CN116919260A

CN116919260A - Cleaning robot

Info

Publication number: CN116919260A
Application number: CN202210380603.3A
Authority: CN
Inventors: 成盼; 段传林; 林翔
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-04-08
Filing date: 2022-04-08
Publication date: 2023-10-24
Also published as: WO2023193581A1

Abstract

The disclosure relates to the technical field of intelligent home, and provides a cleaning robot. The cleaning robot includes: a machine body; the cleaning system is arranged on the machine body and comprises a cleaning head, an auxiliary cleaning head and a liquid supply part; the liquid supply part sends the cleaning liquid to the cleaning head and the auxiliary cleaning head, so that the surface to be cleaned can be reliably cleaned through the cleaning head and the auxiliary cleaning head, the cleaning capability of the cleaning robot is improved, and the usability of the cleaning robot is improved.

Description

Cleaning robot

Technical Field

The disclosure relates to the technical field of smart home, in particular to a cleaning robot.

Background

Most of cleaning robots in the related art are floor sweeping robots, and in the process that the cleaning robots execute cleaning tasks, cleaning heads of the cleaning robots realize effective cleaning of the floor.

Disclosure of Invention

The present disclosure provides a cleaning robot to improve the usability of the cleaning robot.

The present disclosure provides a cleaning robot, comprising:

a machine body;

the cleaning system is arranged on the machine body and comprises a cleaning head, an auxiliary cleaning head and a liquid supply part;

Wherein, the liquid supply part sends the cleaning liquid to the cleaning head and the auxiliary cleaning head.

In one embodiment of the present disclosure, the cleaning system further comprises:

the water pump is communicated with the liquid supply part so as to convey the cleaning liquid in the liquid supply part to the cleaning head and the auxiliary cleaning head.

In one embodiment of the disclosure, the machine body includes a fixed support, the cleaning head is located in the fixed support, a liquid supply channel is arranged on the fixed support, and the liquid supply part sends cleaning liquid into the cleaning head through the liquid supply channel.

In one embodiment of the disclosure, the liquid supply channel comprises a liquid inlet and a liquid outlet, the liquid inlet is communicated with the liquid supply part, and the liquid outlet is used for conveying cleaning liquid into the cleaning head;

wherein, the liquid outlet is a plurality of, and a plurality of liquid outlets are along being parallel to the direction interval setting of cleaning head.

In one embodiment of the present disclosure, the cleaning robot further includes:

the recovery system is arranged on the machine body and comprises a collecting part, and the collecting part collects residues of at least one of the cleaning head, the auxiliary cleaning head and the surface to be cleaned.

In one embodiment of the present disclosure, the recovery system further comprises:

a scraper bar in contact with the cleaning head, the scraper bar removing residues on the cleaning head by interference with the cleaning head to be collected by the collecting part.

In one embodiment of the present disclosure, the wiper strip is parallel to the cleaning head.

In one embodiment of the present disclosure, the machine body defines a transverse axis and a longitudinal axis, and the cleaning head is parallel to the transverse axis.

In one embodiment of the present disclosure, a water suction port is provided on the wiper strip, the water suction port being in communication with the collection portion.

and the power part is in pneumatic communication with the collecting part so as to collect residues to the collecting part.

In one embodiment of the present disclosure, the collecting part includes an inlet and an outlet, and the cleaning robot further includes:

and the plugging assembly is arranged on the machine body, and at least part of the plugging assembly is adjustably arranged to close or release the inlet and the outlet of the collecting part.

In one embodiment of the present disclosure, a closure assembly comprises:

a connecting rod;

the first blocking piece is arranged on the connecting rod;

the second blocking piece is arranged on the connecting rod;

wherein the connecting rod is movably arranged relative to the machine body such that the first and second blocking members close or release the inlet and outlet of the collecting portion, respectively.

The detection system is arranged on the machine body, and at least part of the detection system extends out from the outer edge of the machine body.

In one embodiment of the present disclosure, at least part of the detection system is movably disposed with respect to the machine body.

The cleaning robot provided by the embodiment of the disclosure, the cleaning system is arranged on the machine body, the cleaning system comprises the cleaning head, the auxiliary cleaning head and the liquid supply part, and the liquid supply part sends the cleaning liquid to the cleaning head and the auxiliary cleaning head, so that the surface to be cleaned can be reliably cleaned through the cleaning head and the auxiliary cleaning head, the cleaning capability of the cleaning robot is improved, and the service performance of the cleaning robot is improved.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of the preferred embodiments of the disclosure, when taken in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout. Wherein:

fig. 1 is a schematic structural view of a first view angle of a cleaning robot according to an exemplary embodiment;

Fig. 2 is a schematic structural view showing a second view angle of a cleaning robot according to an exemplary embodiment;

fig. 3 is a schematic structural view showing a second view angle of a cleaning robot according to an exemplary embodiment;

fig. 4 is a schematic view showing a structure of a liquid supply part of a cleaning robot according to an exemplary embodiment;

fig. 5 is a schematic structural view of a collecting part of a cleaning robot according to an exemplary embodiment;

FIG. 6 is a schematic structural view of a block assembly of a cleaning robot, shown in accordance with an exemplary embodiment;

fig. 7 is a schematic view showing a structure of an inlet and an outlet of a collecting part of a cleaning robot according to an exemplary embodiment;

fig. 8 is a schematic structural view showing a view of a fixing bracket of a cleaning robot according to an exemplary embodiment;

fig. 9 is a schematic structural view showing another view angle of a fixing bracket of a cleaning robot according to an exemplary embodiment;

fig. 10 is a schematic structural view of a wiper strip of a cleaning robot according to an exemplary embodiment;

fig. 11 is a schematic structural view of another view of a wiper strip of a cleaning robot according to an exemplary embodiment;

Fig. 12 is a schematic structural view of a collecting part of a cleaning robot according to an exemplary embodiment;

FIG. 13 is a schematic structural view of a block assembly of a cleaning robot, shown in accordance with an exemplary embodiment;

fig. 14 is a schematic structural view of a blocking assembly of a cleaning robot according to another exemplary embodiment;

fig. 15 is a schematic view of a part of a structure of a cleaning robot according to another exemplary embodiment;

fig. 16 is a schematic view of another view of a partial structure of a cleaning robot according to another exemplary embodiment;

fig. 17 is a schematic view showing a structure of a liquid supply part and a collecting part of a cleaning robot according to an exemplary embodiment.

The reference numerals are explained as follows:

10. a machine body; 11. a fixed bracket; 111. a liquid inlet; 112. a liquid outlet; 113. a receiving chamber; 114. a through hole; 12. a forward portion; 13. a rearward portion; 20. a cleaning system; 21. a cleaning head; 22. a liquid supply part; 221. a water inlet; 23. an auxiliary cleaning head; 231. a wet auxiliary cleaning head; 232. a main body portion; 24. a water pump; 30. a drive system; 31. a first drive wheel module; 32. a second drive wheel module; 33. driven wheel; 40. a recovery system; 41. a collection section; 411. an inlet; 412. an outlet; 413. a water outlet; 414. a main body; 415. an extension; 42. scraping the strip; 421. a water suction port; 43. a power section; 50. a plugging assembly; 51. a connecting rod; 52. a first blocking member; 53. a second blocking member; 54. a driving section; 55. a push rod; 56. an elastic member; 57. a seal; 60. a detection system; 70. a perception system; 71. a position determining device; 72. a buffer; 80. a control system; 90. an energy system; 100. and a man-machine interaction system.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail in the following description. It will be understood that the present disclosure is capable of various modifications in the various embodiments, all without departing from the scope of the present disclosure, and that the description and drawings are intended to be illustrative in nature and not to be limiting of the present disclosure.

