CN118354705A

CN118354705A - Cleaning robot for performing cleaning work

Info

Publication number: CN118354705A
Application number: CN202380009757.4A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Tangen Intelligent Technology Changshu Co ltd; Tang'en Intelligent Technology Shanghai Co ltd
Current assignee: Tangen Intelligent Technology Changshu Co ltd; Tang'en Intelligent Technology Shanghai Co ltd
Priority date: 2022-11-15
Filing date: 2023-05-30
Publication date: 2024-07-16

Abstract

There is provided a cleaning robot (1) for performing a cleaning job, the cleaning robot (1) comprising: a moving device (13); the cleaning device (15) is arranged at the bottom of the cleaning robot (1) and is used for executing cleaning operation; the self-cleaning robot (1) comprises, in order from the front side toward the rear side, a cleaning device (15): the garbage box (151), a first rolling brush (152), a blocking mechanism (153), a second rolling brush (154) and a dirt collecting assembly (155); wherein the blocking mechanism (153) is used for blocking at least part of garbage from flowing to the dirt collecting assembly (155) in the forward state of the cleaning robot (1); -control means (14) for controlling the movement means (13) and the cleaning means (15) to cooperate to perform the following steps: controlling the cleaning robot (1) to perform backward movement to collect the garbage accumulated at the front side of the blocking mechanism (153) into the garbage box (151) by the rotation of the first rolling brush (152); the cleaning robot (1) is controlled to perform forward movement to recover the sewage retained at the rear side of the blocking mechanism (153) through the sewage collecting assembly (155).

Description

Cleaning robot for performing cleaning work

Technical Field

The application relates to the technical field of cleaning robots, in particular to a cleaning robot for executing cleaning operation.

Background

In areas of high volume of water or large area cleaning, such as business, industrial, institutional, public buildings, maintaining the cleanliness of the floor surface is a continuous and time consuming process. With the development of automation technology and artificial intelligence, cleaning robots are widely used in such applications to replace manual cleaning of surfaces to be cleaned, including tiles, stone, bricks, wood, concrete, carpets, and other common surfaces.

The cleaning robot generally performs a cleaning operation using a double-roll brush structure in a cleaning device, and during the cleaning operation, a front roll brush cleans a surface to be cleaned by rotating, and a rear roll brush washes the surface to be cleaned by rotating after being wetted. However, when the cleaning device works, the two rolling brushes are usually contacted with each other, so that dirt and dust can be brought into the rear rolling brush which is stained with water, the rear rolling brush is used for brushing the surface to be cleaned under the condition of being polluted by the dirt, and the dirt can also flow to the dirt collecting assembly for collecting the sewage, so that the dirt collecting assembly is blocked, and the cleaning effect is seriously affected.

As such, the garbage that the cleaning robot fails to effectively collect may interfere with the cleaning effect of the cleaning robot.

Disclosure of Invention

In view of the above-described drawbacks of the related art, an object of the present application is to provide a cleaning robot for performing a cleaning operation to overcome the technical problem that the cleaning robot in the above-described related art fails to effectively collect garbage on a surface to be cleaned.

To achieve the above and other related objects, a first aspect of the present disclosure provides a cleaning robot for performing a cleaning job, the cleaning robot including: the moving device comprises a driving wheel arranged at the bottom of the cleaning robot; the cleaning device is arranged at the bottom of the cleaning robot and is used for executing cleaning operation; the cleaning device sequentially includes, from the front side toward the rear side of the cleaning robot: the garbage box, the first rolling brush, the blocking mechanism, the second rolling brush and the dirt collecting assembly; wherein the blocking mechanism is used for blocking at least part of garbage from flowing to the dirt collecting assembly in the forward state of the cleaning robot; control means for controlling the movement means and the cleaning means to cooperate to perform the steps of: controlling the cleaning robot to perform backward movement to collect the garbage piled on the front side of the blocking mechanism into the garbage box by the rotation of the first rolling brush; the cleaning robot is controlled to perform forward movement to recover the sewage retained at the rear side of the blocking mechanism through the sewage collecting assembly.

In summary, according to the cleaning robot for executing cleaning operation disclosed by the application, by arranging the blocking mechanism between the first rolling brush and the second rolling brush, the phenomenon that the first rolling brush is wetted and then is stuck to the garbage to influence the garbage to enter the garbage box, the phenomenon that the garbage flows to the second rolling brush to pollute the second rolling brush and the phenomenon that the garbage flows to the sewage collecting assembly to cause blockage to the sewage collecting assembly can be avoided; and the control device controls the cleaning robot to backward and forward to execute cleaning operation, so that the thorough cleaning of the garbage and sewage remained on the surface to be cleaned is realized, and the cleaning effect of the cleaning robot is improved.

Other aspects and advantages of the present application will become readily apparent to those skilled in the art from the following detailed description. Only exemplary embodiments of the present application are shown and described in the following detailed description. As those skilled in the art will recognize, the present disclosure enables one skilled in the art to make modifications to the disclosed embodiments without departing from the spirit and scope of the application as claimed. Accordingly, the drawings and descriptions of the present application are to be regarded as illustrative in nature and not as restrictive.

Drawings

The specific features of the application related to the application are shown in the appended claims. A better understanding of the features and advantages of the application in accordance with the present application will be obtained by reference to the exemplary embodiments and the accompanying drawings that are described in detail below. The brief description of the drawings is as follows:

fig. 1 is a schematic perspective view showing a cleaning robot according to an embodiment of the present application.

