CN113876253A

CN113876253A - Cleaning robot

Info

Publication number: CN113876253A
Application number: CN202111272359.0A
Authority: CN
Inventors: 张枫; 熊明
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2022-01-04
Also published as: WO2023071654A1

Abstract

The invention discloses a cleaning robot, which comprises a robot main body, a walking mechanism, a cleaning module and a control module, wherein the robot main body is provided with a walking mechanism; the cleaning device comprises a robot main body, a traveling mechanism, a cleaning module and a cleaning module, wherein the traveling mechanism and the cleaning module are arranged at the bottom of the robot main body side by side; a sinking area is formed on the upper surface of the robot main body, the sinking area and the cleaning module are at least partially overlapped in the advancing direction of the robot main body, the cleaning module and the part of the robot main body corresponding to the sinking area form a cleaning part, and the cleaning part is used for extending into the bottom of a suspended obstacle to be cleaned; the control module is arranged on the robot main body and is electrically connected with the traveling mechanism and controls the traveling mechanism to work. So set up, can clean the ground below the obstacle that hangs.

Description

Cleaning robot

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning robot.

Background

The cleaning robot is an intelligent cleaning device capable of automatically cleaning, has a wide application range, and is generally used in homes, offices, equipment factories and the like.

In practical applications, the cleaning robot often encounters a short hanging obstacle (such as the bottom of a cabinet, the bottom of a sofa, the bottom of a bed, etc.), and the cleaning robot is higher than the hanging obstacle, so that the cleaning robot cannot clean the ground below the hanging obstacle, and therefore, improvement is needed.

Disclosure of Invention

The main object of the present invention is to provide a cleaning robot intended to be able to clean the floor under a hanging obstacle.

In order to achieve the above object, the present invention provides a cleaning robot, which includes a robot main body, a traveling mechanism, a cleaning module, and a control module; wherein the content of the first and second substances,

the walking mechanism and the cleaning module are arranged at the bottom of the robot main body side by side, the walking mechanism is used for driving the robot main body to move on the ground, and the cleaning module is positioned at the front side of the walking mechanism in the advancing direction of the robot main body;

a sinking area is formed on the upper surface of the robot main body, the sinking area and the cleaning module are at least partially overlapped in the advancing direction of the robot main body, the cleaning module and the part of the robot main body corresponding to the sinking area form a cleaning part, and the cleaning part is used for extending into the bottom of a suspended obstacle to be cleaned;

the control module is arranged on the robot main body and is electrically connected with the travelling mechanism and controls the travelling mechanism to work.

In some embodiments of the present invention, the robot main body includes a main body and a front collision housing, the traveling mechanism and the cleaning module are both mounted at the bottom of the main body, the front collision housing is movably connected to the front end of the main body, the front collision housing covers a region of the main body on a side away from the cleaning module, and the sinking region is formed on an upper surface of the front collision housing away from the cleaning module.

In some embodiments of the present invention, a protruding area adjacent to the sinking area is further formed on an upper surface of the front impact housing facing away from the cleaning module, the protruding area is located on a side where the front impact housing is connected to the main body, the protruding area separates the main body from the sinking area, and the protruding area is located higher than the sinking area.

In some embodiments of the present invention, a height of a position where an upper surface of the main body is located is defined as a first height, a height of a position where the sunken region is located is defined as a second height, and a height of a position where the protruding region is located is defined as a third height, where the first height, the second height, and the third height are height dimensions in a height direction of the robot main body, the first height and the third height are all greater than the second height, and the third height is greater than or equal to the first height.

In some embodiments of the present invention, the front collision shell is movably disposed back and forth along a direction parallel to a forward direction of the robot body, and the sinking region has a first inclined plane disposed at an angle relative to the moving direction of the front collision shell.

In some embodiments of the present invention, an included angle of the first inclined plane relative to the advancing direction of the robot main body is a first included angle, the protruding region has a second inclined plane disposed at an included angle relative to the moving direction of the front collision housing, the second inclined plane is connected to the first inclined plane, an included angle of the second inclined plane relative to the advancing direction of the robot main body is a second included angle, and the second included angle is smaller than the first included angle.

In some embodiments of the present invention, a height of a position where an upper surface of the main body is located is defined as a first height, and a height of a position where the sinking area is located is defined as a second height, where the first height and the second height are height dimensions in a height direction of the robot main body, the second height is less than or equal to three-fourths of the first height, and the second height is greater than or equal to one-third of the first height.