In the following description of various exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over," "between," "within," and the like may be used in this specification to describe various exemplary features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the directions of examples in the drawings. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of structures to fall within the scope of this disclosure.

As shown in fig. 1 to 17, the cleaning robot includes a machine body 10, a cleaning system 20, a driving system 30, a recovery system 40, a blocking assembly 50, a detection system 60, a sensing system 70, a control system 80, an energy system 90, and a man-machine interaction system 100.

As shown in fig. 1, the machine body 10 includes a forward portion 12 and a rearward portion 13 having an approximately circular shape (both front and rear circular) and may have other shapes including, but not limited to, an approximately D-shape with a front and rear circle and a rectangular or square shape with a front and rear.

As shown in fig. 1, the sensing system 70 includes a position determining device 71 located on the machine body 10, a collision sensor provided on a bumper 72 of the forward portion 12 of the machine body 10, a proximity sensor provided on the machine body 10, a cliff sensor provided at a lower portion of the machine body, and sensing devices such as a magnetometer, accelerometer, gyroscope, odometer, etc. provided inside the machine body 10 for providing various position information and movement state information of the machine to the control system 80. The position determining device 71 includes, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor).

As shown in fig. 1, the forward portion 12 of the machine body 10 may carry a bumper 72, and the bumper 72 detects one or more events in the path of travel of the cleaning robot via a collision sensor disposed thereon as the drive system 30 advances the cleaning robot across the floor during cleaning, and the cleaning robot may control the drive system 30 to cause the cleaning robot to respond to the events, e.g., away from the obstacle, by the events detected by the bumper 72, e.g., an obstacle, a wall.

The control system 80 is disposed on a circuit board in the machine body 10, 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 a positioning algorithm, such as a real-time positioning and map building (SLAM, full name Simultaneous Localization And Mapping), for drawing a real-time map of the environment of the cleaning robot according to the obstacle information fed back by the laser ranging device. And in combination with distance information and speed information fed back by sensing devices such as a sensor, a cliff sensor, a magnetometer, an accelerometer, a gyroscope, an odometer and the like arranged on the buffer 72, the cleaning robot is comprehensively judged to be in what working state and at what position, and the current pose of the cleaning robot, such as passing a threshold, going up a carpet, being positioned at the cliff, being blocked above or below, being full of dust boxes, being picked up and the like, a specific next action strategy can be given according to different conditions, so that the cleaning robot has better cleaning performance and user experience.

As shown in fig. 2 and 3, drive system 30 may maneuver machine body 10 to travel across the ground based on drive commands having distance and angle information (e.g., x, y, and θ components). The drive system 30 may comprise a first drive wheel module 31 and a second drive wheel module 32. The first and second drive wheel modules 31, 32 are arranged along a transverse axis defined by the machine body 10. In order for the cleaning robot to be able to move more stably or with a greater ability to move on the floor, the cleaning robot may include one or more driven wheels 33, including but not limited to universal wheels. The driving wheel module comprises a travelling wheel, a driving motor and a control circuit for controlling the driving motor, and the driving wheel module can be connected with a circuit for measuring driving current and an odometer. The drive wheel module may be removably attached to the machine body 10 for ease of disassembly and maintenance. The drive wheel may have a biased drop down suspension system movably secured, e.g., rotatably attached, to the machine body 10 and receiving a spring bias biased downward and away from the machine body 10. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the cleaning robot also contact the floor with a certain pressure.

The machine body 10 defines a transverse axis and a longitudinal axis, which are perpendicular, and which may be understood as the transverse and longitudinal centerlines of the machine body 10, respectively.

The energy system 90 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 cleaning robot may be charged by being connected to the charging pile through a charging electrode provided on the body, for example, on the side of the body, the bottom of the body, or the top of the body.

The man-machine interaction system 100 comprises keys on a panel of a host machine, wherein the keys are used for a 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 automatic 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 a mobile phone client, and richer and humanized functional items can be provided for the user.

According to the cleaning robot provided by the embodiment of the disclosure, the cleaning system 20 is arranged on the machine body 10, the cleaning system 20 comprises the cleaning head 21, and a preset included angle is formed between the transverse axis of the machine body 10 and the cleaning head 21, so that when the cleaning robot passes through ground environments such as tile ground seams and the like in the advancing process, the probability that the cleaning head 21 is blocked by the ground seams is reduced, the cleaning efficiency of the cleaning robot is improved, and the service performance of the cleaning robot is improved. The predetermined angle between the transverse axis and the cleaning head 21 may be an acute angle, and the predetermined angle may range from 5 degrees to 70 degrees.

In the disclosed embodiment, the cleaning system 20 may be a dry cleaning system, which may include a cleaning head 21, a dust box, a blower, an air outlet, and the like. In the disclosed embodiment, the cleaning head 21 may be a roller brush rotatable about an axis parallel to the floor, the roller brush having some interference with the floor sweeping up and taking up debris on the floor in front of the suction opening between the roller brush and the dust box, and then being drawn into the dust box by suction gas generated by the fan and passing through the dust box. The dust removal capability of the cleaning robot can be characterized by the dust cleaning efficiency (DPU, totally Dust pickup efficiency) of the garbage, the cleaning efficiency DPU is influenced by the structure and materials 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 cleaning robot is a complex system design problem.

In embodiments of the present disclosure, cleaning system 20 may be a wet cleaning system, with cleaning head 21 comprising a wet cleaning head, as shown in fig. 4, and cleaning system 20 further comprising a liquid supply 22, liquid supply 22 delivering cleaning liquid to the wet cleaning head. The cleaning head 21 may be disposed below the liquid supply portion 22, and the cleaning liquid in the liquid supply portion 22 is transferred to the cleaning head 21 by the water supply mechanism, so that the cleaning head 21 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid in the liquid supply portion 22 may also be sprayed directly onto the surface to be cleaned, and the cleaning head 21 may uniformly apply the cleaning liquid to clean the surface.

In the disclosed embodiment, the cleaning head 21 may be disposed at the bottom of the machine body 10, for example, the cleaning head 21 may be a cleaning pad disposed parallel to the surface to be cleaned. In this embodiment, the cleaning head 21 is used to clean a surface to be cleaned and the drive system 30 is used to drive the cleaning head 21 substantially back and forth along a target surface, which is a portion of the surface to be cleaned. The cleaning head 21 reciprocates along the surface to be cleaned, and the contact surface of the cleaning head 21 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.