Fig. 2 is a schematic view showing a disassembled structure of a cleaning robot according to an embodiment of the present application.

Fig. 3 is a schematic perspective view showing another view of the cleaning robot according to an embodiment of the present application.

Fig. 4 shows a schematic view of a cleaning robot in a horizontal projection in an embodiment of the application.

Fig. 5 is a schematic perspective view of a cleaning device according to an embodiment of the application.

FIG. 6 shows a schematic view of a section B-B of the cleaning device of FIG. 5 according to the present application.

Fig. 7a shows a schematic view of the structure of the cleaning robot base in an embodiment of the application.

Fig. 7b shows a partial enlarged view of the bottom of the cleaning robot of fig. 7 a.

Fig. 7c is a schematic perspective view of a cleaning device according to an embodiment of the application.

Fig. 7d is a schematic view showing a structure of the cleaning device according to an embodiment of the present application after the first and second rolling brushes are removed.

Fig. 8 is a schematic perspective view of another view of a cleaning device according to an embodiment of the application.

Fig. 9 is an exploded view of a water spraying structure and a second rolling brush according to an embodiment of the application.

FIG. 10 is a schematic view showing the position of the water spraying structure installed in the mounting base according to an embodiment of the present application.

Fig. 11 is a schematic perspective view of a blocking mechanism according to an embodiment of the application.

Fig. 12 is a schematic side view of the blocking mechanism of the present application in the embodiment of fig. 11.

Fig. 13 is a schematic perspective view of a blocking mechanism according to an embodiment of the application.

Fig. 14 is a schematic perspective view of a blocking mechanism according to an embodiment of the application.

Fig. 15 shows an enlarged view of a portion of the blocking mechanism of the present application in the embodiment of fig. 14.

Fig. 16 is a schematic perspective view of a blocking mechanism according to an embodiment of the application.

Fig. 17 shows an enlarged view of a portion of the blocking mechanism of the present application in the embodiment of fig. 16.

Fig. 18 is a schematic view showing a structure of a connector according to another embodiment of the application.

Fig. 19 shows a schematic view of the installation of the blocking mechanism in another embodiment of the application.

Fig. 20 is a schematic view showing an arrangement of a dirt collecting assembly in a robot according to an embodiment of the present application.

Fig. 21 is a schematic view of a dirt collecting assembly according to an embodiment of the present application.

Fig. 22 is a schematic exploded view of a dirt collecting assembly according to an embodiment of the present application.

Fig. 23 is a schematic cross-sectional view illustrating a dirt collecting assembly according to an embodiment of the present application.

Fig. 24 is a schematic view showing the structure of the chassis according to an embodiment of the present application.

Fig. 25 is a schematic view showing a structure of a horizontal section of a sewage tank in an embodiment of the present application.

Fig. 26 is a schematic view showing a structure of a vertical section of a cleaning robot in an embodiment of the present application.

Fig. 27 is a schematic view showing a drain assembly configured on a cleaning robot in an embodiment of the application.

Fig. 28 is a schematic perspective view of a drainage assembly according to an embodiment of the application.

FIG. 29 is a schematic view of a section C-C of the drain assembly of the embodiment of the present application shown in FIG. 28.

FIG. 30 shows a schematic view of a D-D section of the drain assembly of the embodiment of the present application shown in FIG. 28.

FIG. 31 is a schematic view of a section E-E of the drain assembly of the embodiment of the present application shown in FIG. 28.

Fig. 32 is a schematic view showing a front-rear state in which the cleaning robot performs a backward movement in an embodiment of the present application.

Fig. 33 is a schematic view showing a forward state of the cleaning robot in an embodiment of the present application.

Fig. 34 is a schematic view showing a retreating state of the cleaning robot in one embodiment of the present application.

Fig. 35 is a schematic view showing a cleaning robot performing a first backward and forward reciprocating motion in an embodiment of the present application.

Detailed Description

Further advantages and effects of the present application will become apparent to those skilled in the art from the disclosure of the present application, which is described by the following specific examples.

In the following description, reference is made to the accompanying drawings which describe several embodiments of the application. It is to be understood that other embodiments may be utilized and that structural, electrical, and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Although the terms first, second, etc. may be used herein to describe various elements or parameters in some examples, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, a first roll brush may be referred to as a second roll brush, and similarly, a second roll brush may be referred to as a first roll brush without departing from the scope of the various described embodiments. The first and second scroll brushes are both described as one scroll brush, but they are not the same scroll brush unless the context clearly indicates otherwise.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or" and/or "as used herein are to be construed as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.

As described in the background art, the contact of the two rolling brushes in the cleaning device can make the cleaning robot unable to effectively collect the garbage and sewage on the surface to be cleaned, and thus can seriously affect the cleaning effect of the cleaning robot; and if the cleaning robot stops performing the cleaning operation immediately after completing the cleaning task, there is also a stagnation of the dust and the sewage on the surface to be cleaned at the position where the cleaning task is ended, and the dust and the sewage not collected on the cleaning device may fall on the surface to be cleaned during the subsequent movement of the cleaning robot (e.g., returning to the charging post), which further affects the cleaning effect of the cleaning robot.

