor respectively transmit signals to determine respective distances between the first side surface distance sensor and the wall root, when the first side surface distance sensor senses that the distance between the first side surface distance sensor and the wall root is greater than the distance between the second side surface distance sensor and the wall root, the walking mechanism drives the front part of the sweeping robot to approach towards the wall root until the first side surface distance sensor senses that the distance between the first side surface distance sensor and the wall root is equal to the distance between the second side surface distance sensor and the wall root, at the moment, if the first side surface distance sensor or the second side surface distance sensor senses that the distance between the first side surface distance sensor and the wall root is greater than a first set value, the step 3) is executed, and if the first side surface distance sensor or the second side surface distance sensor senses that the distance between the;

when the first side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is smaller than the distance from the second side surface distance sensor to the wall root, the walking mechanism drives the rear portion of the sweeping robot to approach towards the wall root until the first side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is equal to the distance from the second side surface distance sensor to the wall root, at the moment, if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is larger than a first set value, the step 3) is executed, and if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor or the second side surface;

when the first side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is equal to the distance from the second side surface distance sensor to the wall root, at the moment, if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is greater than a first set value, executing the step 3), and if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor or the second side surface distance sensor to the wall root is less than or equal to the first set value, executing;

in the step 3), the walking mechanism drives the sweeping robot to move horizontally to be close to the wall root until the first side surface distance sensor and the second side surface distance sensor sense that the distance between the sweeping robot and the wall root is smaller than or equal to a first set value, and then the step 4) is executed;

in step 9), when the first side distance sensor senses that the distance from the first side distance sensor to the wall root is greater than the distance from the second side distance sensor to the wall root, the walking mechanism drives the front part of the sweeping robot to approach towards the wall root until the first side distance sensor senses that the distance from the first side distance sensor to the wall root is equal to the distance from the second side distance sensor to the wall root, at the moment, if the first side distance sensor or the second side distance sensor senses that the distance from the first side distance sensor to the wall root is greater than a first set value, step 10) is executed, and if the first side distance sensor or the second side distance sensor senses that the distance from the first side distance sensor or the second side distance sensor to the wall root is less than or equal to the first set;

when the first side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is smaller than the distance from the second side surface distance sensor to the wall root, the walking mechanism drives the rear portion of the sweeping robot to approach towards the wall root until the first side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is equal to the distance from the second side surface distance sensor to the wall root, at the moment, if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is larger than a first set value, the step 10) is executed, and if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is;

when the first side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is equal to the distance from the second side surface distance sensor to the wall root, at the moment, if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor to the wall root is greater than a first set value, executing the step 10), and if the first side surface distance sensor or the second side surface distance sensor senses that the distance from the first side surface distance sensor or the second side surface distance sensor to the wall root is less than or equal to the first set value, executing;

in the step 10), the traveling mechanism drives the sweeping robot to move horizontally to be close to the wall root until the first side surface distance sensor and the second side surface distance sensor sense that the distance between the first side surface distance sensor and the wall root is smaller than or equal to a first set value, and then the step 11) is executed.

Therefore, the method determines the distances from the first side surface distance sensor to the wall root respectively by utilizing the distribution of the second side surface distance sensor, and adjusts the position of the sweeping robot according to the determined two distance data, so that the distance data determined by the first side surface distance sensor and the second side surface distance sensor are in the set range, the sweeping robot moves forwards in a parallel state with the wall root, and the Lelo triangular sweeping plates on the front side and the rear side of the sweeping body can be effectively contacted and swept with the wall root.

Preferably, the cleaning device further comprises a dust collection mechanism, the dust collection mechanism comprises a dust collection nozzle, a dust box and a dust collection sleeve which are sequentially connected and communicated, dust collection fan blades are arranged in the dust collection sleeve, the dust collection nozzle is arranged between the two groups of cleaning components, and a dust collection opening of the dust collection nozzle is arranged downwards;

the outer contour of the Lelo triangular sweeping disc is detachably provided with bristles, the two sets of Lelo triangular sweeping discs of the sweeping assemblies rotate towards the outer side of the sweeping body when sweeping, the two sets of brushes on the Lelo triangular sweeping discs of the sweeping body sweep dust generated by sweeping into the inner side of the sweeping body, and the dust generated by sweeping is sucked by the dust suction nozzle between the two sets of sweeping assemblies and stored in the dust box after dust is sucked.