In some embodiments of the present invention, the front impact housing includes two front impact side portions disposed opposite to each other, and a connecting portion fixedly connecting the two front impact side portions, a recess is formed between the two front impact side portions and the connecting portion, the front end of the main body portion is received in the recess of the front impact housing, the two front impact side portions are respectively disposed to protrude toward the left and right sides of the main body portion in a horizontal direction relative to the main body portion, and the sinking region is at least partially disposed on the upper surfaces of the two front impact side portions.

In some embodiments of the present invention, a width direction of the cleaning module is parallel to an advancing direction of the robot main body, the width direction of the cleaning module is defined as a preset width direction, an overlapping portion of the cleaning module and the sinking region has a first width dimension in the preset width direction, the cleaning module as a whole has a second width dimension in the preset width direction, the first width dimension is less than or equal to one half of the second width dimension, and the first width dimension is greater than or equal to one quarter of the second width dimension.

In some embodiments of the present invention, the bottom surface of the robot main body is formed with a recessed area, the recessed area and the depressed area are at least partially overlapped in the advancing direction of the robot main body, and the cleaning module is at least partially accommodated in the recessed area.

In some embodiments of the invention, the recessed areas are disposed through opposite sides of the robot body.

In some embodiments of the present invention, the bottom of the robot body has a front edge, the recessed region is spaced apart from the front edge, the traveling mechanism is located on a side of the recessed region away from the front edge, and the cleaning robot further includes at least one ground inspection module electrically connected to the control module, the at least one ground inspection module being mounted at the front edge.

In some embodiments of the present invention, the height dimension of the position of the sinking area in the height direction of the robot main body is 30mm to 50 mm.

In some embodiments of the present invention, the main body includes a chassis, a first upper shell and a second upper shell, the first upper shell and the second upper shell are jointly covered on the chassis, a first enclosed cavity is formed between the first upper shell and the chassis, a second enclosed cavity is formed between the second upper shell and the chassis, the front collision shell covers the first upper shell, the traveling mechanism is installed on the chassis and at least partially accommodated in the first enclosed cavity, the cleaning module is installed at the bottom of the chassis, the cleaning robot further includes at least one collision switch electrically connected to the control module, and the at least one collision switch is installed on the chassis and at least partially accommodated in the second enclosed cavity.

In some embodiments of the present invention, the at least one crash switch includes at least one forward crash switch and at least two lateral crash switches, the at least one forward crash switch is disposed at a front end of the chassis, and the at least two lateral crash switches are disposed at left and right sides of the chassis.

According to the technical scheme, the sinking area and the cleaning module are at least partially overlapped in the advancing direction of the robot main body, and then the cleaning part is formed by the cleaning module and the part of the robot main body corresponding to the sinking area. When a short hanging obstacle is encountered, the controller controls the traveling mechanism to drive the robot main body to move, and the robot main body moves to drive the cleaning part to stretch into the bottom of the hanging obstacle, so that the part of the cleaning module, which is overlapped with the sinking area, cleans the ground below the hanging obstacle. The arrangement is such that the cleaning robot can clean the ground below the suspended obstacle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of an embodiment of a cleaning robot according to the present invention;

FIG. 2 is a schematic structural view of another embodiment of the cleaning robot of the present invention;

FIG. 3 is a schematic structural view of an embodiment of a front impact shell of the present invention;

FIG. 4 is a schematic structural view of an embodiment of the bottom of the cleaning robot in the present invention;

FIG. 5 is an exploded view of an embodiment of the cleaning robot of the present invention;

fig. 6 is a schematic structural diagram of an embodiment of the impact switch according to the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				1000	Cleaning robot	120b	Raised areas
100	Robot main body	120b'	Second inclined plane
				100a	Depressed region	121	Front side part of collision
110	Main body part	122	Connecting part
				110a	A first closed chamber	123	Notch (S)
110b	Second closed cavity	123'	Elastic piece
				111	Chassis	200	Traveling mechanism
112	First upper case	300	Cleaning module
				113	Second upper case	400	Ground detection module
120	Front collision shell	500	Collision switch
				120a	Sink area		510	Forward collision switch
120a'	First inclined plane	520	Side impact switch

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 and 2, the present invention provides a cleaning robot 1000, wherein the cleaning robot 1000 includes a robot main body 100, a traveling mechanism 200, a cleaning module 300, and a control module (not shown).

The robot main body 100 provides an installation location for the traveling mechanism 200, the cleaning module 300, and the control module.