In view of the above, the present application provides a cleaning robot for performing a cleaning operation, which can prevent the first rolling brush from being wet and then adhering to the garbage to affect the garbage to enter a garbage box, prevent the garbage from flowing to the second rolling brush to pollute the second rolling brush, and prevent the garbage from flowing to a dirt collecting assembly to block the dirt collecting assembly by providing a blocking mechanism between the first rolling brush and the second rolling brush of the cleaning device; and the control device of the cleaning robot can collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through controlling the cleaning robot to execute the backward movement, and can recover the sewage remained on the rear side of the blocking mechanism through the sewage collecting assembly through controlling the cleaning robot to execute the forward movement, so that the thorough cleaning of the garbage accumulated on the surface to be cleaned and the retained sewage is realized, and the cleaning effect of the cleaning robot is improved.

Wherein the cleaning robot of the present application includes a clean water tank and a dirty water tank to complete a cleaning operation of a surface to be cleaned. The cleaning robot may also be called a mobile robot, a floor cleaning machine, an automatic floor cleaning machine, a cleaning robot, etc. in some application scenarios, is a robot device suitable for performing a floor surface cleaning operation with high capacity of water or requiring a large cleaning area. The cleaning robot can be commanded by a user, such as an operator pushes, pulls or drives the cleaning robot to finish cleaning operation on the floor surface; for another example, the operator controls the cleaning robot to perform work through a hand-held remote controller or an application program loaded on the intelligent terminal. The cleaning robot can also automatically complete the cleaning operation of the floor surface, for example, the cleaning robot can automatically complete the cleaning operation by running a pre-programmed program or rule. In the following embodiments of the present application, a cleaning robot that can autonomously perform positioning and navigation and autonomously complete a cleaning operation will be described as an example.

The surface to be cleaned refers to floor surfaces including tiles, stone, brick, wood, concrete, carpet and other common surfaces. The surface to be cleaned may also be referred to as a cleaning surface, floor, surface, walking surface, etc. In the present application, for convenience of description and understanding, a plane parallel to the surface to be cleaned, i.e., the floor surface, is referred to as a horizontal plane or a horizontal direction, and a plane perpendicular to the surface to be cleaned, i.e., the floor surface, is referred to as a vertical plane or a vertical direction.

Further, for convenience of description and understanding, in the present application, the forward direction of the cleaning robot in operation is defined as a forward direction (as indicated by a dotted line X in fig. 1), and correspondingly, the reverse direction (backward direction) of the forward direction in operation is defined as a backward direction. It will be appreciated that the side of the cleaning robot in the direction of travel during operation is defined as the front side or front end and the side of the cleaning robot in the opposite direction away from the front side or front end is defined as the rear side or rear end. In order to facilitate the distinction between the left side and the right side, the cleaning robot is distinguished between the left side and the right side with reference to the forward direction of the cleaning robot in operation.

In an embodiment, referring to fig. 1 and 2, fig. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the application, and fig. 2 is a schematic split view of a cleaning robot according to an embodiment of the application. As shown in the drawings, the cleaning robot 1 includes a body 10, the body 10 includes a base plate 11 and a foul water tank 12, the base plate 11 at the bottom of the cleaning robot includes a clean water tank 110 integrally formed at the top thereof, the foul water tank 12 is nested on the clean water tank 110 to be combined with the base plate 11, and includes a built-in accommodating space 120 for recovering foul water collected by the cleaning robot, and the built-in accommodating space 120 and an accommodating space 1100 of the clean water tank 110 have an overlapping area in a vertical direction. Wherein, the overlapping area in the vertical direction means that the projections of the two areas or spaces on the vertical plane have overlapping portions.

Wherein the chassis may be integrally formed of a material such as plastic, metal or other materials used in the art, including a plurality of preformed grooves, recesses, detents or the like for mounting or integrating associated devices, components, assemblies, mechanisms, etc. on the chassis.

The respective parts constituting the cleaning robot are described in detail below with reference to fig. 1 to 35.

Referring to fig. 1 and 3, fig. 3 is a schematic perspective view of a cleaning robot according to another embodiment of the application, and as shown in the drawing, the cleaning robot 1 includes a moving device 13, a control device 14, and a cleaning device 15. The moving device 13 and the cleaning device 15 are arranged at the bottom of the chassis 11 of the cleaning robot, and the control device 14 is arranged inside the cleaning robot.

In an embodiment, the moving device 13 includes driving wheels 131 disposed at two opposite sides of the bottom of the chassis 11, and the driving wheels 131 are driven by the first driving assembly 130 to move the cleaning robot 1. Specifically, the driving wheel is driven to drive the cleaning robot 1 to perform reciprocating motion, rotating motion, or curved motion, etc. of backward and forward motion according to a planned moving track (e.g., a planned path of a cleaning task), or to drive the cleaning robot 1 to perform posture adjustment, and to provide two contact points of the cleaning robot 1 with a surface to be cleaned. In other embodiments, the moving device 13 further includes a driven wheel 132, the driven wheel 132 is located at the front of the driving wheel 131, and the driven wheel 132 and the driving wheel 131 keep the cleaning robot 1 balanced in a moving state.