Like this, at the during operation for the lai luo triangle-shaped of both sides sweeps the dish and all rotates towards the outside of cleaning the body, like this, the dust that cleans on the brush can both sweep simultaneously to the inboard of cleaning the body, and installs the dust absorption mouth between two cleaning assemblies for the dust that cleans on the brush sweeps simultaneously to the dust absorption mouth department of dust absorption mouth, passes through the dust absorption mouth again with the dust and inputs the dirt box in, has carried out effectual collection to the dust that the cleaning process produced from this.

In step 14), after the lailo triangular sweeping disc on the rear side of the sweeping body cleans the corner to be swept for the set time, when the power supply of the sweeping robot is turned off, the sweeping robot finishes working, and when the power supply of the sweeping robot is not turned off, the traveling mechanism drives the sweeping robot to continue to advance and returns to execute the step 2).

Like this, when only needing to clean a corner, thereby can directly close the work of robot of sweeping the floor after cleaning the completion, and when still needing to clean other corners, the robot of sweeping the floor repeats the work step, can realize the continuation of other positions corners and clean.

Drawings

Fig. 1 is a schematic structural view of a sweeping robot for corners and skirting lines (not shown with brushes and wipers);

FIG. 2 is a bottom view of FIG. 1;

fig. 3 is a schematic structural view of the sweeping robot for corner and skirting line of the present invention after removing the top cover (not shown with the brush and the wiper);

fig. 4 is a schematic structural view of a cleaning assembly in the sweeping robot for corner and skirting line of the present invention;

fig. 5 is a schematic structural view of the sweeping assembly of the sweeping robot for corner and skirting line of the present invention after wiping cloth is removed;

fig. 6 is a cross-sectional view of a cleaning assembly (not shown with brushes and wipers) used in a corner and skirting sweeping robot of the present invention;

fig. 7 is an exploded view of a cleaning assembly (brush and wiper not shown) in a sweeping robot for corners and skirting lines according to the present invention;

fig. 8 is a motion principle and a track diagram of a lyocell triangular sweeping plate in the sweeping robot for the corner and the skirting line of the invention;

fig. 9 is a flowchart of a working method of the sweeping robot for the corner and the skirting line according to the present invention;

fig. 10 is a schematic cleaning diagram of the sweeping robot for corner and skirting line according to the present invention.

Description of reference numerals: cleaning body 1, top cap 2, switch 3, preceding distance sensor 4, first side distance sensor 5, second side distance sensor 6, dust absorption mouth 7, leilo triangle-shaped sweep dish 8, recess 81, rear distance sensor 9, universal wheel 10, dirt box 11, dust absorption flabellum 12, second driving motor 13, square assembly body 14, brush 15, first driving motor 16, eccentric disc 17, the triangle-shaped assembly body 18 of constant width, rag 19.

Detailed Description

The invention will be further explained with reference to the drawings and the embodiments.

As shown in fig. 1 to 7, a floor sweeping robot for corners and skirting lines comprises a sweeping body 1, a traveling mechanism and a sweeping mechanism, wherein the sweeping body 1 comprises a base and a top cover 2, the top cover 2 is provided with a power switch 3, the floor sweeping robot further comprises a distance sensing mechanism, the distance sensing mechanism comprises a front distance sensor 4 arranged on the front side of the sweeping body 1, a rear distance sensor 9 arranged on the rear side of the sweeping body 1 and a first side distance sensor 5 arranged on one side of the sweeping body 1 on which the sweeping mechanism is arranged, the traveling mechanism comprises a plurality of universal wheel assemblies arranged at the bottom of the sweeping body 1, and the sweeping mechanism comprises two groups of sweeping assemblies which are distributed on the left side of the sweeping body 1 and symmetrically distributed on the front side and the rear side of the sweeping body 1;

the cleaning component comprises a Lelo triangular cleaning disc 8, a square assembly body 14, an equal-width triangular assembly body 18, an eccentric disc 17 and a first driving motor 16, the square assembly body 14 is fixedly connected with the cleaning body 1, a mounting hole is formed in the square assembly body 14, the equal-width triangular assembly body 18, the eccentric disc 17 and the first driving motor 16 are sequentially arranged in the mounting hole, a rotating shaft of the first driving motor 16 is fixedly connected with the eccentric disc 17, a bulge is arranged at one end, far away from the end, connected with the first driving motor 16, of the eccentric disc 17 in a protruding mode, the axis of the bulge deviates from the axis of the eccentric disc 17, the eccentric disc 17 is fixedly connected with the equal-width triangular assembly body 18 through the bulge, the axis of the bulge coincides with the axis of the equal-width triangular assembly body 18, one end, far away from the equal-width triangular assembly body 18, connected with the bulge, protrudes out, the axis of the triangular assembly body 18 with the same width coincides with the axis of the Lelo triangular sweeping disc 8, the front end or the rear end of the Lelo triangular sweeping disc 8 protrudes out of the cleaning body 1 at the corresponding position, and the left end of the Lelo triangular sweeping disc protrudes out of the cleaning body 1.

