CN115316889B

CN115316889B - Automatic cleaning equipment

Info

Publication number: CN115316889B
Application number: CN202210809352.6A
Authority: CN
Inventors: 成盼
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2023-09-12
Anticipated expiration: 2042-07-11
Also published as: CN115316889A

Abstract

An automatic cleaning apparatus comprising: a moving platform configured to automatically move on the operation surface: and a wet supplementary cleaning module provided at one side of the moving platform, configured to supplementary clean at least a portion of the operation surface in a wet cleaning manner, and configured to switch between a first position to perform a wet supplementary cleaning in response to the automatic cleaning apparatus performing a supplementary cleaning operation, and a second position to be further away from the moving axis than an edge of the one side of the moving platform farthest from the moving axis in response to the automatic cleaning apparatus not performing a supplementary cleaning operation, the wet supplementary cleaning module protruding from the moving axis of the moving platform when the wet supplementary cleaning module is located at the first position.

Description

Automatic cleaning equipment

Technical Field

The disclosure relates to the technical field of cleaning robots, in particular to an automatic cleaning device.

Background

The cleaning robot mainly comprises two functions of sweeping and mopping at present, and the sweeping robot and the mopping robot have single functions, or can only sweep or only mopping. If the floor sweeping and mopping are required to be performed simultaneously, two sets of equipment are required to be prepared simultaneously, and double space is occupied.

The floor sweeping robot and the floor mopping robot are combined, and the mop is additionally arranged on the bottom surface of the robot so as to realize the integrated sweeping of the floor sweeping and mopping, but the floor sweeping and mopping in the integrated machine has a mopping-leaking area when being close to a wall or a column, and the mopping effect and efficiency are poor.

Disclosure of Invention

Some embodiments of the present disclosure provide a robot cleaning apparatus, the robot cleaning apparatus comprising:

a moving platform configured to automatically move on the operation surface: and

a wet-type supplementary cleaning module arranged at one side of the movable platform and configured to supplementary clean at least a part of the operation surface by adopting a wet cleaning mode and configured to switch between a first position and a second position,

wherein in response to the automatic cleaning apparatus performing a replenishment cleaning operation, the wet replenishment cleaning module switches to a first position to perform wet replenishment cleaning,

in response to the automatic cleaning apparatus not performing a supplemental cleaning operation, the wet supplemental cleaning module switches to a second position,

when the wet type supplementary cleaning module is located at the first position, the wet type supplementary cleaning module protrudes from the moving platform away from the moving axis of the moving platform, and the edge of the wet type supplementary cleaning module away from the moving axis is further away from the moving axis than the edge of the side of the moving platform away from the moving axis.

In some embodiments, when the wet supplemental cleaning module is switched from the first position to the second position, the wet supplemental cleaning module is remote from the operating surface and housed within the mobile platform.

In some embodiments, the wet supplemental cleaning module comprises:

a wet-type supplementary cleaning main body;

and a supplementary mop provided on the outer circumference of the wet supplementary cleaning body.

In some embodiments, the supplemental mop is configured to rotate circumferentially along the outer periphery of the wet supplemental cleaning body when the robotic cleaning device performs a wet cleaning operation.

In some embodiments, the outer circumferential direction of the wet supplemental cleaning body is substantially perpendicular to the axis of movement.

In some embodiments, the inner surface of the supplementary mop facing the wet supplementary cleaning body is provided with teeth such that the supplementary mop is driven by means of tooth engagement.

In some embodiments, the wet supplemental cleaning module further comprises:

a drive motor disposed within the wet supplemental cleaning body configured to power switching of the wet supplemental cleaning module between a first position and a second position; and

the driving roller is arranged in the wet type supplementary cleaning main body and is configured to be driven by the driving motor to drive the supplementary mop to circumferentially rotate along the periphery of the wet type supplementary cleaning main body.

In some embodiments, the self-weight of the wet supplemental cleaning body causes the wet supplemental cleaning module to have a tendency to move toward the first position.

In some embodiments, the wet supplemental cleaning module further comprises:

a torsion spring configured such that the wet supplemental cleaning module has a tendency to move toward the first position.