The traveling mechanism 200 and the cleaning module 300 are installed side by side at the bottom of the robot main body 100, the traveling mechanism 200 drives the robot main body 100 to move on the floor, and the cleaning module 300 is located at the front side of the traveling mechanism 200 in the advancing direction of the robot main body 100.

By way of example and not limitation, the travel mechanism 200 may include at least one of: other walking structures such as a wheel type walking structure and a crawler type walking structure are not specifically limited herein. Similarly, the cleaning module 300 may include at least one of: the cleaning structure (such as a cleaning brush, a roller brush, etc.), the floor mopping structure (such as a mop, etc.), the dust collecting structure for absorbing dust and other stains, and the spraying structure for spraying cleaning solution are not limited in detail. When the cleaning module 300 includes the sweeping structure and the mopping structure, the sweeping structure and the mopping structure may have no power source, and sweep and mop the floor when the traveling mechanism 200 drives the robot main body 100 to move; the cleaning structure and the mopping structure can also be provided with power sources, so that the cleaning structure and the mopping structure can sweep and mop the floor by virtue of the power sources.

The connection mode between the traveling mechanism 200 and the robot main body 100 and the connection mode between the cleaning module 300 and the robot main body 100 may be fixed (such as welding, bonding, etc.), detachable (such as threaded connection, clamping connection, magnetic connection, etc.), and is not limited herein.

The upper surface of the robot body 100 is formed with a sinking area 120a, and the sinking area 120a is located at a lower height so that the sinking area 120a can enter under a lower hanging obstacle (e.g., the bottom of a cabinet, the bottom of a sofa, the bottom of a bed, etc.).

Specifically, the sinking region 120a penetrates through the front side of the robot main body 100 in the traveling direction, and the sinking region 120a also penetrates through at least one side of the robot main body 100 adjacent to the front side of the robot main body 100 in the traveling direction, so as to ensure that the sinking region 120a can enter the bottom of the hanging obstacle. Preferably, the sinking areas 120a penetrate through left and right sides of the robot main body 100 adjacent to a front side of the robot main body 100 in the traveling direction, and are disposed to facilitate the sinking areas 120a to enter the bottom of the hanging obstacle.

The sinking area 120a is at least partially overlapped with the cleaning module 300 in the advancing direction of the robot main body 100, and is arranged to enable the cleaning module 300 to at least partially enter the bottom of the hanging obstacle for cleaning when the sinking area 120a enters the bottom of the hanging obstacle. The cleaning module 300 and the portion of the robot main body 100 corresponding to the sinking area 120a form a cleaning portion for extending under a hanging obstacle for cleaning.

The number of the depressed regions 120a and the number of the cleaning modules 300 may be one or more (two or more), and is not particularly limited herein. In addition, the sinking areas 120a and the cleaning modules 300 may be one-to-one, the sinking areas 120a and the cleaning modules 300 may be one-to-many, in this case, one sinking area 120a may correspond to a plurality of cleaning modules 300, the sinking area 120a and each cleaning module 300 may be at least partially overlapped in the advancing direction of the robot main body 100, one cleaning module 300 may correspond to a plurality of sinking areas 120a, the cleaning module 300 and each sinking area 120a may be at least partially overlapped in the advancing direction of the robot main body 100, and the present invention is not limited thereto.

The control module is installed on the robot main body 100, the control module is electrically connected with the traveling mechanism 200 and controls the traveling mechanism 200 to work, and the control module is electrically connected with the traveling mechanism 200 through a wire. So set up, conveniently control running gear 200 opens and close.

Through the above technical solution, when a short hanging obstacle is encountered, the controller controls the traveling mechanism 200 to drive the robot main body 100 to move, and the robot main body 100 moves to drive the cleaning part to extend into the bottom of the hanging obstacle, so that the part of the cleaning module 300 overlapped with the sinking area 120a cleans the ground below the hanging obstacle. This is so arranged that the cleaning robot 1000 can clean the floor under the hanging obstacle.

It is understood that the height dimension of the position of the sinking area 120a in the height direction of the robot main body 100 determines the range of the shorter hanging obstacle that the cleaning robot 1000 can be applied to, and in view of this, in order to expand the application range of the cleaning robot 1000, in some embodiments of the present invention, the height dimension of the position of the sinking area 120a in the height direction of the robot main body 100 is 30mm to 50 mm. The arrangement is such that the height of the sinking area 120a is lower than the height of most of the hanging obstacles, so that the sinking area 120a can extend under most of the hanging obstacles to expand the application range of the cleaning robot 1000.