In the present invention, two sides of cleaning body 1 along the wall root advancing direction are defined as the front and rear sides of cleaning body 1, wherein the front side of cleaning body 1 along the wall root advancing direction is the front side of cleaning body 1, the side corresponding to the front side of cleaning body 1 is the rear side of cleaning body 1, the direction perpendicular to the front and rear side faces of cleaning body 1 is the left and right sides of cleaning body 1, wherein the left side of cleaning body 1 is the counterclockwise direction of the front side of cleaning body 1, and the right side of cleaning body 1 is the clockwise direction of the front side of cleaning body 1.

the first side distance sensor 5 transmits a signal to the wall root, the signal transmitted by the first side distance sensor 5 is immediately reflected when meeting the wall root and stops timing, the distance between the left side of the sweeping robot and the wall root is measured and calculated through a time difference method, when the distance between the left side of the sweeping robot and the wall root is larger than a first set value, the walking mechanism drives the sweeping robot to continuously search and approach the wall root until the distance is smaller than or equal to the first set value, so that the sweeping robot and the wall root are kept within the set distance, the Lelo triangular sweeping disc 8 can be reliably attached to the wall root and the wall corner to be swept, and the sweeping effect is improved.

When the distance between the left side of the sweeping robot and the wall root is within a first set value, the walking mechanism drives the sweeping robot to walk forwards along the wall root in a straight line, the triangular sweeping plates 8 of the two sweeping assemblies sweep the skirting line at the wall root, meanwhile, the front distance sensor 4 transmits a signal to a corner to be swept, the front distance sensor 4 calculates the distance between the front side of the sweeping robot and the corner to be swept according to the time of the received signal reflected by the corner to be swept, when the distance between the front side of the sweeping robot and the corner to be swept is greater than a second set value, the walking mechanism drives the sweeping robot to continue to approach the corner to be swept along the wall root, and when the distance between the front side of the sweeping robot and the corner to be swept is less than or equal to the second set value, the walking mechanism stops running, the sweeping robot stops, and the triangular sweeping plate at the front side of the sweeping body 1 rotates under the drive of the first drive motor 16 and is driven by the triangular sweeping plate to rotate and the wall root to be swept Sweep one side at the corner and clean, will sweep the front side of robot and set up when the second setting value to waiting to clean the distance between the corner, can guarantee this moment that the lai luo triangle-shaped sweeps set 8 and treats the effectual cooperation in one side of cleaning the corner, guarantees that it cleans the effect.

After the preset time for cleaning one side of the corner to be cleaned is passed, the walking mechanism drives the sweeping robot to retreat, the front distance sensor 4 transmits a signal for determining the distance between the front side of the sweeping robot and the corner to be cleaned, until the distance between the front side of the sweeping robot and the corner to be cleaned is greater than a third preset value, the walking mechanism drives the sweeping robot to turn, so that the triangle sweeping disc 8 is parallel to the side of the corner to be cleaned, the first side distance sensor 5 transmits a signal for determining the distance between the left side of the sweeping robot and the wall root, when the distance between the left side of the sweeping robot and the wall root is greater than a first preset value, the walking mechanism drives the sweeping robot to continuously approach the wall root until the distance between the left side of the sweeping robot and the wall root is less than or equal to the first preset value, at the moment, the rear distance sensor 9 transmits a signal to determine the distance between the rear side of the sweeping robot and the corner to be swept, when the distance between the rear side of the sweeping robot and the corner to be swept is greater than a second set value, the walking mechanism drives the sweeping robot to retreat continuously until the distance between the rear side of the sweeping robot and the corner to be swept is less than or equal to the second set value, the walking mechanism stops running, the sweeping robot stops, and the Lelo triangular sweeping disc 8 on the rear side of the sweeping body 1 is driven by the first driving motor 16 to rotate and sweep the other side of the corner to be swept; like this, the lailuo triangle-shaped of cleaning body 1 front and back both sides sweep the dish 8 and treat respectively and clean the both sides of sweeping the corner respectively, has just so realized treating effectively cleaning of sweeping right angle corner dead angle position from this, and simultaneously, the robot of sweeping the floor is at the in-process of walking along the wall root, and the lailuo triangle-shaped of cleaning body 1 front and back both sides sweeps dish 8 and can also clean the skirting line position of wall root department simultaneously.