In some embodiments, the wet supplemental cleaning module further comprises:

and the anti-collision assembly extends from the wet type supplementary cleaning main body towards the advancing direction and/or the retreating direction of the moving platform and is configured to push against the anti-collision assembly when the anti-collision assembly impacts an obstacle in the advancing and/or retreating process of the moving platform, so that the wet type supplementary cleaning module is subjected to acting force moving towards the second position.

In some embodiments, the edge of the bumper assembly away from the axis of movement includes a bevel that gradually approaches the wet supplemental cleaning body in a direction of the wet supplemental cleaning body away from the axis of movement.

Compared with the related art, the scheme of the embodiment of the disclosure has at least the following beneficial effects:

the wet type supplementary cleaning module is additionally arranged in the automatic cleaning equipment, so that the automatic cleaning equipment can mop a larger range when performing mopping operation, the mopping area of the automatic cleaning equipment when performing wet cleaning along an obstacle is reduced or avoided, the mopping effect is enhanced, and the mopping efficiency is improved.

The wet type supplementary cleaning module can be recovered into the mobile platform when the automatic cleaning equipment does not execute wet type cleaning, so that the trafficability of the automatic cleaning equipment is ensured.

The supplementary mop of the wet supplementary cleaning module is in a rotating state when wet cleaning is performed, so that the mop in two directions can be realized.

The wet type supplementary cleaning module is provided with an anti-collision device, so that the trafficability of the automatic cleaning equipment is enhanced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort. In the drawings:

fig. 1 is an oblique view of a robotic cleaning device provided in some embodiments of the present disclosure.

Fig. 2 is a schematic view of a bottom structure of a robotic cleaning device provided in some embodiments of the present disclosure.

Fig. 3 is a schematic structural view of an automatic cleaning apparatus according to some embodiments of the present disclosure, wherein a wet-type complementary cleaning module is in a first position.

Fig. 4 is a schematic structural view of an automatic cleaning apparatus according to some embodiments of the present disclosure, wherein a wet-type complementary cleaning module is in a second position.

Fig. 5 is a schematic structural diagram of a wet-type complementary cleaning module provided in some embodiments of the present disclosure.

Fig. 6 is a schematic view of a portion of a wet supplemental cleaning module 200 according to some embodiments of the present disclosure.

Detailed Description

For the purpose of promoting an understanding of the principles and advantages of the disclosure, reference will now be made in detail to the drawings, in which it is apparent that the embodiments described are only some, but not all embodiments of the disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

The terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure of embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present disclosure, these should not be limited to these terms. These terms are only used to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the present disclosure.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a commodity or device comprising such element.

In the related art, an automatic cleaning apparatus, such as a sweeping and mopping integrated machine or an automatic floor mopping machine, senses an obstacle by means of a sensor at a side of the apparatus when performing a cleaning operation along the obstacle, such as a wall, a pillar, furniture, etc. In order to avoid as much as possible that the robot will scrape the obstacle when performing a cleaning operation along the obstacle, a margin, for example a 10mm distance, is usually left between the robot and the obstacle. In order to ensure the passing performance of the sweeper, the mopping area of the automatic cleaning device in the industry does not exceed the outline of the sweeper body, so that the residual area is not mopped when the automatic cleaning device performs cleaning operation along obstacles such as walls, posts, furniture and the like.

To overcome the above-described drawbacks, the present disclosure provides a robot cleaning apparatus including: a moving platform configured to automatically move on the operation surface: and a wet replenishment cleaning module disposed on one side of the moving platform, configured to replenishment clean at least a portion of the operation surface in a wet cleaning manner, and configured to be switchable between a first position and a second position, wherein in response to the automatic cleaning apparatus performing a wet cleaning operation, the wet replenishment cleaning module switches to the first position to perform a wet replenishment cleaning, and in response to the automatic cleaning apparatus not performing a wet cleaning operation, the wet replenishment cleaning module switches to the second position, when the wet replenishment cleaning module is in the first position, the wet replenishment cleaning module protrudes from the moving platform away from a movement axis of the moving platform, and an edge of the wet replenishment cleaning module away from the movement axis is further away from the movement axis than an edge of the one side of the moving platform furthest from the movement axis. The wet type supplementary cleaning module is additionally arranged in the automatic cleaning equipment, so that the automatic cleaning equipment can mop a larger range when performing mopping operation, the mopping area of the automatic cleaning equipment when performing wet cleaning along an obstacle is reduced or avoided, the mopping effect is enhanced, and the mopping efficiency is improved.