By way of example and not limitation, the height dimension of the position of the sinking section 120a in the height direction of the robot main body 100 may be 30mm, 35mm, 40mm, 45mm, 50mm, or other height dimension values.

Referring to fig. 1 and 2, in view of the fact that the sinking area 120a may encounter other obstacles after extending below the hanging obstacle and affect the normal use of the cleaning robot 1000, in some embodiments of the present invention, the robot main body 100 includes a main body 110 and a front impact housing 120, the traveling mechanism 200 and the cleaning module 300 are both mounted at the bottom of the main body 110, the front impact housing 120 is movably connected to the front end of the main body 110, the front impact housing 120 covers the area of the main body 110 on the side away from the cleaning module 300, and the sinking area 120a is formed on the upper surface of the front impact housing 120 away from the cleaning module 300.

Specifically, the main body 110 and/or the front impact shell 120 are provided with a collision switch 500 for detecting whether the front impact shell 120 collides, and the collision switch 500 is electrically connected with the controller, so that whether the front impact shell 120 collides or not is conveniently detected.

The collision switch 500 may be a pressure sensor, and when the front collision housing 120 collides, the pressure detected by the pressure sensor increases and sends a collision signal to the controller; the collision switch 500 may also be a displacement sensor, and when the front collision housing 120 collides, the displacement sensor detects that the front collision housing 120 is displaced and sends a collision signal to the controller, which is not specifically limited herein.

The front impact shell 120 and the main body 110 are movably connected in many ways, and the front impact shell 120 and the main body 110 may be elastically connected so that the front impact shell 120 can move relative to the main body 110 after being impacted; the movable connection between the front impact housing 120 and the main body 110 may also be a sliding assembly between the front impact housing 120 and the main body 110, so that the front impact housing 120 can slide relative to the main body 110 after being impacted, which is not limited herein.

Through the above technical scheme, the sinking area 120a is arranged on the front collision shell 120, when the sinking area 120a extends into the bottom of the suspended obstacle and meets the obstacle, the front collision shell 120 collides, the front collision shell 120 moves relative to the main body part 110, the collision switch 500 is triggered to send a collision signal, and after the controller receives the collision signal sent by the collision switch 500, the obstacle avoidance behavior of the cleaning robot 1000 is started, for example, the controller controls the traveling mechanism 200 to avoid the obstacle in a mode of backing, turning and the like, so that the cleaning robot 1000 gets rid of the obstacle, and the cleaning robot 1000 can be normally used. In addition, the front collision shell 120 can also wrap the electronic components at the corresponding position of the main body 110, so as to play a role in water and dust prevention.

It can be understood that, in practical application, the movable connection between the main body 110 and the front impact housing 120 may be a detachable movable connection, so that when it is necessary to clean under a short hanging obstacle, the front impact housing 120 is mounted on the main body 110; when the cleaning robot 1000 does not need to clean the bottom of a short hanging obstacle and only needs to clean the ground normally, the front collision shell 120 can be detached from the main body 110, so that the self weight of the cleaning robot 1000 is reduced, and the cleaning robot 1000 can be cleaned conveniently.

Referring to fig. 1 and 2, in view of the fact that if the upper surface of the front impact housing 120 facing away from the cleaning module 300 is entirely formed as the sinking region 120a, when the sinking region 120a extends below the hanging obstacle, the main body 110 of the robot main body 100 is easily collided with the bottom of the hanging obstacle, and damage is generated, in order to prevent the main body 110 from colliding with the bottom of the hanging obstacle, in some embodiments of the present invention, the upper surface of the front impact housing 120 facing away from the cleaning module 300 is further formed with a protruding region 120b adjacent to the sinking region 120a, the protruding region 120b is located on the side of the front impact housing 120 connecting the main body 110, the protruding region 120b separates the main body 110 from the sinking region 120a, and the protruding region 120b is located higher than the sinking region 120 a. With this arrangement, by virtue of the setting of the protruding region 120b, the collision of the main body 110 with the bottom of the hanging obstacle is transferred to the collision of the protruding region 120b with the bottom of the hanging obstacle, so that the main body 110 is prevented from being damaged by the collision, and the cleaning robot 1000 can be prevented from being stuck to the bottom of the hanging obstacle.

The protruding area 120b can be formed in many ways, and the protruding area 120b can be formed by a structural member such as a rod, a plate, etc., and is not limited herein.