The higher the friction frequency, which represents a greater number of friction times per unit time, the higher the frequency of reciprocation, also called reciprocation vibration, the greater the cleaning capacity than conventional reciprocation, such as rotation, friction cleaning, optionally the friction frequency is close to sound waves, the cleaning effect is much higher than that of rotation friction cleaning of tens of turns per minute. On the other hand, the tufts on the surface of the cleaning head 21 will be more uniformly spread in the same direction due to the vibration of the high-frequency vibration, so that the overall cleaning effect is more uniform, rather than the cleaning effect is improved by only applying a downward force to increase friction force under the condition of low-frequency rotation, and the tufts can not spread in the same direction due to the downward force, so that the effect is that the water mark on the surface to be cleaned after the high-frequency vibration cleaning is more uniform, and no chaotic water mark is left. In other embodiments of the present disclosure, the cleaning head 21 may also be in a strip configuration or the like. In the disclosed embodiment, the cleaning head 21 may be a roll brush rotatable about an axis parallel to the surface to be cleaned, as shown in fig. 16. The machine body 10 includes a fixed support 11, a cleaning head 21 is located in the fixed support 11, a liquid supply channel is arranged on the fixed support 11, and a liquid supply part 22 sends cleaning liquid into the wet cleaning head through the liquid supply channel.

The liquid supply passage may be constituted by a cavity formed inside the fixing bracket 11, for example, provided in a portion so as to be hollow in the fixing bracket 11, thereby forming a liquid supply passage for circulating the cleaning liquid. The liquid supply channel may be formed by a tube to enable the cleaning liquid in the liquid supply portion 22 to be fed onto the wet cleaning head, thereby ensuring that the cleaning head 21 is effective in cleaning the surface to be cleaned.

In the embodiment of the present disclosure, as shown in fig. 8 and 9, the liquid supply passage includes a liquid inlet 111 and a liquid outlet 112, the liquid inlet 111 communicates with the liquid supply portion 22, and the liquid outlet 112 is used to send the cleaning liquid into the cleaning head 21.

In the embodiment of the present disclosure, as shown in fig. 8 and 9, the fixing support 11 is provided with a liquid inlet 111 and a liquid outlet 112, one end of the liquid inlet 111 is located on the outer surface of the fixing support 11, the liquid outlet 112 is located on the inner surface of the fixing support 11, a main body portion of a liquid supply channel may be disposed between the liquid inlet 111 and the liquid outlet 112, and the main body portion may be simultaneously communicated with the plurality of liquid outlets 112, so that the liquid outlet 112 is used to send the cleaning liquid into the cleaning head 21.

In the embodiment of the present disclosure, the fixing bracket 11 is formed with the receiving chamber 113, and the liquid outlet 112 is located on a chamber wall of the receiving chamber 113, the liquid outlet 112 may be disposed at a top end of the receiving chamber 113, or the liquid outlet 112 may be disposed at a side portion of the receiving chamber 113, thereby facilitating reliable feeding of the cleaning liquid fed out from the liquid outlet 112 into the cleaning head 21.

In the embodiment of the present disclosure, the liquid outlet 112 may be plural, and the plural liquid outlets 112 may be arranged at intervals in a direction parallel to the cleaning head 21, so that it may be ensured that the cleaning liquid can be uniformly fed into the respective positions of the wet cleaning head, thereby ensuring that the wet cleaning head reliably cleans the surface to be cleaned.

The liquid inlets 111 of the liquid supply channel may be one, and one liquid inlet 111 corresponds to all the liquid outlets 112.

As an alternative embodiment of the present disclosure, the liquid inlets 111 of the liquid supply channel may be at least two, and each liquid inlet 111 may correspond to a plurality of liquid outlets 112, respectively, so as to reliably supply the cleaning liquid onto the wet cleaning head. The liquid inlet 111 may be formed of a columnar structure, thereby connecting a tubular structure into which the cleaning liquid is fed. The liquid outlet 112 may be a rectangular port, a circular port, or other polygonal structures, without limitation. The plurality of liquid outlets 112 are arranged in sequence in a direction parallel to the cleaning head 21.

In the embodiment of the present disclosure, as shown in fig. 5 and 6, the recovery system 40 is provided on the machine body 10, and the recovery system 40 includes a collecting part 41, and the collecting part 41 collects residues on the cleaning head 21 and/or the surface to be cleaned, thereby enabling effective cleaning of the surface to be cleaned, ensuring cleanliness of the surface to be cleaned.

In the moving process of the cleaning robot, the cleaning of the surface to be cleaned is realized through the rotation of the cleaning head 21, in the process, residues on the surface to be cleaned can be adsorbed on the cleaning head 21, and the collecting part 41 can collect part of the residues, so that the cleanliness of the cleaning head 21 is ensured, and in addition, the collecting part 41 can also realize the collection of the residues on the surface to be cleaned, so that the residues are matched with the cleaning head 21 to realize the reliable cleaning of the surface to be cleaned. The residue may be water, impurities, etc., and is not limited herein.

In an embodiment of the present disclosure, as shown in fig. 3, the recovery system 40 further includes: the scraping bar 42, the scraping bar 42 contacts with the cleaning head 21, and the scraping bar 42 removes residues on the cleaning head 21 by interference with the cleaning head 21 to be collected by the collecting part 41, thereby ensuring cleanliness of the cleaning head 21, thereby ensuring effective cleaning of the surface to be cleaned.

Specifically, the scraping strip 42 may be a plate-shaped structure, which interferes with the cleaning head 21, and the cleaning head 21 may enable the plate-shaped structure to remove residues on the cleaning head 21 during rotation, so as to collect the residues by the collecting portion 41, thereby ensuring that the residues adsorbed on the surface to be cleaned can be timely collected by the collecting portion 41. The wiper 42 may be provided on the machine body 10. The scraper 42 is detachably provided on the machine body 10.

In the disclosed embodiment, the wiper 42 is parallel to the cleaning head 21, so that the wiper 42 can reliably remove residues on the cleaning head 21, and the structure can be easily installed.

Specifically, the length of the scraping strip 42 may be equal to the length of the cleaning head 21, and on the basis of ensuring that the scraping strip 42 can completely interfere with the cleaning head 21, the scraping strip 42 can be prevented from occupying a space in the length direction, thereby ensuring compactness of the structure.

As an alternative embodiment of the present disclosure, the transverse axis of the machine body 10 is parallel to the cleaning head 21 and the transverse axis of the machine body 10 is parallel to the wiper strip 42.

In the embodiment of the present disclosure, as shown in fig. 10 and 11, the scraping bar 42 is provided with the water suction port 421, and the water suction port 421 communicates with the collecting portion 41, so that the sewage of the recovery system 40 can be reliably collected into the collecting portion 41 through the water suction port 421.

Specifically, the water suction port 421 may face the cleaning head 21, and after the scraping bar 42 hangs down the sewage on the cleaning head 21, the sewage may remain along the scraping bar 42 and flow toward the water suction port 421, so that the sewage may be drawn into the collecting portion 41 from the water suction port 421 through the recovery system 40.