In the invention, in order to enable the cleaning track of the lyocell triangular sweeping disc 8 to be more fit with the square track of a right-angle wall corner, the eccentric disc 17 is arranged, the eccentric disc 17 is driven to rotate by the first driving motor 16, the eccentric disc 17 rotates and then drives the lyocell triangular sweeping disc 8 to eccentrically rotate by the equal-width triangular assembly body 18, so that the motion track of the lyocell triangular sweeping disc 8 is more close to the square track, as shown in fig. 8, three points A, B, C are three vertexes of the lyocell triangular sweeping disc 8, a point D is a rotation center of the lyocell triangular sweeping disc 8, and the track finally formed by the lyocell triangular sweeping disc 8 under the driving of the eccentric disc 17 is the square track, so that the effective cleaning of the dead corner position of the right-angle wall corner is realized.

The invention has the beneficial effects that: the invention utilizes the eccentric disc 17 to drive the Lelo triangular sweeping disc 8 to rotate in a square track, so that the sweeping track of the Lelo triangular sweeping disc 8 is more fit with the shape of the dead angle position of the right-angle wall corner, meanwhile, the sweeping robot can automatically adjust the sweeping position in the using process, so that the sweeping robot always moves in a manner of being attached to the wall root, therefore, the skirting line at the position of the wall root can be cleaned in the moving process, and meanwhile, when the wall corner is cleaned, the two sides of the wall angle position are respectively cleaned by the front and the rear Lelo triangular sweeping discs 8, meanwhile, the motion trail of the Lelo triangular sweeping disc 8 can be better attached to the shape of the corner of the wall, therefore, the sweeping robot can more effectively sweep the dead angle position of the right-angle-shaped wall corner, and can effectively sweep the dead angle positions of the skirting line and the right-angle-shaped wall corner.

In the embodiment, the width and the height of the Lelo triangular sweeping disc 8 exceed the sweeping body 1, so that the sweeping range can be expanded, and the sweeping is convenient.

In this embodiment, the second side distance sensor 6 is further installed on the left side of the cleaning body 1, the first side distance sensor 5 and the second side distance sensor 6 are symmetrically distributed along the front-back direction of the cleaning body 1, and the central connection line of the sensing heads of the first side distance sensor 5 and the second side distance sensor 6 is parallel to the central connection line direction of the two lebel triangular cleaning discs 8. In the present embodiment, the first side distance sensor 5, the second side distance sensor 6, the front distance sensor 4, and the rear distance sensor 9 are ultrasonic distance sensors, infrared distance sensors, or laser distance sensors.

In this way, by installing the first side surface distance sensor 5 and the second side surface distance sensor 6 on the left side of the cleaning main body 1, the first side surface distance sensor 5 and the second side surface distance sensor 6 are distributed along the front and back direction of the cleaning body 1, the distance between the first side surface distance sensor 5 and the wall root is respectively determined by utilizing the principle that two points determine a straight line and the distance between the first side surface distance sensor 5 and the second side surface distance sensor 6, and the position of the sweeping robot is adjusted according to the two determined distance data, so that the distance data determined by the first side surface distance sensor 5 and the second side surface distance sensor 6 are equal and in a preset range, therefore, the sweeping robot keeps the parallel state between the sweeping body 1 and the wall root to move forwards, and the Leluo triangular sweeping discs 8 on the front side and the rear side of the sweeping body 1 can be in effective contact with the wall root, so that the sweeping of the position of a skirting line is realized.

In this embodiment, the cleaning device further comprises a dust suction mechanism, the dust suction mechanism comprises a dust suction nozzle 7, a dust box 11 and a dust suction sleeve which are sequentially connected and communicated, dust suction fan blades 12 are arranged in the dust suction sleeve, the dust suction nozzle 7 is arranged between the two groups of cleaning components, and a dust suction opening of the dust suction nozzle 7 faces downwards.