In other embodiments, the front-impact housing 120 may not have the protruding area 120b, and the upper surface of the front-impact housing 120 facing away from the cleaning module 300 forms the sinking area 120a, and the main body 110 may have a sinking surface which is flush with the surface of the sinking area 120 a.

Referring to fig. 1 and 2, in some embodiments of the present invention, a height of a position where an upper surface of the main body 110 is located is defined as a first height, a height of a position where the sinking region 120a is located is defined as a second height, and a height of a position where the protruding region 120b is located is defined as a third height, wherein the first height, the second height, and the third height are height dimensions in a height direction of the robot main body 100, the first height and the third height are both greater than the second height, and the third height is greater than or equal to the first height. With this arrangement, by virtue of the third height being greater than or equal to the first height, the protruding region 120b collides with the bottom of the hanging obstacle, thereby preventing the main body 110 from being damaged due to the collision and preventing the cleaning robot 1000 from being stuck to the bottom of the hanging obstacle.

Preferably, the second height is less than or equal to three-quarters of the first height, and the second height is greater than or equal to one-third of the first height. So set up, can guarantee to sink region 120a and can stretch into the below of the barrier that dangles, can guarantee to sink region 120a again and have certain thickness, guarantee to sink the structural strength of region 120 a.

The second height may be one third, two quarters, three quarters, etc. of the first height, and is not limited thereto.

Referring to fig. 1 and 2, in order to facilitate the sinking area 120a extending under the suspended obstacle, in some embodiments of the present invention, the front collision housing 120 is movably disposed back and forth along a direction parallel to the advancing direction of the robot main body 100, and the sinking area 120a has a first inclined surface 120a' disposed at an angle relative to the moving direction of the front collision housing 120. So set up, make sink area 120a from high to low transition, conveniently hit the casing 120 before stretching into the certain height and hang under the barrier. In addition, the first inclined surface 120a' may also contact with the bottom of the suspended obstacle to push the front collision housing 120 to move backward, trigger the collision switch 500, trigger the obstacle avoidance behavior of the cleaning robot 1000, and facilitate the cleaning robot 1000 to get out of the obstacle.

Further, in some embodiments of the present invention, an angle of the first inclined surface 120a ' relative to the advancing direction of the robot main body 100 is a first angle, the protruding area 120b has a second inclined surface 120b ' arranged at an angle relative to the moving direction of the front collision shell 120, the second inclined surface 120b ' is connected to the first inclined surface 120a ', an angle of the second inclined surface 120b ' relative to the advancing direction of the robot main body 100 is a second angle, and the second angle is smaller than the first angle.

Specifically, the first inclined surface 120a 'and the second inclined surface 120b' are each disposed to be inclined downward from the rear side of the robot main body 100 to the front side of the robot main body 100. The first included angle is in a range from 160 degrees to 180 degrees, such as 160 degrees, 165 degrees, 170 degrees, 175 degrees, 180 degrees, and other angles, and the second included angle is in a range from 90 degrees to 110 degrees, such as 90 degrees, 95 degrees, 100 degrees, 105 degrees, and 110 degrees, and is not limited herein.

Through the technical scheme, compared with the first included angle, the second included angle is smaller, so that the position of the second inclined surface 120b ' is higher and steeper than that of the first inclined surface 120a ', the second inclined surface 120b ' can horizontally collide with the outer side or the bottom of the suspended obstacle, and the collision switch 500 can be triggered flexibly to trigger the obstacle avoidance behavior of the cleaning robot 1000; in addition, the first inclined surface 120a 'is combined with the second inclined surface 120b', so that the cleaning robot 1000 can extend into the bottom of the suspended obstacle with a larger depth, and can avoid the obstacle under the condition of being clamped at different positions and heights, and the application range of the cleaning robot 1000 is expanded.

Referring to fig. 1 to 3, in order to facilitate connection between the front impact housing 120 and the main body 110, in some embodiments of the present invention, the front impact housing 120 includes two front impact side portions 121 disposed opposite to each other, and a connecting portion 122 fixedly connected to the two front impact side portions 121, a recess 123 is formed between the two front impact side portions 121 and the connecting portion 122, a front end of the main body 110 is received in the recess 123 of the front impact housing 120, the two front impact side portions 121 are respectively disposed to protrude toward the left and right sides of the main body 110 in a horizontal direction relative to the main body 110, and the sinking area 120a is at least partially disposed on the upper surfaces of the two front impact side portions 121. With such an arrangement, the front end of the main body 110 is accommodated in the notch 123 of the front impact shell 120, so that the main body 110 and the front impact shell 120 can be conveniently assembled, and the front side, the left side and the right side of the front end of the main body 110 can be wrapped, so as to enhance the anti-collision effect of the front impact shell 120.