Alternative embodiments of the present disclosure are described in detail below with reference to the drawings.

Fig. 1-2 are schematic structural views of an automatic cleaning apparatus according to an exemplary embodiment, which may include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a man-machine interaction system 170, as shown in fig. 1-2, and may be a vacuum floor sucking robot, a floor mopping/brushing robot, a sweeping robot, a window climbing robot, and the like. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device may be a floor mopping robot, and the automatic cleaning device works on the floor, which is the operation surface; the automatic cleaning equipment can also be a window cleaning robot, and works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, which is the operation surface. Purely for the sake of illustration, the following description of the application will be given by way of example of a mopping robot.

In some embodiments, mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute a given program or operate in accordance with certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning apparatus; when the mobile platform 100 is an autonomous mobile platform, the target direction may be set by a system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The perception system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown) located at the bottom of the mobile platform, infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), and the like sensing devices, which provide various positional and motion state information of the machine to the control system 130.

In order to describe the behavior of the automatic cleaning device more clearly, the following directional definition is made: the robotic cleaning device may travel on the floor by various combinations of movements relative to three mutually perpendicular axes defined by the mobile platform 100: a transverse axis X, a front-rear axis Y and a central vertical axis Z. The forward driving direction along the front-rear axis Y is denoted as "forward", and the backward driving direction along the front-rear axis Y is denoted as "backward". The transverse axis X extends between the right and left wheels of the robotic cleaning device substantially along an axle center defined by the center point of the drive wheel assembly 141. Wherein the automatic cleaning device is rotatable about an X-axis. The rearward portion is "pitched up" when the forward portion of the automatic cleaning device is tilted up, and the rearward portion is "pitched down" when the forward portion of the automatic cleaning device is tilted down. In addition, the robotic cleaning device may rotate about the Z-axis. In the forward direction of the robot cleaner, the robot cleaner is tilted to the right of the Y axis as "turn right" and tilted to the left of the Y axis as "turn left".

As shown in fig. 2, cliff sensors 123 for preventing falling when the robot cleaner is retreated are provided on the bottom of the moving platform 100 and in front and rear of the driving wheel assembly 141, so that the robot cleaner can be prevented from being damaged. The "front" mentioned above means the same side as the traveling direction of the robot cleaner, and the "rear" mentioned above means the opposite side as the traveling direction of the robot cleaner.

The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS).

The various components of the sensing system 120 may operate independently or in concert to more accurately achieve desired functionality. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree and the like, and can be combined with a camera, a laser ranging device and the like for more accurate determination.

For example, the ultrasonic sensor may determine whether the surface to be cleaned is a carpet, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122. The bumper 122 detects one or more events (or objects) in the path of travel of the robot via a sensor system, such as an infrared sensor, while the drive wheel assembly 141 advances the robot during cleaning, and the robot may be controlled to respond to the events (or objects), such as being remote from the obstacle, by the event (or object), such as an obstacle, wall, detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and the application processor is configured to receive the sensed environmental information of the plurality of sensors transmitted from the sensing system 120, draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and the like, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also determine whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may combine the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices to comprehensively determine what working state the sweeper is currently in, such as passing a threshold, going up a carpet, being located at the cliff, being blocked above or below, being full of dust box, being lifted up, and the like, and may further give a specific next action strategy according to different situations, so that the work of the automatic cleaning device better meets the requirements of the owner, and has better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by SLAM, and greatly improves the cleaning efficiency of the automatic cleaning equipment.

The drive system 140 may execute drive commands to maneuver the robotic cleaning device across the floor based on specific distance and angle information, such as the x, y, and θ components. As shown in fig. 2, the drive system 140 includes a drive wheel assembly 141, and the drive system 140 may control both the left and right wheels simultaneously, preferably the drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively, for more precise control of the movement of the machine. The left and right drive wheel assemblies are symmetrically disposed along a transverse axis defined by the mobile platform 100.

In order for the robotic cleaning device to be able to move more stably or with greater motion capabilities on the floor, the robotic cleaning device may include one or more steering assemblies 142, which may be driven or driven, and in a configuration including, but not limited to, universal wheels, the steering assemblies 142 may be positioned in front of the drive wheel assemblies 141.

The energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of the electric charge in the charging process, and even the electrode itself is deformed, so that normal charging cannot be continued.

The man-machine interaction system 170 includes keys on the host panel for the user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a cell phone client program may also be included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at the mobile phone client, and more abundant and humanized functional items can be provided for the user.

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400. The dry cleaning module 151 includes a rolling brush, a dust box, a fan, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dust removal capability of the sweeper can be characterized by the sweeping efficiency DPU (Dust pickup efficiency) of the garbage, the sweeping efficiency DPU is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a dust collection port, a dust box, a fan, an air outlet and connecting parts among the four components is influenced, and the type and the power of the fan are influenced, so that the sweeper is a complex system design problem. The improvement in dust removal capability is of greater significance for energy-limited cleaning automatic cleaning equipment than for conventional plug-in cleaners. Because the dust removal capability is improved, the energy requirement is directly and effectively reduced, that is to say, the original machine which can clean the ground of 80 square meters after charging once can be evolved into the machine which can clean the ground of 180 square meters or more after charging once. And the service life of the battery, which reduces the number of times of charging, is greatly increased, so that the frequency of replacing the battery by a user is also increased. More intuitively and importantly, the improvement of dust removal capability is the most obvious and important user experience, and users can directly draw a conclusion on whether the dust is cleaned/rubbed clean. The dry cleaning module may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

The present disclosure provides a wet cleaning module 400 configured to clean at least a portion of the operative surface in a wet cleaning manner; wherein the wet cleaning module 400 includes: the cleaning device comprises a cleaning head and a driving unit, wherein the cleaning head is used for cleaning at least one part of the operation surface, and the driving unit is used for driving the cleaning head to basically reciprocate along a target surface, and the target surface is one part of the operation surface. The cleaning head reciprocates along the surface to be cleaned, the contact surface of the cleaning head and the surface to be cleaned is provided with cleaning cloth or a cleaning plate, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through the reciprocation, so that stains on the surface to be cleaned are removed.

Fig. 3 is a schematic structural diagram of an automatic cleaning apparatus according to some embodiments of the present disclosure, where a wet-type complementary cleaning module is located at a first position, and fig. 4 is a schematic structural diagram of an automatic cleaning apparatus according to some embodiments of the present disclosure, where a wet-type complementary cleaning module is located at a second position.

As shown in connection with fig. 1, 2, 3, and 4, the present disclosure provides an automatic cleaning apparatus including a mobile platform 100 and a cleaning module 150 disposed on the mobile platform 100. The cleaning module 150 may include the aforementioned dry cleaning module 151 and wet cleaning module 400. The cleaning module 150 may further include a wet-type supplementary cleaning module 200, where the wet-type supplementary cleaning module 200 is disposed on a side of the moving platform, for example, a side of the moving platform where the side brush is disposed with respect to the moving axis. The axis of movement described in this disclosure, as shown by m in fig. 1, is the midline of the mobile platform in its direction of movement. The supplementary cleaning module 200 adopts a wet cleaning mode to supplementary clean at least a part of the operation surface, specifically, the supplementary cleaning module can supplement the wiping allowance area, and the wiping efficiency is improved.

The wet supplemental cleaning module 200 is configured to be switchable between a first position and a second position, in particular, in response to the robotic cleaning device performing a wet cleaning operation, the wet supplemental cleaning module 200 switches to the first position to perform a wet supplemental cleaning. In response to the robotic cleaning device not performing a wet cleaning operation, the wet supplemental cleaning module is switched to a second position, such as for recycling into the mobile platform 100, to ensure the passability of the robotic cleaning device.

When the wet type supplementary cleaning module 200 is located at the first position, the wet type supplementary cleaning module 200 protrudes from the moving platform 100 away from the moving axis m of the moving platform 100, and an edge of the wet type supplementary cleaning module 200 away from the moving axis m is further away from the moving axis m, for example, further away from the moving axis m by 10mm than an edge of a side of the moving platform 100 where the wet type supplementary cleaning module 200 is located. At this time, the front projection of the wet-type complementary cleaning module 200 on the operation surface, for example, the floor exceeds the front projection of the mobile platform 100 on the operation surface, for example, the floor, so that the remaining area is covered, and the wet cleaning can be performed on the wiping area missed by the wet-type cleaning module 400.