In some embodiments, the cleaning device is arranged in a middle area of the bottom of the cleaning robot chassis, and the cleaning device is located within a maximum outer contour of the cleaning robot body on a horizontal plane, i.e. the projected contour of the cleaning robot body on the horizontal plane may cover the projected contour of the cleaning device as seen in the projection on the horizontal plane. Thus, when the dead angle area is cleaned, the cleaning robot can clean the garbage in the dead angle area (including corner area, shielding area, etc., the shielding area can be a projection area below the signboard, for example) to the cleaning area of the cleaning device only by the side brush assembly, but the cleaning force of the side brush assembly is limited, so that the cleaning robot can only clean the garbage with large particles, and dirt, viscous objects, etc. still cannot be cleaned and left, even the dirt degree is further increased by the cleaning of the side brush assembly.

Wherein the edge brush assembly 16 is disposed at the edge of the bottom of the chassis 11, in some embodiments, the edge brush assembly 16 may include a cleaning edge brush and an edge brush motor for controlling the cleaning edge brush. In the embodiment shown in fig. 3, the number of cleaning edge brushes may be at least one, and the cleaning edge brushes may be rotary cleaning edge brushes, which are disposed on opposite sides of the front of the cleaning robot and may be rotated under the control of the edge brush motor. In some embodiments, the axis of rotation in the rotating cleaning side brush is angled relative to the surface to be cleaned (which may be set parallel to the floor of the chassis of the robot body), e.g., the angle of arrangement ensures that the bristles on the outside of the cleaning side brush are lower than the bristles on the inside, so that the bristles on the outside are closer to the surface to be cleaned, more advantageous for sweeping debris and the like into the cleaning area of the cleaning device.

In view of this, in some embodiments, please refer to fig. 4 in combination with fig. 3, fig. 4 is a schematic view of a horizontal plane projection of a cleaning robot according to an embodiment of the present application, as shown in the drawing, the cleaning device 15 is disposed at the bottom of the chassis 11 and protrudes to the right side from the maximum outline of the cleaning robot body 10 on the horizontal plane, that is, the projection of the cleaning robot body 10 on the horizontal plane cannot cover the projection outline of the cleaning device 15 in view of the horizontal plane projection. Specifically, as shown in fig. 3, the right side wall of the chassis 11 is provided with a recessed area 111 with an opening facing the surface to be cleaned, and the cleaning device 15 disposed at the bottom of the chassis 11 passes through the recessed area 111 to protrude rightward from the cleaning robot body 10, so that the projection of the cleaning device 15 on the horizontal plane protrudes from the maximum outer contour of the projection of the cleaning robot body 10 on the horizontal plane. In some examples, the distance d between the projection of the cleaning device 15 on the horizontal plane and the maximum outer contour of the cleaning robot body 10 projected on the horizontal plane is 1cm to 4cm, and any value (for example, 1cm, 2cm, 3cm, or 4 cm) from 1cm to 4cm can ensure that the cleaning device 15 can contact the dead space area when performing the cleaning operation, and the cleaning device 15 cleans the dead space area. Further, the distance by which the projection of the cleaning device 15 on the horizontal plane protrudes rightward from the maximum outer contour of the cleaning robot body 10 on the horizontal plane may be set to 2 cm.

In one embodiment, referring to fig. 3, 5, and 6, fig. 5 is a schematic perspective view of a cleaning apparatus according to an embodiment of the present application, fig. 6 is a schematic view of a section B-B of the cleaning apparatus according to fig. 5, and as shown, the cleaning apparatus 15 sequentially includes, from a front side toward a rear side of the cleaning robot: a waste bin 151, a first roller brush 152, a blocking mechanism 153, a second roller brush 154, and a dirt collection assembly 155.

In some embodiments, please refer to fig. 7a, 7b, and 7c, wherein fig. 7a is a schematic diagram illustrating a structure of a cleaning robot base in an embodiment of the present application, fig. 7b is a partially enlarged view of the cleaning robot base in fig. 7a, and fig. 7c is a schematic diagram illustrating a three-dimensional structure of a cleaning device in an embodiment of the present application. As shown, the cleaning device 15 further includes a mounting 150. The mounting base 150 is used for being mounted on the bottom of the chassis 11 of the cleaning robot. The first rolling brush 152 is rotatably disposed on the mounting base 150, and is used for sweeping a surface to be cleaned when rotating to roll garbage into the garbage box 151. The second rolling brush 154 is rotatably disposed on the mounting base 150, and the second rolling brush 154 is used for being wetted to brush the surface to be cleaned when rotating. The first rolling brush 152 is disposed in front, the second rolling brush 154 is disposed behind the first rolling brush 152, and the axial distance h between the first rolling brush 152 and the second rolling brush 154 is greater than the sum of the radius r1 of the first rolling brush 152 and the radius r2 of the second rolling brush 154, so that the first rolling brush 152 and the second rolling brush 154 do not contact each other when rotating.

It should be understood that the radius of the first rolling brush refers to the radius of the largest circular contour formed by the rotation of the first rolling brush (r 1 shown in fig. 7 b), and the radius of the second rolling brush refers to the radius of the largest circular contour formed by the rotation of the second rolling brush (r 2 shown in fig. 7 b), so that the axial distance between the first rolling brush and the second rolling brush is greater than the sum of the radii of the first rolling brush and the second rolling brush to ensure that the two are not contacted with each other during the rotation.