Specifically, the upper surfaces of the two front impact side portions 121 and the upper surface of the connecting portion 122 form a depressed area 120 a. With such an arrangement, the sinking area 120a is conveniently formed, and when the cleaning robot 1000 walks along the suspended obstacle, the cleaning robot can clean the bottom area of the suspended obstacle at a higher walking speed by the front collision side part 121 and the cleaning module 300 at least partially penetrating into the bottom of the suspended obstacle, thereby improving the cleaning efficiency.

Furthermore, the left and right inner walls of the notch 123 are provided with elastic members 123', and the two elastic members 123' are correspondingly elastically abutted to the left and right sides of the front end of the main body part 110, so that the front impact shell 120 is conveniently fixed to the front end of the main body part 110, and a certain buffering effect can be achieved through the elastic members 123' when the front impact shell 120 is collided.

Preferably, the elastic member 123' is configured as an elastic arm, and the elastic arm is disposed at an included angle with the inner wall of the recess 123, so that when the front end of the main body 110 is installed in the recess 123, the left and right sides of the front end of the main body 110 correspondingly press the two elastic arms, and the two elastic arms clamp and fix the front end of the main body 110 under the action of their own elastic force. This elastic arm bumps casing 120 integrated into one piece setting with preceding, so set up, can guarantee elastic arm's structural strength. The elastic arm can be made of rubber, plastic, silica gel and other materials which can generate elastic deformation when being stressed. In addition, the elastic member 123' may also be a spring, a spring plate, a spring block, or other elastic elements.

Referring to fig. 1, in some embodiments of the present invention, a width direction of the cleaning module 300 is parallel to an advancing direction of the robot main body 100, the width direction of the cleaning module 300 is defined as a predetermined width direction, a portion of the cleaning module 300 overlapped with the sinking region 120a has a first width dimension in the predetermined width direction, the cleaning module 300 has a second width dimension in the predetermined width direction as a whole, the first width dimension is less than or equal to one half of the second width dimension, and the first width dimension is greater than or equal to one quarter of the second width dimension.

The first width dimension may be one-fourth, one-third, one-half, or other division values of the second width dimension, and is not limited herein.

Through the technical scheme, when the sinking area 120a extends below the hanging obstacle, the size of the part of the cleaning module 300 extending below the hanging obstacle can be ensured to be enough for cleaning the bottom surface below the hanging obstacle, and one part of the cleaning module 300 extends below the hanging obstacle, and the other part of the cleaning module 300 is positioned outside the hanging obstacle, so that the connection between the ground below the hanging obstacle and the outside ground can be conveniently cleaned.

In other embodiments, the cleaning module 300 and the sunken region 120a may also be completely coincident, so that the cleaning module 300 may be entirely inserted under the hanging obstacle for cleaning.

Referring to fig. 1 and 4, in view of the fact that the cleaning module 300 is directly mounted on the bottom surface of the robot body 100, which may easily result in a large size of the cleaning robot 1000, in order to reduce the size of the cleaning robot 1000, in some embodiments of the present invention, a recessed area 100a is formed on the bottom surface of the robot body 100, the recessed area 100a and the recessed area 120a are at least partially overlapped in the advancing direction of the robot body 100, and the cleaning module 300 is at least partially accommodated in the recessed area 100 a. With this arrangement, by accommodating the cleaning module 300 at least partially in the recessed area 100a, the height of the recessed area 120a in the robot height direction can be effectively reduced, and the size of the cleaning robot 1000 can be reduced.

The area of the cross section of the recessed region 100a may be larger than, smaller than, or equal to the area of the cross section of the sinking region 120a, and the area of the recessed region 100a may be partially overlapped with the area of the sinking region 120a, or completely overlapped with the area of the sinking region 100 a; the cleaning module 300 may be partially accommodated in the recessed area 100a, or the cleaning module 300 may be entirely accommodated in the recessed area 100a, which is not limited herein.

When there are a plurality of cleaning modules 300, the number of the recessed areas 100a may be one, a plurality of cleaning modules 300 are all installed in one recessed area 100a, or a plurality of recessed areas 100a are also provided, and each cleaning module 300 is installed in the corresponding recessed area 100a, which is not limited herein.