As an alternative embodiment of the present disclosure, the water suction port 421 may be located at a side of the scraper bar 42 remote from the cleaning head 21, and a portion of the scraper bar 42 may be used to gather the sewage, and the water suction port 421 draws the gathered sewage into the collecting portion 41.

In an embodiment of the present disclosure, as shown in fig. 7, the recovery system 40 further includes: a power section 43, the power section 43 being in pneumatic communication with the collection section 41 to collect the residue to the collection section 41. A negative pressure may be generated between the power portion 43 and the collecting portion 41 so that residues on the surface to be cleaned and residues on the cleaning head 21 may be sucked into the collecting portion 41. Specifically, the negative pressure generated between the power unit 43 and the collecting unit 41 may suck the sewage into the collecting unit 41 through the water suction port 421. The power section 43 may be a blower.

In the embodiment of the present disclosure, as shown in fig. 9, the fixing bracket 11 is formed with a receiving chamber 113, the cleaning head 21 is positioned in the receiving chamber 113, and the collecting part 41 communicates with the receiving chamber 113, so that residues can be introduced into the collecting part 41 after passing through the receiving chamber 113.

Specifically, the fixing bracket 11 is provided with a through hole 114, the through hole 114 is communicated with the collecting part 41, the through hole 114 is communicated with the accommodating cavity 113, and residues scraped off by the cleaning head 21 of the scraping strip 42 are positioned in the accommodating cavity 113 of the fixing bracket 11, so that negative pressure generated between the power part 43 and the collecting part 41 can suck the residues in the accommodating cavity 113 into the collecting part 41 through the through hole 114. As an alternative embodiment of the present disclosure, the receiving chamber 113 of the fixing bracket 11 may form a relatively sealed space with the surface to be cleaned, and thus, the negative pressure generated between the power part 43 and the collecting part 41 may draw the residues on the surface to be cleaned into the collecting part 41 through the through hole 114.

In the embodiment of the present disclosure, as shown in fig. 7, the collecting part 41 includes an inlet 411 and an outlet 412, the inlet 411 may be in communication with the receiving chamber 113, further, the inlet 411 may be in communication with the through hole 114, and the outlet 412 may be in communication with the power part 43, so that the power part 43 may be caused to draw the residue into the inlet 411 of the collecting part 41 from the through hole 114 of the receiving chamber 113 by supplying power through the outlet 412 of the collecting part 41, thereby entering the collecting part 41. Wherein, when the air flow flows in the collecting part 41, the sewage, sundries and the like carried in the air flow are remained in the collecting part 41 under the action of gravity, so when the flow path of the air flow in the collecting part 41 is long, the sewage, sundries and the like can be effectively separated from the air flow.

In the embodiment of the present disclosure, as shown in fig. 12, the inlet 411 and the outlet 412 of the collecting portion 41 may be disposed at the same side of the collecting portion 41, for example, the inlet 411 and the outlet 412 of the collecting portion 41 are both located at the front side of the collecting portion 41, which may effectively lengthen the flow path of the air flow in the collecting portion 41, so that the sewage, the sundries, etc. may be more effectively separated from the air flow.

In the embodiment of the present disclosure, as shown in fig. 5 and 6, the blocking assembly 50 of the cleaning robot is provided on the machine body 10, and at least part of the positions of the blocking assembly 50 are adjustably set to close or release the inlet 411 of the collecting portion 41 and the outlet 412 of the collecting portion 41, so as to prevent foreign matters in the collecting portion 41 from being poured out of the inlet 411 or from the outlet 412 into the power portion 43.

Specifically, the blocking assembly 50 can close the inlet 411 and the outlet 412 of the collecting portion 41 during the non-operation of the cleaning robot, so that the problem of false pouring of residues caused by manual movement of the cleaning robot can be avoided. When the cleaning robot starts to operate, the blocking assembly 50 may be caused to release the inlet 411 and the outlet 412 of the collecting portion 41, so that residues may be drawn into the collecting portion 41 through the inlet 411.

In the disclosed embodiment, the occlusion assembly 50 may be controlled by an independent motor, and the closing control of the inlet 411 and the outlet 412 of the collection portion 41 may be achieved at any time, for example, may be closed when the cleaning robot is in a non-operational condition. For example, the motor of the blocking assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the blocking assembly 50 is controlled according to the motion state of the cleaning robot fed back by the control system 80. For example, when the control system 80 controls the cleaning robot to stop operating, the blocking assembly 50 may be controlled to close the inlet 411 and the outlet 412 of the collecting part 41; alternatively, when the control system 80 detects that the cleaning robot is in an inclined state, the blocking assembly 50 may be controlled to close the inlet 411 and the outlet 412 of the collecting part 41; alternatively, when the control system 80 detects that the cleaning robot is in an idling process for a long time, for example, the cleaning robot is locked at a fixed position during cleaning, so that the cleaning robot cannot continue to advance, at this time, the control system 80 may control the blocking assembly 50 to close the inlet 411 and the outlet 412 of the collecting portion 41; alternatively, when the control system 80 detects that the amount of waste in the collection portion 41 reaches a certain level, the control system 80 may control the closure assembly 50 to close the inlet 411 and the outlet 412 of the collection portion 41.

In addition, the user can also use the app to control the plugging assembly 50, so as to meet the use requirement, and can flexibly control the closing of the inlet 411 and the outlet 412 of the collecting portion 41.

In an embodiment of the present disclosure, as shown in fig. 6 and 13, the occlusion assembly 50 includes: a link 51; a first blocking member 52, the first blocking member 52 being provided on the link 51; a second blocking piece 53, the second blocking piece 53 being provided on the link 51; wherein the connecting rod 51 is movably arranged relative to the machine body 10, so that the first blocking piece 52 and the second blocking piece 53 respectively close or release the inlet 411 and the outlet 412, i.e. the first blocking piece 52 and the second blocking piece 53 can synchronously close or release the inlet 411 and the outlet 412, thereby improving the operation performance of the cleaning robot and ensuring that residues are timely pumped into the collecting part 41.

In the embodiment of the present disclosure, as shown in fig. 6 and 13, the blocking assembly 50 may include a driving portion 54, the driving portion 54 may be a motor, and the driving portion 54 is in driving connection with the connecting rod 51, so as to drive the connecting rod 51 to rotate, thereby driving the first blocking member 52 and the second blocking member 53 to rotate, so as to realize closing or releasing of the inlet 411 and the outlet 412.

As shown in fig. 13, the first blocking member 52 and the second blocking member 53 are disposed on the link 51 at intervals, the first blocking member 52 and the second blocking member 53 are disposed at the middle of the link 51, one end of the link 51 is connected with the driving part 54, the other end of the link 51 is disposed beyond the second blocking member 53, and the first blocking member 52 is disposed between the driving part 54 and the second blocking member 53. The first blocking member 52 and the second blocking member 53 are respectively located at positions of the link 51 near opposite ends of the link 51. The first blocking piece 52 and the second blocking piece 53 are detachably arranged on the connecting rod 51; alternatively, the first blocking piece 52 and the second blocking piece 53 are integrally formed on the link 51.