In some embodiments, as shown in fig. 4, when the wet-type supplementary cleaning module 200 is switched from the first position to the second position, the wet-type supplementary cleaning module 200 is separated from the operation surface and is accommodated in the mobile platform 100. Similar to the wet cleaning module 400, the wet supplementary cleaning module 200 is separated from the operation surface when the wet cleaning operation is not performed, reduces the walking resistance of the automatic cleaning device, and can be moved towards the movement axis m to be recycled into the mobile platform 100, so that the orthographic projection of the wet supplementary cleaning module 200 on the operation surface, such as the ground, basically falls into the orthographic projection of the mobile platform 100 on the operation surface, such as the ground, to ensure the trafficability of the automatic cleaning device, avoid scraping objects in the surrounding environment when the automatic cleaning device walks, and cause obstacle to the walking.

Fig. 5 is a schematic structural view of a wet type supplementary cleaning module according to some embodiments of the present disclosure, and in combination with fig. 3 to 5, the wet type supplementary cleaning module 200 includes a fixing frame 210, a wet type supplementary cleaning main body 220, and a supplementary mop 230.

The fixing frame 210 is fixedly connected to the moving platform 100, and the wet type supplementary cleaning main body 220 is connected to the fixing frame 210 through a connecting rod 240, so that the wet type supplementary cleaning main body 220 can move between the first position and the second position relative to the fixing frame 210. As shown in fig. 3 and 4, when the wet type supplementary cleaning body 220 is switched from the first position to the second position with respect to the fixing frame 210, the wet type supplementary cleaning body 220 moves toward the moving axis m and away from the operation surface, and when the wet type supplementary cleaning body 220 is switched from the second position to the first position with respect to the fixing frame 210, the wet type supplementary cleaning body 220 moves away from the moving axis m and toward the operation surface. The supplementary mop 230 is provided on the outer circumference of the wet supplementary cleaning main body 220, for example, the supplementary mop 230 is provided around the outer circumference of the wet supplementary cleaning main body 220.

In some embodiments, the supplementary mop 230 is configured to rotate circumferentially along the outer circumference of the wet supplementary cleaning body 220 when the automatic cleaning apparatus performs a wet cleaning operation, and may be intermittently rotated. The supplementary mop 230 can be rotated circumferentially around the outer circumference of the wet supplementary cleaning main body 220, so that each portion of the supplementary mop can be abutted against the operation surface to perform wet cleaning when the automatic cleaning apparatus performs wet cleaning operation, thereby securing cleaning effect.

In some embodiments, the surface of the wet supplemental cleaning body 220, on which the outer circumferential direction lies, is substantially perpendicular to the movement axis m. As shown in fig. 1 to 5, when the automatic cleaning apparatus performs the wet cleaning operation, the wet cleaning module 400 and the wet replenishment cleaning module 200 on the automatic cleaning apparatus perform the wet cleaning substantially along the Y-axis direction, the moving axis m of the moving platform 100 is located in the Y-axis direction, the surface of the outer circumference of the wet replenishment cleaning body 220 is parallel to the plane of the X-axis and the Z-axis, and at this time, the wet replenishment cleaning module 200 may perform the mopping on the operation surface in the X-axis direction along with the circumferential rotation of the replenishment mop 230 around the outer circumference of the wet replenishment cleaning body 220.

Fig. 6 is a schematic view of a part of the structure of a wet type supplementary cleaning module 200 according to some embodiments of the present disclosure, in which a fixing frame 210 and a sidewall of a wet type supplementary cleaning body 220 are not shown, so that the structure of the inside of the wet type supplementary cleaning body 220 can be seen. As shown in fig. 6, in some embodiments, the wet supplemental cleaning module 200 further includes a drive motor 250 and a drive roller 290.

A drive motor 250 is disposed within the wet supplemental cleaning body 220 and is configured to power switching of the wet supplemental cleaning module between a first position and a second position.