With continued reference to fig. 7c, in an embodiment, a second driving assembly 156 is disposed at one end of the mounting base 150, the second driving assembly 156 includes a first driving module 1560 and a second driving module 1561, the first driving module 1560 is electrically connected to the first rolling brush 152 to drive the first rolling brush 152 to rotate, and the second driving module 1561 is electrically connected to the second rolling brush 154 to drive the second rolling brush 154 to rotate. Therefore, the second driving assembly can be miniaturized and dispersed, and is convenient to control, layout and save space. Still further, in some examples, referring to fig. 7d, fig. 7d is a schematic view showing a structure of the cleaning apparatus according to an embodiment of the present application after removing the first and second rolling brushes, the first and second driving modules 1560 and 1561 respectively include a rotation support 1562, and the rotation support 1562 provides a space for placing the first and second rolling brushes 152 and 154 and enables the first and second rolling brushes 152 and 154 to rotate.

In an embodiment, referring to fig. 7c and 7d, the first rolling brush 152 includes a roller shaft 1520 and a brush body 1521, and the second rolling brush 154 also includes the roller shaft 1520 and the brush body 1521. Both ends of the roller shaft 1520 are provided with mounting parts (not shown) for being provided on the rotary support 1562, and allow the first and second roller brushes 152 and 154 to be selectively removed or loaded from the mounting block 150 for cleaning, maintenance, replacement, etc. The brush body 1521 is spirally disposed around the roller shaft 1520, and the growth direction of the brush body 1521 is substantially identical to the radial direction of the roller shaft 1520, where the radius of the first rolling brush 152 or the second rolling brush 154 refers to a radius that is centered on the axis of the roller shaft 1520 and is bordered by a circular contour formed by the brush body 1521 around.

In an embodiment, the brush body of the first rolling brush is a brush body, and the brush body cleans the garbage on the surface to be cleaned. In another embodiment, the brush body of the first rolling brush is a rubber brush body, and the rubber brush body cleans the garbage on the surface to be cleaned. Of course, in other embodiments, the brush body of the first rolling brush may be formed by alternately arranging the brush body and the rubber brush body at intervals, and the application does not limit the material of the brush body, but only can clean the garbage on the surface to be cleaned.

In an embodiment, the brush body of the second rolling brush is a brush body or a cloth brush body, so that the second rolling brush is wetted to perform the washing work of the surface to be cleaned.

In one embodiment, as shown in fig. 7a and 7b, the brush bodies of the first and second rolling brushes 152 and 154 are respectively provided in a V shape. The first rolling brush 152 is configured to rotate counterclockwise (as indicated by the indicated arrow corresponding to the first rolling brush 152 in fig. 7 a) in the cleaning operation, and the V-shaped tip of the brush body of the first rolling brush 152 is located at the middle position of the roller shaft and faces forward, so that during the rotation of the roller shaft, garbage is collected from the middle positions of two opposite sides of the V-shaped structure, and part of dust, especially large-particle garbage, is easier to clean. The V-shaped tip of the second rolling brush 154 may be directed forward so that the V-shaped opening of the second rolling brush corresponds to the V-shaped opening of the first rolling brush (as shown in fig. 7 c), or may be directed backward so that the V-shaped opening of the second rolling brush corresponds to the V-shaped opening of the first rolling brush (as shown in fig. 7a and 7 b), wherein the second rolling brush 154 is disposed to rotate clockwise (as shown by the indicated arrow corresponding to the second rolling brush 154 in fig. 7 a) during the cleaning operation. It is understood that V-shaped structures do not represent a standard V-shape of the structure, e.g., in some scenarios, a U-shaped structure or a chevron-shaped structure may also be referred to as a V-shaped structure. Of course, the rotation directions of the first and second rolling brushes 152 and 154 illustrated in fig. 7a and 7b may be set in other manners, for example, the first rolling brush 152 is set to rotate counterclockwise in the cleaning operation, and the second rolling brush 154 is set to rotate clockwise in the cleaning operation.

In an embodiment, the brush body distribution density of the first rolling brush is greater than the brush body distribution density of the second rolling brush. As shown in fig. 7a and 7b, the brush bodies of the first rolling brush 152 and the second rolling brush 154 are respectively provided as brush bodies, the brush bodies are formed by a plurality of rows of V-shaped brush clusters, and the interval between two adjacent rows of brush clusters in the brush body of the first rolling brush 152 is smaller than the interval between two adjacent rows of brush clusters in the brush body of the second rolling brush 154, so that the distribution density of the brush bodies of the first rolling brush 152 is greater than the distribution density of the brush bodies of the second rolling brush 154. Therefore, the first rolling brush is used for rolling garbage into the brush body with higher density, the second rolling brush is used for brushing the surface to be cleaned with the brush body with low density, and the brush body of the second rolling brush can be prevented from contacting the garbage to influence the cleaning work of the first rolling brush.

In an embodiment, in the cleaning operation performed by the cleaning device, the rotation speed of the first rolling brush is greater than that of the second rolling brush, so that the first rolling brush can more quickly roll in garbage in the cleaning operation, and the cleaning operation of the first rolling brush caused by wetting the garbage by the second rolling brush is further avoided. The rotation speed difference of the two rolling brushes can be realized by respectively providing different driving powers by the first driving module and the second driving module.