Referring to fig. 1 and 4, in order to facilitate the detachment of the cleaning module 300 from the recessed area 100a, in some embodiments of the present invention, the recessed area 100a is disposed through two opposite sides of the robot body 100.

Specifically, the recessed regions 100a penetrate the left and right sides of the robot main body 100 and are disposed such that the cleaning module 300 is spaced apart from the front side of the front impact housing 120, and the cleaning module 300 can be prevented from being impacted when the front side of the front impact housing 120 is impacted.

Referring to fig. 1 and 4, in order to prevent the cleaning robot 1000 from falling down when encountering a cliff, in some embodiments of the present invention, the bottom of the robot body 100 has a front edge, a recessed area 100a is provided at a distance from the front edge, the traveling mechanism 200 is located at a side of the recessed area 100a away from the front edge, and the cleaning robot 1000 further includes at least one ground sensing module 400 electrically connected to the control module, and the at least one ground sensing module 400 is mounted at the front edge.

The ground detection module 400 may be a pressure sensor, when the cleaning robot 1000 travels normally, the pressure sensor abuts against the ground and can detect pressure, when the cleaning robot 1000 encounters a cliff, the pressure sensor exceeds the edge of the ground, and the pressure sensor cannot detect pressure, so as to judge that the cleaning robot 1000 encounters the cliff; the ground detection module 400 may also be an infrared optical sensor, and when the cleaning robot 1000 normally walks, the infrared optical sensor may emit an infrared initial signal toward the ground and receive an infrared reflected signal reflected back, and when the cleaning robot 1000 encounters a cliff, the infrared reflected signal received by the infrared optical sensor is weakened, so as to judge that the cleaning robot 1000 encounters the cliff. Of course, the ground detection module 400 may also be other types of sensors, and is not limited in detail herein.

Through the technical scheme, when the walking mechanism 200 drives the robot main body 100 to move to the front of the robot main body 100 on the ground to form a cliff, the ground detection module 400 exceeds the edge of the ground, the ground detection module 400 sends out a suspension signal, and the control module receives the suspension signal and then controls the walking mechanism 200 to stop moving or retreat, so that the cleaning robot 1000 can be prevented from falling off when encountering the cliff.

Referring to fig. 1, 2 and 4 to 6, in some embodiments of the present invention, the main body 110 includes a chassis 111, a first upper shell 112 and a second upper shell 113, the first upper shell 112 and the second upper shell 113 are jointly covered on the chassis 111, the first upper shell 112 and the chassis 111 enclose to form a first enclosed cavity 110a, the second upper shell 113 and the chassis 111 enclose to form a second enclosed cavity 110b, the front impact shell 120 covers the first upper shell 112, the traveling mechanism 200 is mounted on the chassis 111 and at least partially accommodated in the first enclosed cavity 110a, the cleaning module 300 is mounted at the bottom of the chassis 111, the cleaning robot 1000 further includes at least one impact switch 500 electrically connected to the control module, and the at least one impact switch 500 is mounted on the chassis 111 and at least partially accommodated in the second enclosed cavity 110 b. With such an arrangement, the traveling mechanism 200 and the collision switch 500 can be conveniently mounted, and the collision switch 500 is mounted on the chassis 111, which is beneficial to the collision detection of the collision switch 500.

The specific type of the crash switch 500 is described in the above embodiments, and the connection manner between the first upper shell 112 and the chassis 111 and the connection manner between the second upper shell 113 and the chassis 111 are both set by referring to the fixed connection and the detachable connection manner in the above embodiments, and are not described again.

In some embodiments of the present invention, the at least one crash switch 500 includes at least one forward crash switch 510 and at least two lateral crash switches 520, wherein the at least one forward crash switch 510 is disposed at the front end of the chassis 111, and the at least two lateral crash switches 520 are disposed at the left and right sides of the chassis 111. With this arrangement, by setting the forward collision switch 510 and the lateral collision switch 520, it is possible to detect whether the cleaning robot 1000 collides with an obstacle on any one of the front, left, and right sides of the main body 110, thereby facilitating detection of whether the cleaning robot collides with an obstacle on the front, left, and right sides.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A cleaning robot is characterized by comprising a robot main body, a walking mechanism, a cleaning module and a control module; wherein the content of the first and second substances,

2. The cleaning robot of claim 1, wherein the robot body comprises a main body and a front impact housing, the traveling mechanism and the cleaning module are both mounted at the bottom of the main body, the front impact housing is movably connected to the front end of the main body, the front impact housing covers an area of a side of the main body facing away from the cleaning module, and the sinking area is formed on an upper surface of the front impact housing facing away from the cleaning module.