As an alternative embodiment of the present disclosure, the driving part 54 may be a cylinder, an oil cylinder or a telescopic motor, the driving part 54 is connected to the link 51, and the telescopic rod of the driving part 54 performs telescopic movement, that is, the link 51 may perform telescopic movement, and the link 51 may perform forward and backward movement, so that the first blocking member 52 and the second blocking member 53 may perform forward and backward movement, that is, move along a direction parallel to the surfaces of the inlet 411 and the outlet 412 of the collecting part 41, thereby achieving closing or releasing of the inlet 411 and the outlet 412 of the collecting part 41.

As an alternative embodiment of the present disclosure, the driving part 54 may be a cylinder, an oil cylinder, or a telescopic motor, the driving part 54 is connected to the link 51, and the telescopic movement is performed by a telescopic rod of the driving part 54, that is, the link 51 may perform telescopic movement, and the link 51 may perform up-and-down movement, so that the first blocking member 52 and the second blocking member 53 may perform up-and-down movement, that is, move along a direction perpendicular to the surfaces of the inlet 411 and the outlet 412 of the collecting part 41, thereby achieving closing or releasing of the inlet 411 and the outlet 412 of the collecting part 41.

As an alternative embodiment of the present disclosure, the first blocking member 52 and the second blocking member 53 of the blocking assembly 50 may be independently provided on the first driving part and the second driving part, which respectively drive the first blocking member 52 and the second blocking member 53 to move, thereby achieving the closing or releasing of the inlet 411 and the outlet 412. The first and second drive portions may operate synchronously, thereby causing the first and second closure members 52, 53 to operate synchronously, thereby closing or releasing the inlet 411 and outlet 412 synchronously. The first driving part and the second driving part can adopt power mechanisms such as a motor, an air cylinder, an oil cylinder and the like.

As an alternative embodiment of the present disclosure, as shown in fig. 14, the blocking assembly 50 may include a link 51, a first blocking member 52, a second blocking member 53, a driving part 54, and a push rod 55, where the first blocking member 52 and the second blocking member 53 are connected to the link 51, and the push rod 55 may be connected to the first blocking member 52, and the driving part 54 is drivingly connected to the push rod 55, so that the driving part 54 may drive the push rod 55 to move up and down, so that the first blocking member 52 and the second blocking member 53 move up and down, or the link 51 drives the first blocking member 52 and the second blocking member 53 to rotate, thereby implementing synchronous closing or releasing of the inlet 411 and the outlet 412.

Alternatively, the blocking assembly 50 may further include an elastic member 56, and after the driving part 54 releases the power, the elastic member 56 may drive the ejector rod 55 to return to the original position, so that the first blocking member 52 and the second blocking member 53 are moved from the positions of releasing the inlet 411 and the outlet 412 to the positions of closing the inlet 411 and the outlet 412. The elastic member 56 may be a spring, for example, a spring may be fitted over the link 51, one end of the spring may be abutted against the first blocking member 52, and the other end of the spring may be supported on other parts of the cleaning robot, for example, the other end of the spring may be abutted against the machine body 10 so as to compress the spring when the jack 55 moves upward, and after the jack 55 loses power, the spring is restored to the original position, thus driving the first blocking member 52 and the second blocking member 53 to move from the positions of releasing the inlet 411 and the outlet 412 to the positions of closing the inlet 411 and the outlet 412. The spring may be one, and the spring may be sleeved at one end of the connecting rod 51, at which time the other end of the connecting rod 51 may passively rotate, for example, the spring may abut the first blocking member 52, or the spring may abut the second blocking member 53. The springs may be at least two, and the two springs are respectively disposed at both ends of the link 51, and the two springs respectively abut against the first blocking piece 52 and the second blocking piece 53.

When the driving part 54 drives the ejector 55 to move upward, the link 51 may rotate in a first direction, so that the first blocking member 52 and the second blocking member 53 release the inlet 411 and the outlet 412, at this time, the elastic member 56 is compressed, and after the driving part 54 releases the power, or after the driving part 54 operates in a reverse direction, for example, when the motor rotates forward, the ejector 55 moves upward, and when the motor rotates backward, the driving part 54 may not be fixedly connected with the ejector 55, the link 51 is driven to rotate in a second direction by the driving force of the elastic member 56 to restore the original state, so that the ejector 55 is compressed to move downward, and thus the first blocking member 52 and the second blocking member 53 block the inlet 411 and the outlet 412. The driving part 54 may include a cam mechanism by which the ejector 55 is driven to move upward, and at this time, the ejector 55 may be in contact with the cam mechanism without being fixed. Alternatively, the driving portion 54 may include an electric push rod, and the electric push rod and the push rod 55 may be simply inserted, but not axially fixed. In some embodiments, it is not excluded that the driving portion 54 may be fixedly connected with the connecting rod 51, in which case the elastic member 56 may be omitted. The driving part 54 drives the ejector rod 55 to move upward, and the driving part 54 may include a cam mechanism, a gear mechanism, and the like, so long as the linear motion is finally achieved, thereby pushing the ejector rod 55 to perform the linear motion.

In the embodiment of the present disclosure, as shown in fig. 14, the plugging assembly 50 may further include a sealing member 57, the sealing member 57 may be disposed on the collecting portion 41, that is, the collecting portion 41 may be provided with a through hole, the ejector rod 55 may be connected with the driving portion 54 through the through hole, and the sealing member 57 is used to plug a gap between a wall of the through hole and the ejector rod 55, so as to prevent sewage in the collecting portion 41 from flowing out, and the ejector rod 55 may move up and down inside the sealing member 57. The seal 57 may be a seal ring.

The collecting portion 41 may include at least two sub-chambers, the first sub-chamber is used for storing sewage, and the second sub-chamber is a cavity under normal condition, and the sewage can flow into the second sub-chamber only after the water level in the first sub-chamber reaches a certain value, and the ejector rod 55 is arranged in the second sub-chamber in a penetrating manner, so that the second sub-chamber can not leak under normal condition, but can effectively avoid the leakage of the second sub-chamber under the condition that the second sub-chamber has liquid by being provided with the sealing member 57.

In the embodiment of the disclosure, when the collecting part 41 is installed into the whole machine, the ejector rod 55 can open the first blocking piece 52 and the second blocking piece 53, and when the collecting part 41 is taken out, the first blocking piece 52 and the second blocking piece 53 lose the support of the ejector rod 55, and under the action of spring force, the first blocking piece 52 and the second blocking piece 53 are closed.

When the condition that the machine cleaning robot is overturned or tilted by a user is detected by the sensor, the program controls the ejector rod 55 to move, so that the ejector rod 55 cannot support the first blocking piece 52 and the second blocking piece 53, and the first blocking piece 52 and the second blocking piece 53 are closed under the action of spring force.

In the disclosed embodiment, as shown in connection with fig. 1 and 2, the cleaning system 20 may be disposed at the forward portion 12 of the machine body 10, while at least a portion of the drive system 30 may be disposed at the rearward portion 13 of the machine body 10, e.g., the driven wheel 33 of the drive system 30 may be disposed at an edge location of the rearward portion 13. The forward portion 12 may be generally rectangular and the rearward portion 13 may be generally semi-circular.