Referring to fig. 8, which is a schematic perspective view of another view of the cleaning apparatus according to an embodiment of the present application, as shown in the drawing, the cleaning robot further includes a water spraying structure 158, the water spraying structure 158 is disposed on the mounting base 150, and the water spraying structure 158 is communicated with a clean water tank of the cleaning robot, and is used for spraying water to wet the second rolling brush 154, so that the second rolling brush 154 can brush the surface to be cleaned when rotating. In some examples, the spray structure 158 includes a spray opening 1580 through which water flows out of the spray opening 1580, and the spray opening 1580 is disposed on the mounting base 150 in a vertical plane or behind a vertical plane along which the axis of the second roller brush 154 is located in order to avoid the sprayed water from interfering with the first roller brush 152. It should be appreciated that the water jet 1580 is located on or behind the vertical plane of the axis of the second roller brush 154, which is equivalent to the water jet being located in the rear half of the second roller brush 154, so that interference with the first roller brush 152 can be avoided. In some examples, the water spraying openings 1580 are arranged in a plurality, and the water spraying openings 1580 are arranged on the mounting seat at intervals along a direction consistent with the length direction (i.e. the axial direction, which is shown as an axial direction in a dotted line in fig. 8) of the second rolling brush, so that the water flow is uniformly sprayed on the second rolling brush 154.

Referring to fig. 9, which is an exploded schematic view of a water spraying structure and a second rolling brush according to an embodiment of the present application, as shown in the drawing, the water spraying structure 158 is elongated and is configured to be disposed along an axial direction of the second rolling brush 154, and specifically, a direction in which the water spraying structure is disposed in the mounting seat is parallel to the axial direction of the second rolling brush, so that a plurality of water spraying ports of the water spraying structure are uniformly distributed on an upper side of the second rolling brush. As shown in fig. 9, the water spraying structure is a long strip groove structure or a pipe structure, which is disposed along an axial direction of the second rolling brush, sprays purified water from a purified water tank of the cleaning robot to wet the second rolling brush so that the second rolling brush can brush a surface to be cleaned while rotating, and includes a water inlet 1581 and a water spraying port 1580.

Because the water spray structure is rectangular form component, its water inlet whether set up in one end or set up in the intermediate position, the rivers of water spray structure can not evenly distributed to every water jet all appear, and then make the degree of spraying of second round brush distribute unevenly, and then influence clean effect, in order to make the water quantity that each water jet flows out in the water spray structure of a plurality of water sprays the same, in an embodiment, be provided with the buffer structure in the water spray structure so that each water jet can equally divide the water yield from the water inlet. Referring to fig. 10, a schematic diagram of a water spraying structure provided in an embodiment of the present application is shown in a position of the water spraying structure installed in a mounting seat, and a portion shown enlarged in fig. 10 is also regarded as a schematic diagram of a section A-A in fig. 9, and as shown in the drawing, the water spraying structure 158 includes a water storage tank, and in an embodiment, the water storage tank includes a detachable tank body 1582 and a tank cover 1583 covering the tank body 1582. The tank cover 1583 covers the tank body 1582 in a clamping manner to form a closed space inside the water storage tank. Of course, in other embodiments, the reservoir may also be formed as an integrally formed tubular structure.

As shown in the enlarged portion of fig. 10, the inner space of the water storage tank is divided into a buffer tank 1584 and a water outlet tank 1585, wherein the buffer tank 1584 is communicated with the water inlet 1581, a plurality of water spray ports 1580 are distributed at the bottom of the water outlet tank 1585, a certain height is arranged between the buffer tank 1584 and the water outlet tank 1585, and in particular, a liquid level separation wall 1586 is arranged between the buffer tank 1584 and the water outlet tank 1585, so that when water flow from the water inlet 1581 enters the water storage tank, the water needs to be filled/poured into the buffer tank 1584 before being spread into the water outlet tank 1585, and water flow can be prevented from being distributed to each water spray port 1580 evenly. In this embodiment, the liquid level partition wall 1586 is uniformly provided with a plurality of crenels or tooth-shaped notches 15860, so as to facilitate the water in the buffer tank to enter the water outlet tank from the crenels or tooth-shaped notches after the water is fully stored in the buffer tank.

In a preferred embodiment, in order to further ensure the equal water amounts of the water spouts in the water outlet tank, a plurality of spacing structures 15850 may be further disposed in the water outlet tank 1585 to further isolate a plurality of compartments of the water outlet tank, and a water spout is correspondingly disposed at the bottom of each compartment, so as to achieve the effect of uniform water outlet of each water spout.

In some embodiments, referring to fig. 5 and 6, the blocking mechanism 153 is disposed at the bottom of the cleaning robot, for example, the blocking mechanism 153 is disposed on the mounting base 150, and the blocking mechanism 153 is disposed between the first rolling brush 152 and the second rolling brush 154 and is located at the front side of the dirt collecting assembly 155, for blocking at least part of the garbage from flowing to the dirt collecting assembly 155 in the forward state of the cleaning robot 1. The specific structure and operation principle of the dirt collecting assembly 155 will be described in detail later, and will not be described herein.

In one embodiment, the blocking mechanism 153 is removably coupled to the mounting block 150 to allow the blocking mechanism 153 to be selectively removed or loaded from the mounting block 150 for cleaning, maintenance, replacement, etc. Of course, the blocking mechanism 153 may be connected to the mounting base 150 in a non-detachable manner, that is, the blocking mechanism 153 cannot be easily detached after being fixed on the mounting base 150.

In an embodiment, as shown in fig. 5 and 6, a blocking mechanism 153 is provided between the first and second rolling brushes 152 and 154 and along the length direction of the first and second rolling brushes 152 and 154 to block the at least part of the garbage on a side thereof facing the first rolling brush 152 in a forward state of the cleaning robot 1.