3. The cleaning robot of claim 2, wherein the upper surface of the front impact housing facing away from the cleaning module is further formed with a protruding region adjacent to the depressed region, the protruding region being located on a side of the front impact housing connecting the main body, the protruding region separating the main body from the depressed region, the protruding region being disposed higher than the depressed region.

4. The cleaning robot of claim 3, wherein a height of a position where an upper surface of the main body is located is defined as a first height, a height of a position where the depressed area is located is defined as a second height, and a height of a position where the protruding area is located is defined as a third height, wherein the first height, the second height, and the third height are height dimensions in a height direction of the robot main body, the first height and the third height are both greater than the second height, and the third height is greater than or equal to the first height.

5. The cleaning robot as claimed in claim 3, wherein said front collision housing is movably disposed forward and backward in a direction parallel to a forward direction of said robot main body, and said sinking area has a first slope disposed at an angle with respect to a moving direction of said front collision housing.

6. The cleaning robot as claimed in claim 5, wherein the first inclined plane has a first angle with respect to a forward direction of the robot main body, the protruding region has a second inclined plane disposed at an angle with respect to a moving direction of the forward collision housing, the second inclined plane is connected to the first inclined plane, the second inclined plane has a second angle with respect to the forward direction of the robot main body, and the second angle is smaller than the first angle.

7. The cleaning robot of claim 2, wherein a height of a position where an upper surface of the main body is located is defined as a first height, and a height of a position where the sinking area is located is defined as a second height, wherein the first height and the second height are height dimensions in a height direction of the robot main body, the second height is less than or equal to three-quarters of the first height, and the second height is greater than or equal to one-third of the first height.

8. The cleaning robot as claimed in claim 2, wherein the front collision housing includes two front collision side portions disposed opposite to each other, and a connecting portion fixedly connecting the two front collision side portions, a recess is formed between the two front collision side portions and the connecting portion, a front end of the main body portion is received in the recess of the front collision housing, the two front collision side portions are disposed to protrude toward left and right sides of the main body portion in a horizontal direction with respect to the main body portion, respectively, and the sinking region is at least partially disposed on upper surfaces of the two front collision side portions.

9. The cleaning robot according to claim 1, wherein a width direction of the cleaning module is parallel to an advancing direction of the robot main body, the width direction of the cleaning module is defined as a preset width direction, an overlapping portion of the cleaning module and the depressed region has a first width dimension in the preset width direction, the cleaning module as a whole has a second width dimension in the preset width direction, the first width dimension is less than or equal to one-half of the second width dimension, and the first width dimension is greater than or equal to one-fourth of the second width dimension.

10. The cleaning robot according to claim 1, wherein a recessed area is formed on a bottom surface of the robot main body, the recessed area and the depressed area are disposed to at least partially overlap in a forward direction of the robot main body, and the cleaning module is at least partially accommodated in the recessed area.

11. The cleaning robot of claim 10, wherein the recessed areas are disposed through opposite sides of the robot body.

12. The cleaning robot of claim 10, wherein the bottom of the robot body has a front edge, the recessed area is spaced from the front edge, the traveling mechanism is located on a side of the recessed area away from the front edge, and the cleaning robot further comprises at least one ground detection module electrically connected to the control module, the at least one ground detection module being mounted at the front edge.

13. The cleaning robot according to claim 1, wherein the height dimension of the position of the depressed area in the height direction of the robot main body is 30mm to 50 mm.

14. The cleaning robot of claim 2, wherein the main body includes a chassis, a first upper housing and a second upper housing, the first upper housing and the second upper housing are jointly covered on the chassis, a first enclosed cavity is defined between the first upper housing and the chassis, a second enclosed cavity is defined between the second upper housing and the chassis, the front collision housing covers the first upper housing, the traveling mechanism is mounted on the chassis and at least partially accommodated in the first enclosed cavity, the cleaning module is mounted at the bottom of the chassis, the cleaning robot further includes at least one collision switch electrically connected to the control module, and the at least one collision switch is mounted on the chassis and at least partially accommodated in the second enclosed cavity.

15. The cleaning robot as claimed in claim 14, wherein the at least one bump switch includes at least one forward bump switch and at least two lateral bump switches, at least one forward bump switch is disposed at a front end of the chassis, and at least two lateral bump switches are disposed at left and right sides of the chassis.