In an embodiment of the present disclosure, as shown in fig. 2 and 3, the cleaning system 20 further includes: the auxiliary cleaning head 23, the auxiliary cleaning head 23 is disposed on the machine body 10, and the auxiliary cleaning head 23 can make the cleaning robot clean the wall edge, corner, etc. better, so as to improve the cleaning effect of the cleaning system 20.

In the embodiment of the present disclosure, as shown in fig. 1 and 2, the auxiliary cleaning head 23 is disposed at a corner position of the machine body 10, a portion of the auxiliary cleaning head 23 is disposed beyond the machine body 10, and a portion of the auxiliary cleaning head 23 beyond the machine body 10 is smaller than a portion of the auxiliary cleaning head 23 below the machine body 10, so that on the basis of ensuring a cleaning range of the auxiliary cleaning head 23, a transition increase of the cleaning robot floor area of the auxiliary cleaning head 23 can be avoided.

The machine body 10 comprises a forward portion 12 and a rearward portion 13, the forward portion 12 being substantially rectangular, i.e. the circumferential outer surface of the rectangular may comprise corner areas of circular arc transition, ignoring manufacturing errors, mounting errors etc., where the rectangular is merely a general structure emphasizing the forward portion 12. The auxiliary cleaning head 23 is arranged at a corner position of the forward portion 12.

In the embodiment of the present disclosure, as shown in conjunction with fig. 1 and 2, the auxiliary cleaning head 23 is disposed at a position of the machine body 10 near the forward portion 12, and a portion of the auxiliary cleaning head 23 exceeds the loading buffer 72, even if the cleaning robot is blocked by a front obstacle, the auxiliary cleaning head 23 can clean a gap or the like in front, thereby improving the cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, the transverse axis of the machine body 10 forms a predetermined angle with the cleaning head 21, that is, the cleaning head 21 is disposed in an inclined manner, and the auxiliary cleaning head 23 is disposed at a side of the cleaning head 21 inclined backward, so that the area of the auxiliary cleaning head 23 can be increased, that is, the area of the auxiliary cleaning head 23 can be made relatively large at a portion where the auxiliary cleaning head 23 is not excessively increased beyond the machine body 10, thereby ensuring that the cleaning system 20 has a sufficient cleaning area. The outer edge of the auxiliary cleaning head 23 is substantially circular, and disposing the auxiliary cleaning head 23 on the side of the cleaning head 21 inclined rearward allows the auxiliary cleaning head 23 to have a large cleaning area, and also allows a portion of the auxiliary cleaning head 23 to overlap the cleaning head 21.

In the embodiment of the present disclosure, the part of the auxiliary cleaning head 23 overlaps the cleaning head 21, so that the problem of cleaning leakage between the auxiliary cleaning head 23 and the cleaning head 21 can be avoided on the basis that the cleaning area can be increased by combining the auxiliary cleaning head 23 and the cleaning head 21, thereby improving the cleaning effect of the cleaning system 20.

In the embodiment of the present disclosure, the outer edge of the auxiliary cleaning head 23 exceeds the outer edge of the machine body 10, i.e., the auxiliary cleaning head 23 can be made to clean a position outside the machine body 10, such as a wall edge, a corner, etc., so as to increase the cleaning area of the cleaning system 20 and increase the cleaning performance of the cleaning robot.

In the embodiment of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231, and the liquid supply part 22 feeds the cleaning liquid into the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 may be disposed below the liquid supply portion 22, and the cleaning liquid in the liquid supply portion 22 is transferred to the auxiliary cleaning head 23 through the water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the plane to be cleaned.

Specifically, the cleaning system 20 may further include an auxiliary liquid supply passage through which the liquid supply portion 22 supplies the cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary liquid supply passage may be a space formed inside the auxiliary cleaning head 23, through which the cleaning liquid is supplied to the wet auxiliary cleaning head 231. The auxiliary liquid supply channel may be a liquid supply pipe to supply the cleaning liquid to the wet auxiliary cleaning head 231.

In the disclosed embodiment, as shown in fig. 15 and 16, the cleaning system 20 further includes: a water pump 24, the water pump 24 being in communication with the liquid supply portion 22 to supply the cleaning liquid in the liquid supply portion 22 to at least one of the cleaning head 21 and the auxiliary cleaning head 23. The water pump 24 may send the cleaning liquid in the liquid supply portion 22 to the cleaning head 21 through a liquid supply passage and/or send the cleaning liquid in the liquid supply portion 22 to the auxiliary cleaning head 23 through an auxiliary liquid supply passage.

Specifically, the water pump 24 may be one, and one water pump 24 communicates with the liquid supply passage and the auxiliary liquid supply passage at the same time. The number of the water pumps 24 can be two, and the two water pumps 24 are respectively communicated with the liquid supply channel and the auxiliary liquid supply channel. The water pump 24 may be a gear pump, vane pump, plunger pump, peristaltic pump, or the like. The power/flow of the water pump 24 may be adjusted. The water pump 24 may be used in combination with a valve or the like to control the supply of the cleaning liquid in the liquid supply portion 22 to the cleaning head 21 and the auxiliary cleaning head 23.

In the disclosed embodiment, the cleaning head 21 is rotatably disposed about a first axis and the auxiliary cleaning head 23 is rotatably disposed about a second axis; the first axis and the second axis have a certain included angle. The cleaning head 21 may be a floor scrubbing roller brush. The auxiliary cleaning head 23 may include cloth or wool, and the washing liquid in the liquid supply portion 22 is uniformly distributed on the auxiliary cleaning head 23 by penetration of the cloth or wool and centrifugal force. The auxiliary cleaning head 23 can float in the up-down direction.

In embodiments of the present disclosure, the first axis is perpendicular to the second axis, i.e. the first axis may be parallel to the surface to be cleaned, and the second axis may be perpendicular to the surface to be cleaned.

As an alternative embodiment of the present disclosure, the auxiliary cleaning head 23 may be a side brush, the axis of rotation of which is at an angle relative to the floor for moving residues on the surface to be cleaned into the cleaning area of the cleaning head 21.

As an alternative embodiment of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disk brush, a roll brush, or the like.

As shown in connection with fig. 4, the auxiliary cleaning head 23 may further include a main body 232, the wet auxiliary cleaning head 231 is connected to the main body 232, and the main body 232 is disposed on the machine body 10. The main body 232 may include a driving motor that may drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 may include cloth or wool, and the main body 232 may include a support structure, which may be a tapered soft rubber support, so that a large torque may be transmitted and the wet auxiliary cleaning head 231 may be allowed to float up and down to some extent, thereby improving cleaning ability.

In the embodiment of the present disclosure, the liquid supply part 22 and the collecting part 41 are overlapped, so that the space utilization rate of the cleaning robot can be improved, and the problem of the cleaning robot being oversized can be avoided.