In one embodiment, the blocking mechanism 153 is disposed along the length direction of the first rolling brush 152 and extends toward the surface to be cleaned, so as to form a barrier on the path from the first rolling brush 152 to the second rolling brush 154 and the rear side thereof, and the garbage not collected is deposited on the side toward the first rolling brush 152. Thus, on the one hand, too much deposited refuse may spread to contact the brush body of the first roller brush 152, so that the refuse not collected has a chance to be brought into the dust box/collecting chamber again by the first roller brush 152; on the other hand, when the robot retreats, the deposited garbage relatively moves closer to the first roller brush 152 so that the deposited garbage can be cleaned again by the first roller brush 152.

Wherein the blocking mechanism 153 may extend toward the surface to be cleaned to a preset distance (the preset distance may be set to not more than 1/2 of the radius of the first roller brush 152, for example, to 2 mm) from the surface to be cleaned, as shown in fig. 6. The blocking mechanism 153 may also extend to contact the surface to be cleaned, where the blocking mechanism 153 may be arranged to contact the first roller brush, and in the forward state of the cleaning robot, the blocking mechanism 153 may be forced to deflect away from the first roller brush 152 to allow the garbage to be brought into the garbage box/dust collecting chamber by the first roller brush 152 and the garbage not collected to be blocked, and in the state of the cleaning robot changing from the forward state to the backward state or from the rest state to the backward state, the blocking mechanism 153 may be forced to deflect towards a direction close to the first roller brush to push the garbage accumulated on the front side of the blocking mechanism to the working area of the first roller brush, wherein the working area of the first roller brush refers to an area where the first roller brush can roll up the garbage when rotating, i.e. in the working area and can be rolled up by the first roller brush when the first roller brush rotates. In other words, in the cleaning robot advanced state, the blocking mechanism 153 has a distance from the first rolling brush 152, that is, a distance from the surface of the blocking mechanism 153 facing the first rolling brush 152 to the outer surface of the first rolling brush 152 on the same horizontal line, it should be understood that the distance from the blocking mechanism 153 to the first rolling brush 152 is not necessarily the same on different horizontal lines, for example, as shown in fig. 6, the distance from the upper portion of the blocking mechanism 153 to the first rolling brush 152 is smaller, and the distance from the lower portion to the first rolling brush 152 is larger, that is, the distance from the upper portion of the blocking mechanism 153 to the first rolling brush 152 is smaller than the distance from the lower portion of the blocking mechanism 153 to the first rolling brush 152, and in one example, the distance is 0mm to 3mm in order to reduce the garbage accumulation and not to affect the cleaning work of the first rolling brush 152.

Further, as shown in fig. 6, the blocking mechanism 153 has a curved surface 1530, and the curved direction of the curved surface 1530 conforms to the outer edge of the first roller brush 152, so that the blocking mechanism 153 is close to the outer surface of the first roller brush 152 as much as possible, and the area where garbage is deposited is reduced, so that the garbage is cleaned by the first roller brush 152 as much as possible.

Referring to fig. 11 and 12 in combination with fig. 6, fig. 11 is a schematic perspective view of a blocking mechanism according to an embodiment of the present application, and fig. 12 is a schematic side view of the blocking mechanism according to the embodiment of fig. 11. As shown, the blocking mechanism 153 includes a connection portion 1531 and a blocking portion 1532. The connection portion 1531 and the blocking portion 1532 may be, for example, an integrally formed structure. The connection portion 1531 is configured to connect to the mounting base 150, so that the blocking mechanism 153 is detachably or non-detachably disposed on the mounting base 150. The blocking portion 1532 is connected to the connecting portion 1531, and is configured to block at least part of the garbage from flowing to the dirt collecting component 155, and in the forward state of the cleaning robot, the blocking portion 1532 may or may not contact the surface to be cleaned, and the blocking portion 1532 may be made of a flexible material (e.g., rubber). Considering that in some embodiments, the blocking portion 1532 may contact the surface to be cleaned, when the blocking portion 1532 contacts the surface to be cleaned, friction force between the blocking portion 1532 and the surface to be cleaned, collision with a foreign object or an obstacle, and other factors may cause the blocking portion 1532 to bend due to stress, and in addition, due to factors such as gradual aging after long-term use, the blocking portion 1532 may easily break, so, in order to support and strengthen the blocking portion 1532, the blocking mechanism 153 may further include a reinforcing portion 1533, where the reinforcing portion 1533 may be disposed on the connecting portion 1531, and by strengthening the support of the blocking portion 1532, the influence of bending stress on the blocking portion 1532 may be eliminated, thereby prolonging the service life of the blocking mechanism 153, prolonging the replacement period, and the like as much as possible.