Like this, when sweeping the robot and sweeping the back down the dust, the dust will be inhaled after the dust absorption through dust absorption mouth 7, and the dust that inhales in the dust absorption mouth 7 reentries into dirt box 11 again, and when cleaning the completion back, only need to clear up the dust impurity in the dirt box 11 can.

In this embodiment, the traveling mechanism includes four universal wheel assemblies installed at the bottom of the cleaning body 1, the four universal wheel assemblies are symmetrically distributed at the bottom of the cleaning body 1 in a group of two-by-two mode, and each universal wheel assembly includes a universal wheel 10 and a second driving motor 13 for driving the universal wheel 10 to move. For specific applications, the universal wheels 10 may be Mecanum wheels.

Like this, through setting up four universal wheel subassemblies to with the two double-phase a set of symmetric distribution of four universal wheel subassemblies in the bottom of cleaning body 1, like this, when the robot of sweeping the floor was moving, second driving motor 13 drove the motion of universal wheel 10, and universal wheel 10 can move towards all directions, makes the robot of sweeping the floor from this can move towards all directions as required.

In this embodiment, the outer contour of the lelo triangular sweeping disk 8 is detachably attached with bristles. A groove 81 is formed in the outer contour of the Lelo triangular sweeping disc 8, a rubber ring is sleeved at the groove 81, and bristles are mounted on the rubber ring.

Therefore, when the Lelo triangular sweeping disc 8 rotates, the bristles on the outer contour can be used for sweeping dust and impurities on the ground, meanwhile, the groove 81 is formed in the outer contour of the Lelo triangular sweeping disc 8, the rubber ring is sleeved at the groove 81, and the bristles are installed on the rubber ring, so that when the bristles need to be replaced after being used for a period, the rubber ring is directly taken down from the groove 81 to be replaced.

In this embodiment, the end of the root and corner of the wall that the Lelo triangular sweeping tray 8 is used for sweeping is also provided with a wiper 19.

Like this, lai luo triangle-shaped sweeps dish 8 can drive rag 19 and rotate together when rotating, and rag 19 rotates and can carry out more effective cleaning to skirting line and corner position, simultaneously, can install rag 19 on lai luo triangle-shaped sweeps dish 8 through the magic subsides, convenient washing and change.

As shown in fig. 9, the working method of the sweeping robot for the corner and the skirting line, which is adopted by the sweeping robot for the corner and the skirting line, comprises the following steps:

step 1) starting a power switch 3 of the sweeping robot, and driving the sweeping robot to move forward by a walking mechanism;

step 2) the first side distance sensor 5 transmits a signal to the wall root, the first side distance sensor 5 calculates the distance between the left side of the sweeping robot and the wall root according to the received time of the signal reflected by the wall root, when the distance between the left side of the sweeping robot and the wall root is greater than a first set value, the step 3) is executed, and when the distance between the left side of the sweeping robot and the wall root is less than or equal to the first set value, the step 4) is executed;

step 4) the walking mechanism drives the sweeping robot to walk along the wall root in a straight line, the Lelo triangular sweeping discs 8 of the two sweeping assemblies sweep the skirting line at the wall root, meanwhile, the front distance sensor 4 transmits a signal to a corner to be swept, the front distance sensor 4 calculates the distance from the front side of the sweeping robot to the corner to be swept according to the received time of a signal reflected by the corner to be swept, when the distance from the front side of the sweeping robot to the corner to be swept is greater than a second set value, the step 5) is executed, and when the distance from the front side of the sweeping robot to the corner to be swept is less than or equal to the second set value, the step 6) is executed;

step 6) stopping running of the walking mechanism, stopping the sweeping robot, rotating a Lelo triangular sweeping disc on the front side of the sweeping body 1 under the driving of a first driving motor 16 and sweeping one side of a wall corner to be swept, wherein the motion track of the Lelo triangular sweeping disc is close to a square track under the combined action of an eccentric disc 17 and a square assembly body, so that the motion track of the Lelo triangular sweeping disc can be effectively attached to the shape of a right-angle wall corner;

step 7), after a Lelo triangular sweeping disc on the front side of the sweeping body 1 sweeps one side of a corner to be swept for a set time, a walking mechanism drives the sweeping robot to retreat, a front distance sensor 4 transmits a signal for determining the distance between the front side of the sweeping robot and the corner to be swept, when the distance between the front side of the sweeping robot and the corner to be swept is greater than a third set value, step 9) is executed, and when the distance between the front side of the sweeping robot and the corner to be swept is less than or equal to the third set value, step 8) is executed;