In the embodiment of the present disclosure, as shown in fig. 15 and 16, the liquid supply portion 22 is located above the collecting portion 41. The liquid supply portion 22 may be a clean water tank, and the collecting portion 41 may be a sewage tank, and the clean water tank may be located above to facilitate liquid supply to the cleaning head 21 and the auxiliary cleaning head 23. And the sewage tank is positioned below the sewage tank, so that the recovery of residues can be conveniently realized.

The clean water tank and the sewage tank can be stacked up and down, that is, as shown in fig. 15 and 16, the liquid supply part 22 and the collecting part 41 are stacked up and down, the clean water tank can be located above the sewage tank to conveniently realize the liquid supply to the cleaning head 21 and the auxiliary cleaning head 23, the sewage tank can be located below to conveniently realize the recovery of residues, and the gravity center of the cleaning robot can not be greatly changed in the horizontal direction due to the up and down stacking of the clean water tank and the sewage tank, so that the stability of the cleaning robot is ensured, and larger shaking in the cleaning process is avoided.

The collecting portion 41 may be located at an intermediate position of the machine body 10, i.e. the collecting portion 41 may be located at a side of the cleaning system 20 remote from the load buffer 72, so that when the amount of water in the collecting portion 41 changes, the center of gravity of the cleaning robot does not change too much, thereby ensuring that the cleaning robot can stably clean a cleaning surface with the cleaning robot, and the problem of unstable center of gravity does not occur during use.

In the embodiment of the present disclosure, as shown in fig. 17, the liquid supply portion 22 and the collection portion 41 are stacked one above the other, the liquid supply portion 22 is provided with a water inlet 221, and the collection portion 41 is provided with a water outlet 413. The water inlet 221 of the liquid supply portion 22 is used for injecting clean water into the liquid supply portion 22, and the water outlet 413 of the collecting portion 41 is used for discharging sewage in the collecting portion 41 out of the collecting portion 41. The water inlet 221 may be disposed at a side of the liquid supply part 22, the water outlet 413 may be disposed at a side of the collecting part 41, for example, two interfaces may be disposed at a bottom or a side of the machine body 10, and the two interfaces may be conveniently used to connect the fresh water injection structure and the sewage discharge structure, and the two interfaces need to be in a blocking state when the cleaning robot is normally used, so as to avoid water leakage. Alternatively, the water inlet 221 and the water outlet 413 may be sealed with a seal, and the liquid supply portion 22 and the collection portion 41 may be removed from the machine body 10 at the same time when water is injected or discharged. The liquid supply portion 22 and the collection portion 41 are connected so that the liquid supply portion 22 and the collection portion 41 can be simultaneously removed from the machine body 10.

The liquid supply portion 22 and the collection portion 41 can be removed from the machine body 10, so that the liquid injection of the liquid supply portion 22 and the sewage discharge of the collection portion 41 can be realized. As shown in fig. 17, the collecting part 41 may have a special-shaped structure, the collecting part 41 may include a main body 414 and an extension part 415 connected to the main body 414, the main body 414 and the extension part 415 together form a chamber for collecting sewage, the main body 414 may have a substantially rectangular body, and the extension part 415 may have an irregular special-shaped structure, for example, the extension part 415 may be substantially divided into a triangle and a rectangle, or a semicircle and a rectangle, etc., which are not limited herein, and the space of the extension part 415 for accommodating sewage is smaller than the space of the main body 414 for accommodating sewage. By arranging the water outlet 413 on the extension portion 415, when sewage is discharged, the sewage can be concentrated at the extension portion 415 by tilting the collecting portion 41, so that smooth discharge of the sewage is ensured, and more sewage which cannot be discharged is prevented from accumulating in the collecting portion 41.

In the embodiment of the present disclosure, a plurality of cliff sensors may be disposed on the machine body 10, the plurality of cliff sensors may be disposed around the circumferential edge position of the machine body 10, and the auxiliary cleaning head 23 may be disposed at the corner position of the machine body 10, the cliff sensors may be disposed at the position of the machine body 10 near the auxiliary cleaning head 23, and at least two cliff sensors may be disposed at the position of the machine body 10 near the auxiliary cleaning head 23, the cliff sensors may identify 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 the control system 80 may control the operation state of the auxiliary cleaning head 23 according to the identification result of the cliff sensors, thereby guaranteeing the cleaning function of the auxiliary cleaning head 23, for example, when the identified surface to be cleaned of the cliff sensors is a floor, the auxiliary cleaning head 23 may be controlled to increase the humidity, thereby guaranteeing the cleaning effect; alternatively, when the identified surface to be cleaned of the cliff sensor is a felt, the auxiliary cleaning head 23 may be controlled to reduce the humidity to avoid wetting the felt.

In the embodiment of the present disclosure, as shown in fig. 1, the detection system 60 of the cleaning robot is disposed on the machine body 10, and at least part of the detection system 60 extends from the outer edge of the machine body 10, so that the detection range of the detection system 60 can be increased, thereby increasing the flexible adjustment capability of the cleaning robot. The detection system 60 may be an ultrasonic, infrared, etc. sensor for detecting a change in the material of the surface to be cleaned, a change in the level of the surface to be cleaned, or a soil detection.

In the disclosed embodiment, at least a portion of the detection system 60 is movably disposed relative to the machine body 10 to reliably adjust the position of the detection system 60 to accommodate different application environments. The detection system 60 may be driven by a drive mechanism to effect positional adjustment, or the detection system 60 may include a flexible mechanism that is deformed to effect positional adjustment.

Specifically, the detection system 60 is telescopically provided on the machine body 10, and the detection system 60 has an extended state and a contracted state, and when the detection system 60 is extended to the front of the cleaning robot, the ground condition of the front of the cleaning robot can be detected. For example, when the cleaning robot is D-shaped, the detection system 60 may be disposed near a corner of the cleaning robot, so that the detection system 60 can detect a front or side ground condition in a telescopic state. When the cleaning robot is a circular machine, the detection system 60 may be provided at the front of the cleaning robot.

In the embodiment of the disclosure, at least part of the detection system 60 can extend from the outer edge of the machine body 10, so that the detection system 60 has a contracted state contracted in the machine body 10 and an extended state extending out of the machine body 10, and the control system 80 can control the detection system 60 to move between the contracted state and the extended state, so that the detection system 60 can be adjusted in real time according to the running state or running path of the cleaning robot, thereby ensuring that the detection system 60 can accurately determine the state of the surface to be cleaned.

Specifically, the driving system 30 may drive the cleaning robot to run on the working surface, and at this time, the control system 80 may drive the detection system 60 from the contracted state to the extended state, so that the detection system 60 may monitor the state of the working surface in real time. And the detection system 60 has a detection viewing angle toward the work surface, so that the state of the work surface, for example, a change in the material of the work surface, a change in the level of the work surface, or a dirt detection, etc., can be accurately detected.