In some embodiments, the wet supplementary cleaning module 200 further includes a worm 260, a worm wheel 270, and a pulley 280 provided in the wet supplementary cleaning body 220, the driving motor 250 is fixed in the wet supplementary cleaning body 220, and an output shaft of the driving motor 250 is engaged with the worm wheel 270 to drive the worm wheel 270 to move along the worm 260. The worm wheel 270 is provided with clutch teeth, which can be matched with a belt wheel 280, and the belt wheel 280 is connected to the fixing frame 210 through a connecting rod 240 by a rope 281.

When the driving motor 250 rotates in a normal direction, for example, in a clockwise direction, the worm wheel 270 moves away from the pulley 280 by the axial force, the clutch teeth of the worm wheel 270 are disengaged from the pulley 280, the pulley 280 is in a freely rotatable state, and the wet type supplementary cleaning main body 220 and its internal components are switched to a first position, i.e., moved away from the movement axis m and toward the operation surface by the self weight.

When the driving motor 250 rotates reversely, for example, counterclockwise, the worm gear 270 moves close to the pulley 280 under the action of the axial force, the clutch teeth of the worm gear 270 are meshed with the pulley 280, the pulley 280 is driven to rotate so that the rope is wound on the pulley 280, and the connecting rod 240 is pulled, so that the wet type supplementary cleaning main body 220 and the components inside the wet type supplementary cleaning main body are switched to the second position, namely, move close to the moving axis m and move away from the operating surface. The wet replenishment cleaning module 200 is recovered into the mobile platform 100, for example.

In some embodiments, as shown in fig. 6, a drive roller 290 is disposed within the wet supplemental cleaning body 220 and is configured to be driven by the drive motor 250, for example, by the drive motor 250 via the worm gear 270, to cause the supplemental mop 230 to rotate circumferentially about the periphery of the wet supplemental cleaning body 220.

In some embodiments, as shown in fig. 5 and 6, the supplementary mop 230 is disposed around the outer circumference of the wet supplementary cleaning body 220, and the supplementary mop 230 is provided with teeth 231 disposed along the outer circumference of the wet supplementary cleaning body 220 toward the inner surface of the wet supplementary cleaning body 220, the teeth 231 being engaged with the driving roller 290, so that it can be provided that the supplementary mop 230 is driven to rotate along the outer circumference of the wet supplementary cleaning body 220, avoiding skidding.

In some embodiments, as shown in fig. 5 and 6, the number of the links 240 is one or more, the first ends 241 of the links are pivoted to the fixing frame 210, the second ends 242 of the links are pivoted to the wet type supplementary cleaning main body 220, and the self weight of the wet type supplementary cleaning main body 220 causes the wet type supplementary cleaning module 200 to have a tendency to switch toward the first position. As described above, when the driving motor 250 is rotated in the normal direction, the pulley 280 is in a freely rotatable state, and the wet type supplementary cleaning main body 220 and its internal components are switched to the first position, i.e., moved away from the movement axis m and toward the operation surface by the self weight.

In some embodiments, the wet type supplementary cleaning module 200 further includes a torsion spring 211, where the torsion spring 211 is disposed on the fixing frame 210 and connected with the connecting rod, and configured such that the wet type supplementary cleaning module 22 has a tendency to switch toward the first position. When the wet type supplementary cleaning module 200 is in the first position, the self weight of the wet type supplementary cleaning main body 220 and its internal components alone is insufficient to make the supplementary mop 230 press against the operation surface with a large force. The torsion spring 211 may provide additional force so that the supplementary mop 230 is pressed against the operating surface with sufficient force to ensure the mopping effect.

In some embodiments, as shown in fig. 5, the wet supplemental cleaning module 200 further includes a bumper assembly 212, the bumper assembly 212 extending from the wet supplemental cleaning body 220 toward the forward direction of the mobile platform 100, e.g., along the Y-axis, and configured to push against the bumper assembly 212 when the bumper assembly 212 impacts an obstacle during the forward movement of the mobile platform 100, such that the wet supplemental cleaning module 200 has a tendency to switch toward the second position. So configured, when the automatic cleaning apparatus performs wet cleaning using the wet cleaning module 400 and the wet replenishment cleaning module 200, the wet replenishment cleaning module 200 protruding from the mobile platform 100 may encounter an obstacle, and the obstacle pushes against the anti-collision assembly 212 so that at least a portion of the wet replenishment cleaning module 200 is recovered toward the inside of the mobile platform 100, thereby ensuring good passing ability of the automatic cleaning apparatus, and when the automatic cleaning apparatus passes the obstacle, the wet replenishment cleaning module 200 returns to the second position to continue performing wet cleaning operation.