step 9) the traveling mechanism drives the sweeping robot to turn, so that the Lelo triangular sweeping disc 8 is parallel to one side of a corner to be swept, which is not swept yet, the first side distance sensor 5 transmits a signal to determine the distance from the left side of the sweeping robot to the wall root, when the distance from the left side of the sweeping robot to the wall root is greater than a first set value, the step 10) is executed, and when the distance from the left side of the sweeping robot to the wall root is less than or equal to the first set value, the step 11) is executed;

step 11) the rear distance sensor 9 transmits a signal to determine the distance between the rear side of the sweeping robot and the corner to be swept, when the distance between the rear side of the sweeping robot and the corner to be swept is greater than a second set value, step 12) is executed, and when the distance between the rear side of the sweeping robot and the corner to be swept is less than or equal to the second set value, step 13) is executed;

step 13) stopping running of the walking mechanism, stopping the sweeping robot, and driving the Lelo triangular sweeping disc 8 at the rear side of the sweeping body 1 to rotate under the driving of the first driving motor 16 and sweep the other side of the corner to be swept;

step 14), after the cleaning roller at the rear side of the cleaning body 1 cleans the corner to be cleaned for a set time, the walking mechanism drives the sweeping robot to move forward, and the step 2) is executed in a returning way.

In this embodiment, the first set value and the second set value are both 5cm, the third set value is 10cm, and the set time is 10 s.

The method can automatically adjust the cleaning position of the sweeping robot, so that the sweeping robot always moves in a manner of being attached to the wall root, thereby cleaning a skirting line at the position of the wall root in the moving process, simultaneously, when the wall corner position is cleaned, respectively cleaning two sides of the wall corner position by using the front and rear Lelo triangular sweeping discs 8, and simultaneously, the motion trail of the Lelo triangular sweeping discs 8 can be better attached to the shape of the wall corner, thereby the sweeping robot can more effectively clean the dead corner position of the right-angle wall corner, and therefore, the method can effectively clean the dead corner positions of the skirting line and the right-angle wall corner.

In this embodiment, a second side distance sensor 6 is further installed on the left side of the cleaning body 1, and the first side distance sensor 5 and the second side distance sensor 6 are distributed along the front-back direction of the cleaning body 1; the central connecting line of the induction heads of the first side distance sensor 5 and the second side distance sensor 6 is parallel to the central connecting line direction of the two Lelo triangular sweeping discs 8;

in step 2), the first side distance sensor 5 and the second side distance sensor 6 respectively transmit signals to determine the distance between each sensor and the wall root, when the first side distance sensor 5 senses that the distance to the wall root is greater than the distance to the wall root sensed by the second side distance sensor 6, the walking mechanism drives the front part of the sweeping robot to approach to the direction of the wall root until the distance from the first side surface distance sensor 5 to the wall root is equal to the distance from the second side surface distance sensor 6 to the wall root, if the first side distance sensor 5 or the second side distance sensor 6 senses that the distance from the first side distance sensor to the wall root is greater than the first set value, step 3) is executed, if the distance from the first side surface distance sensor 5 or the second side surface distance sensor 6 to the wall root is smaller than or equal to a first set value, step 4) is executed;

when the first side surface distance sensor 5 senses that the distance from the first side surface distance sensor 5 to the wall root is smaller than the distance from the second side surface distance sensor 6 to the wall root, the walking mechanism drives the rear part of the sweeping robot to approach towards the wall root until the first side surface distance sensor 5 senses that the distance from the first side surface distance sensor 5 to the wall root is equal to the distance from the second side surface distance sensor 6 to the wall root, at the moment, if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 to the wall root is larger than a first set value, the step 3) is executed, and if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 or;

when the first side surface distance sensor 5 senses that the distance from the first side surface distance sensor 5 to the wall root is equal to the distance from the second side surface distance sensor 6 to the wall root, at this time, if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 to the wall root is greater than a first set value, executing the step 3), and if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 to the wall root is less than or equal to the first set value, executing the step 4);

in the step 3), the walking mechanism drives the sweeping robot to move horizontally to be close to the wall root until the first side distance sensor 5 and the second side distance sensor 6 sense that the distance between the sweeping robot and the wall root is smaller than or equal to a first set value, and then the step 4) is executed;