In the embodiment of the disclosure, as shown in fig. 1 to 3, the detection system 60 may be connected to a corner position of the machine body 10, the auxiliary cleaning head 23 may be located at a position of the machine body 10 close to the detection system 60, the detection system 60 may identify the surface to be cleaned in advance to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree, etc., and the control system 80 may control the operation state of the auxiliary cleaning head 23 according to the identification result of the detection system 60, so as to ensure the cleaning function of the auxiliary cleaning head 23, for example, when the identified surface to be cleaned of the cliff sensor is a floor, the auxiliary cleaning head 23 may be controlled to increase the humidity, so as to ensure the cleaning effect; alternatively, when the identified surface to be cleaned of the cliff sensor is a felt, the auxiliary cleaning head 23 may be controlled to reduce the humidity to avoid wetting the felt.

In the embodiment of the present disclosure, the detection system 60 is telescopically disposed at the forward portion 12 of the machine body 10, so that the detection system 60 can judge the state of the surface to be cleaned earlier, and thus feedback to the control system 80, so that the control system 80 can adjust the walking route and cleaning mode of the cleaning robot according to the information fed back by the detection system 60. The detection system 60 is disposed at the corner position of the forward portion 12, so that the detection system 60 can be reasonably arranged, the detection system 60 is prevented from occupying a large area, and the detection system 60 can reliably monitor the state of the working surface located at the corner of the machine body 10, thereby ensuring that the cleaning robot can clean the working surface more efficiently.

In the embodiment of the present disclosure, as shown in fig. 1 and 4, at least one detection system 60 is disposed adjacent to the auxiliary cleaning head 23, and at least part of the detection system 60 is located directly above the auxiliary cleaning head 23, so that interference between the detection system 60 and the auxiliary cleaning head 23 can be avoided, and the corner position of the machine body 10 can be utilized to a large extent, thereby rationally distributing the installation positions of the detection system 60 and the auxiliary cleaning head 23.

In the embodiment of the present disclosure, the control system 80 may be connected to the detection system 60, the control system 80 may control the telescopic state of the detection system 60, for example, when the cleaning robot is operated, the control system 80 may control the detection system 60 to operate from the contracted state to the extended state; alternatively, the control system 80 may control the detection system 60 to operate from the extended state to the contracted state when the cleaning robot stops operating. Alternatively, when the detection system 60 detects that the working surface has a recess or the material of the working surface changes, the control system 80 controls the working state of the cleaning system 20 or the driving system 30 to change, and the working surface is the surface to be cleaned. For example, when the detection system 60 detects a depression in the work surface, the control system 80 may control the drive system 30 to slow down and the control system 80 may also control the cleaning system 20 to slow down rotation. For example, when the detection system 60 detects a change in the material of the working surface, the carpet is changed into the tile, and at this time, the control system 80 may control the driving system 30 to accelerate, and the control system 80 may also control the cleaning system 20 to accelerate.

The detection system 60 may be used to detect a change in a material of the surface to be cleaned, a change in a level of the surface to be cleaned, or a detection of dirt, etc., so that the detection system 60 may feed back to the control system 80 to control an operation state of the cleaning robot, for example, when the detection system 60 detects that the surface to be cleaned is dirty, the control system 80 may control the cleaning robot to slow down, so as to ensure that the cleaning system 20 can clean the surface to be cleaned better; alternatively, when the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 may control the water pump 24 to increase the flow rate of the cleaning liquid in the liquid supply portion 22 into the cleaning head 21 and the auxiliary cleaning head 23, thereby ensuring reliable cleaning of the floor; alternatively, the control system 80 may adjust the walking path and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60, for example, when the detection system 60 is in an extended state, the detection system 60 may be located in front of the machine body 10, so that the detection system 60 may early determine the state of the surface to be cleaned, and thus feed back the state to the control system 80, so that the control system 80 may adjust the walking path and the cleaning mode of the cleaning robot according to the information fed back by the detection system 60, the detection system 60 may early detect a change in the floor material, for example, when the floor is changed from the floor to the carpet, the detection system 60 may provide relevant information to the control system 80 in real time, so that the control system 80 may control the walking direction or the cleaning mode of the cleaning robot in time, for example, when the floor is changed from the carpet to the carpet, or may control the cleaning robot to reduce the liquid supply amount to the cleaning head 21 and the auxiliary cleaning head 23 when the floor is changed from the floor to the carpet.

In the embodiment of the present disclosure, the detection system 60 may be plural, so that the detection range of the detection system 60 may be effectively enlarged, thereby precisely assisting the working state of the cleaning system 20 or the driving system 30. The number of detection systems 60 may be two, and as shown in fig. 1, the two detection systems 60 may be disposed at two corner positions of the forward portion 12, respectively.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. The specification and example embodiments are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A cleaning robot, comprising:

A machine body (10);

-a cleaning system (20), the cleaning system (20) being provided on the machine body (10), the cleaning system (20) comprising a cleaning head (21), an auxiliary cleaning head (23) and a liquid supply (22);

wherein the liquid supply part (22) sends the cleaning liquid to the cleaning head (21) and the auxiliary cleaning head (23).

2. The cleaning robot according to claim 1, wherein the cleaning system (20) further comprises:

and a water pump (24), wherein the water pump (24) is communicated with the liquid supply part (22) so as to send the cleaning liquid in the liquid supply part (22) to the cleaning head (21) and the auxiliary cleaning head (23).

3. A cleaning robot according to claim 2, characterized in that the machine body (10) comprises a stationary support (11), the cleaning head (21) being located in the stationary support (11), a liquid supply channel being provided on the stationary support (11), through which liquid supply channel the liquid supply portion (22) feeds cleaning liquid into the cleaning head (21).

4. A cleaning robot according to claim 3, characterized in that the liquid supply channel comprises a liquid inlet (111) and a liquid outlet (112), the liquid inlet (111) being in communication with the liquid supply (22), the liquid outlet (112) being for feeding a cleaning liquid into the cleaning head (21);

The liquid outlets (112) are multiple, and the liquid outlets (112) are arranged at intervals along the direction parallel to the cleaning head (21).

5. The cleaning robot according to any one of claims 1 to 4, further comprising:

-a recovery system (40), the recovery system (40) being arranged on the machine body (10), the recovery system (40) comprising a collection portion (41), the collection portion (41) collecting residues of at least one of the cleaning head (21), the auxiliary cleaning head (23) and the surface to be cleaned.

6. The cleaning robot according to claim 5, wherein the recovery system (40) further comprises:

-a scraper bar (42), said scraper bar (42) being in contact with said cleaning head (21), said scraper bar (42) removing residues on said cleaning head (21) by interference with said cleaning head (21) for collection by said collection portion (41).

7. The cleaning robot according to claim 6, characterized in that the wiper strip (42) is parallel to the cleaning head (21).

8. The cleaning robot according to claim 7, characterized in that the machine body (10) defines a transverse axis and a longitudinal axis, the cleaning head (21) being parallel to the transverse axis.

9. The cleaning robot according to claim 6, characterized in that a water suction port (421) is provided on the scraper (42), the water suction port (421) being in communication with the collecting portion (41).

10. The cleaning robot according to claim 5, wherein the recovery system (40) further comprises:

-a power section (43), the power section (43) being in pneumatic communication with the collecting section (41) for collecting residues to the collecting section (41).