In some embodiments, as shown in fig. 5, the edge of the bumper assembly 212 away from the axis of movement m includes a bevel that gradually approaches the wet supplemental cleaning body 220 in a direction of the wet supplemental cleaning body 220 away from the axis of movement m. For example, in some embodiments, the edge of the anti-collision assembly 212 away from the moving axis m gradually approaches the wet type supplementary cleaning main body 220, for example, in a direction along the wet type supplementary cleaning main body 220 away from the moving axis m, and with this structure, it is easy and convenient to implement that the obstacle pushes against the anti-collision assembly 212 so that at least a part of the wet type supplementary cleaning module 200 is recovered toward the inside of the moving platform 100, and good passing performance of the automatic cleaning apparatus is ensured.

In some embodiments, the bumper assembly 212 may also extend from the wet supplemental cleaning body 220 in a rearward direction toward the mobile platform 100, such as in a direction opposite the Y-axis direction, configured such that when the bumper assembly 212 impacts an obstacle during the rearward movement of the mobile platform 100, the obstacle pushes against the bumper assembly 212 such that the wet supplemental cleaning module 200 has a tendency to switch toward the second position. So configured, when the automatic cleaning apparatus performs wet cleaning using the wet cleaning module 400 and the wet replenishment cleaning module 200, the wet replenishment cleaning module 200 protruding from the mobile platform 100 may encounter an obstacle, and the obstacle pushes against the anti-collision assembly 212 so that at least a portion of the wet replenishment cleaning module 200 is recovered toward the inside of the mobile platform 100, thereby ensuring good passing ability of the automatic cleaning apparatus, and when the automatic cleaning apparatus passes the obstacle, the wet replenishment cleaning module 200 returns to the second position to continue performing wet cleaning operation.

In some embodiments, the bumper assembly 212 can be disposed on at least one side, such as on both sides, of the wet supplemental cleaning body 220. When the anti-collision assemblies 212 are disposed at both sides of the wet supplemental cleaning main body 220, they may be symmetrically disposed.

Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. An automatic cleaning apparatus, characterized in that the automatic cleaning apparatus comprises:

when the wet type supplementary cleaning module is positioned at a first position, the wet type supplementary cleaning module protrudes from the moving platform away from the moving axis of the moving platform, and the edge of the wet type supplementary cleaning module away from the moving axis is further away from the moving axis than the edge of the side of the moving platform away from the moving axis, wherein the moving axis is a central line of the moving platform in the moving direction;

the self weight of the wet supplemental cleaning module causes the wet supplemental cleaning module to have a tendency to move toward the first position.

2. The robotic cleaning device of claim 1, wherein the wet refill cleaning module is remote from the operating surface and housed within the mobile platform when the wet refill cleaning module is switched from a first position to a second position.

3. The robotic cleaning device of claim 1 or 2, wherein the wet refill cleaning module comprises:

a wet-type supplementary cleaning main body;

4. A robotic cleaning device according to claim 3, wherein the refill mop is configured to rotate circumferentially about the periphery of the wet refill cleaning body when the robotic cleaning device performs a wet cleaning operation.

5. The automatic cleaning apparatus according to claim 4, wherein an outer circumferential direction of the wet supplemental cleaning main body is substantially perpendicular to the movement axis.

6. The automatic cleaning apparatus according to claim 4, wherein the supplementary mop is provided with teeth toward an inner surface of the wet supplementary cleaning body such that the supplementary mop is driven by means of tooth engagement.

7. The robotic cleaning device of claim 3, wherein the wet refill cleaning module further comprises:

8. The robotic cleaning device of claim 1, wherein the wet refill cleaning module further comprises:

9. The robotic cleaning device of claim 3, wherein the wet refill cleaning module further comprises:

10. The robotic cleaning device of claim 9, wherein an edge of the bumper assembly away from the axis of movement comprises a bevel that gradually approaches the wet supplemental cleaning body in a direction of the wet supplemental cleaning body away from the axis of movement.