in the step 9), when the first side distance sensor 5 senses that the distance from the first side distance sensor 5 to the wall root is greater than the distance from the second side distance sensor 6 to the wall root, the walking mechanism drives the front part of the sweeping robot to approach towards the wall root until the first side distance sensor 5 senses that the distance from the first side distance sensor 5 to the wall root is equal to the distance from the second side distance sensor 6 to the wall root, at the moment, if the first side distance sensor 5 or the second side distance sensor 6 senses that the distance from the first side distance sensor 5 to the wall root is greater than a first set value, the step 10) is executed, and if the first side distance sensor 5 or the second side distance sensor 6 senses that the distance from the first side distance sensor 5 or the second side distance sensor 6 to the wall root is less;

when the first side surface distance sensor 5 senses that the distance from the first side surface distance sensor 5 to the wall root is smaller than the distance from the second side surface distance sensor 6 to the wall root, the walking mechanism drives the rear part of the sweeping robot to approach towards the wall root until the first side surface distance sensor 5 senses that the distance from the first side surface distance sensor 5 to the wall root is equal to the distance from the second side surface distance sensor 6 to the wall root, at the moment, if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 to the wall root is larger than a first set value, the step 10 is executed), and if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 or the;

when the first side surface distance sensor 5 senses that the distance from the first side surface distance sensor 5 to the wall root is equal to the distance from the second side surface distance sensor 6 to the wall root, at this time, if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 to the wall root is greater than a first set value, executing the step 10), and if the first side surface distance sensor 5 or the second side surface distance sensor 6 senses that the distance from the first side surface distance sensor 5 to the wall root is less than or equal to the first set value, executing the step 11);

in the step 10), the traveling mechanism drives the sweeping robot to move horizontally to be close to the wall root until the first side distance sensor 5 and the second side distance sensor 6 sense that the distance between the sweeping robot and the wall root is smaller than or equal to a first set value, and then the step 11) is executed.

In this way, the method utilizes the first side distance sensor 5 and the second side distance sensor 6 to determine the distance between the first side distance sensor 5 and the second side distance sensor 6 and adjust the position of the sweeping robot according to the two determined distance data, so that the distance data determined by the first side distance sensor 5 and the second side distance sensor 6 are both in a set range, the sweeping robot moves forward in a parallel state with the wall root, and the Lelo triangular sweeping discs 8 on the front side and the rear side of the sweeping body 1 can be effectively contacted with and swept on the wall root.

In this embodiment, the cleaning device further comprises a dust collection mechanism, the dust collection mechanism comprises a dust collection nozzle 7, a dust box 11 and a dust collection sleeve which are sequentially connected and communicated, dust collection fan blades 12 are arranged in the dust collection sleeve, the dust collection nozzle 7 is arranged between the two groups of cleaning components, and a dust collection opening of the dust collection nozzle 7 is arranged downwards;

the outer contour of the Lelo triangular sweeping disc 8 is detachably provided with bristles, the Lelo triangular sweeping discs 8 of the two groups of sweeping assemblies rotate towards the outer side of the sweeping body 1 when sweeping, the brushes 15 on the two groups of Lelo triangular sweeping discs 8 of the sweeping body 1 sweep the dust generated by sweeping into the inner side of the sweeping body 1, and the dust generated by sweeping is sucked by the dust suction nozzle 7 between the two groups of sweeping assemblies and is stored in the dust box 11 after dust is sucked.

Like this, at the during operation, make the lailo triangle-shaped of both sides sweep the dish 8 and all rotate towards the outside of cleaning body 1, like this, the dust that cleans on brush 15 can both sweep simultaneously to the inboard of cleaning body 1, and install dust absorption mouth 7 between two cleaning assemblies, make the dust that cleans on brush 15 sweep simultaneously to the dust absorption mouth department of dust absorption mouth 7, again with the dust through the dust absorption mouth input to dust box 11 in, the dust that produces the cleaning process has carried out effectual collection from this.

In step 14), after the lailo triangular sweeping disc 8 at the rear side of the sweeping body 1 cleans the corner to be swept for a set time, when the power supply of the sweeping robot is turned off, the sweeping robot finishes working, and when the power supply of the sweeping robot is not turned off, the traveling mechanism drives the sweeping robot to continue to advance and returns to execute the step 2).

As shown in fig. 10, which is a schematic diagram of the sweeping robot of the present invention, when the sweeping robot of the present invention is working, and when the sweeping robot moves forward along the wall root, the wiper on the triangular sweeping plate of the lai luo during the forward movement can sweep the skirting line, and the brush on the outer contour of the triangular sweeping plate of the lai luo can sweep the ground, when the sweeping robot moves forward to the corner position, because the movement track of the triangular sweeping plate of the lai luo is close to the square track, the wiper on the triangular sweeping plate of the lai luo will also have the movement track close to the square, so that the wiper can effectively fit the shape of the corner to sweep, when one side of the corner is swept, the sweeping robot turns to sweep the other side of the corner, so that the sweeping robot can automatically and continuously sweep the corner and the position of the skirting line, and the sweeping robot of the scheme has a good sweeping effect especially on the corner position of the wall, the problem that the sweeping robot has a corner to clean dead angles in the prior art is effectively solved.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims

1. The utility model provides a robot of sweeping floor for corner and skirting line, is including cleaning body, running gear and cleaning the mechanism, its characterized in that: the cleaning device is characterized by further comprising a distance sensing mechanism, the travelling mechanism comprises a plurality of universal wheel assemblies arranged at the bottom of the cleaning body, the cleaning mechanism comprises two groups of cleaning assemblies which are distributed on the left side of the cleaning body and symmetrically distributed on the front side and the rear side of the cleaning body, the distance sensing mechanism comprises a front distance sensor arranged on the front side of the cleaning body, a rear distance sensor arranged on the rear side of the cleaning body and a first side distance sensor arranged on one side of the cleaning body, wherein the cleaning assemblies are arranged on the front side and the rear side of the cleaning body;

2. The sweeping robot for the corners and the skirting lines of the walls according to claim 1, wherein a second side distance sensor is further installed on the side surface of the sweeping body, the first side distance sensor and the second side distance sensor are symmetrically distributed along the front-back direction of the sweeping body, and a central connecting line of sensing heads of the first side distance sensor and the second side distance sensor is parallel to a central connecting line direction of the two Lelo triangular sweeping plates.

3. The floor sweeping robot for the corners and the skirting lines of the walls as claimed in claim 1, further comprising a dust collection mechanism, wherein the dust collection mechanism comprises a dust collection nozzle, a dust box and a dust collection sleeve which are sequentially connected and communicated, dust collection fan blades are arranged in the dust collection sleeve, the dust collection nozzle is arranged between the two groups of cleaning components, and a dust collection opening of the dust collection nozzle is arranged downwards.

4. The floor sweeping robot for the corners and the skirting line of the wall as claimed in claim 3, wherein the traveling mechanism comprises four universal wheel assemblies mounted at the bottom of the cleaning body, the four universal wheel assemblies are symmetrically distributed at the bottom of the cleaning body in a group of two-by-two manner, and each universal wheel assembly comprises a universal wheel and a second driving motor for driving the universal wheel to move.

5. The sweeping robot for the corners and the skirting line of claim 3, wherein the outer contour of said Lelo triangular sweeping plate is detachably mounted with brush hairs.

6. The sweeping robot for the corners and the skirting line of claim 3, wherein the roots and the corners of the wall to be swept by the Lelo triangular sweeping plate are further provided with a wiper.

7. A method of operating a sweeping robot for corners and skirting lines, characterized in that the sweeping robot for corners and skirting lines as claimed in claim 1 is used, comprising the steps of:

8. The working method of the sweeping robot for the corners of walls and the skirting line as claimed in claim 7, wherein a second side distance sensor is further installed on the left side of the sweeping body, the first side distance sensor and the second side distance sensor are distributed along the front-back direction of the sweeping body, and the central connecting line of the sensing heads of the first side distance sensor and the second side distance sensor is parallel to the central connecting line direction of the two Lelo triangular sweeping plates;

9. The working method of the sweeping robot for the corners and the skirting line as claimed in claim 7, further comprising a dust suction mechanism, wherein the dust suction mechanism comprises a dust suction nozzle, a dust box and a dust suction sleeve which are sequentially connected and communicated, dust suction blades are arranged in the dust suction sleeve, the dust suction nozzle is arranged between the two groups of cleaning components, and a dust suction opening of the dust suction nozzle is arranged downwards;

10. The working method of the sweeping robot for the corner and the skirting line as claimed in claim 7, wherein in step 14), after the lailo triangular sweeping tray at the rear side of the sweeping body cleans the corner to be swept for the set time, when the power supply of the sweeping robot is turned off, the sweeping robot finishes working, and when the power supply of the sweeping robot is not turned off, the traveling mechanism drives the sweeping robot to continue to advance and return to step 2).