In order to avoid that the blocking mechanism 153 obstructs the cleaning of the cleaning device with respect to liquids such as milk, sewage, etc., the blocking mechanism 153 may also have a filtering function in the forward state of the cleaning robot to allow the liquid or small particle waste to flow to the dirt collecting assembly 155 through the blocking mechanism 153, it should be understood that the filtered liquid or small particle waste may be recovered by the dirt collecting assembly 155 without affecting the normal operation of the dirt collecting assembly 155. In some embodiments, the blocking mechanism 153 may be positioned such that it forms a filtering channel with the surface to be cleaned, for example, in embodiments in which the blocking mechanism 153 may extend to a predetermined distance from the surface to be cleaned in a direction toward the surface to be cleaned, the blocking mechanism 153 forms a filtering channel having a width of the predetermined distance from the surface to be cleaned in a forward state of the cleaning robot, so that liquid or small particle garbage may flow through the filtering channel and toward the dirt collecting assembly 155, and may be finally recovered by the dirt collecting assembly 155. In other embodiments, the blocking mechanism 153 is provided with the filtering function by its own property, for example, please refer to fig. 13, which is a schematic perspective view of the blocking mechanism according to an embodiment of the present application, and compared to fig. 11 and 12, the blocking portion 1532 of the blocking mechanism 153 is configured as a brush body, so that large particle garbage can be blocked, and liquid or small particle garbage can pass through the gap of the brush body. In still other embodiments, the blocking mechanism 153 may also be configured to form a filter channel with the surface to be cleaned to allow the passage of liquid or small particle waste, as will be described below in connection with fig. 14-17.

Referring to fig. 14 and 15, fig. 14 is a schematic perspective view of a blocking mechanism according to an embodiment of the present application, fig. 15 is a partially enlarged view of the blocking mechanism according to the embodiment of fig. 14, and as shown, compared with fig. 11 and 12, a filtering structure 1534 is disposed on a blocking portion 1532 of the blocking mechanism 153, where the filtering structure 1534 is disposed as a hole 15340 (or called a groove) formed on the blocking portion 1532, and in a forward state of the cleaning robot, the blocking portion 1532 contacts with a surface to be cleaned, so that the hole 15340 forms a plurality of fine filtering channels with the surface to be cleaned, and thus, liquid or small particle garbage can flow through the filtering channels and toward the dirt collecting component 155, and can be finally recovered by the dirt collecting component 155.

Referring to fig. 16 and 17, fig. 16 is a schematic perspective view of a blocking mechanism according to an embodiment of the present application, fig. 17 is a partially enlarged view of the blocking mechanism according to the embodiment of fig. 16, and as shown in the drawings, compared with fig. 11 and 12, a filtering structure 1534 is disposed on a blocking portion 1532 of the blocking mechanism 153, where the filtering structure 1534 is disposed as a protrusion structure 15341 on a side surface of the blocking portion 1532 facing the first rolling brush 152, in a forward state of the cleaning robot, the blocking portion 1532 contacts and is forced to bend with a surface to be cleaned, so that at least a lower part area of the protrusion structure 15341 is bent from facing the first rolling brush to face and contact with the surface to be cleaned, and a bottom surface of the blocking portion 1532 is bent from contacting with the surface to be cleaned, so that a lower part area of the protrusion structure 15341 and the surface to be cleaned form a plurality of filtering channels, and thus, liquid or small particle garbage can flow through the filtering channels and face toward the dirt collecting assembly 155, and finally can be collected by the dirt collecting assembly 155.

In order to avoid that the cleaning robot in the retracted state, the second roller brush 154 washes sewage or other liquid etc. of the surface to be cleaned to relatively move near the first roller brush 152 to influence the first roller brush 152, therefore, the blocking mechanism 153 may also be used to block the passage of liquid in the cleaning robot in the retracted state to keep the sewage between the blocking mechanism and the sewage collecting assembly. In some embodiments, for example, the embodiment shown in fig. 16 and 17, in the retreating state of the cleaning robot, the blocking part 1532 of the blocking mechanism 153 contacts the surface to be cleaned, at this time, the friction force exerted by the contact of the blocking part 1532 with the surface to be cleaned is directed toward the front side of the cleaning robot, that is, the side of the blocking part 1532 having no protrusion structure 15341 is more closely adhered to the surface to be cleaned, thereby closing the passage from the second rolling brush 154 and the rear side thereof toward the first rolling brush 152, so that the liquid cannot pass, in other words, the blocking mechanism 153 can block part of the flow of the garbage toward the dirt collecting assembly 155 in the advancing state of the cleaning robot, and allow the flow of the liquid or the small particle garbage toward the dirt collecting assembly 155 to be collected by the dirt collecting assembly 155, and can block the flow of the liquid toward the first rolling brush 152 side in the retreating state of the cleaning robot. In some embodiments, for example, in the embodiments shown in fig. 11 and 12, the blocking mechanism 153 is disposed to extend toward the surface to be cleaned to contact the surface to be cleaned, in a retreated state of the cleaning robot, the blocking portion 1532 of the blocking mechanism 153 contacts the surface to be cleaned, at this time, the friction force exerted by the contact of the blocking portion 1532 with the surface to be cleaned is toward the front side of the cleaning robot, and the passage from the second rolling brush 154 and the rear side thereof toward the first rolling brush 152 is blocked, so that the liquid cannot pass, in other words, in the example in which the blocking mechanism 153 is configured to contact the surface to be cleaned, as shown in fig. 11 and 12, the passage from the first rolling brush 152 toward the second rolling brush 154 and the rear side thereof is blocked, the flow of the garbage to the dirt collecting assembly 155 is blocked, and in a retreated state of the cleaning robot, the passage from the second rolling brush 154 and the rear side thereof toward the first rolling brush 152 is blocked.

In an embodiment, the cleaning device further includes an adapter, the adapter is fixed on the mounting base, and the blocking mechanism is detachably clamped on the adapter. In this embodiment, the blocking mechanism may be withdrawn from the adapter in a direction parallel to the axes of the first and second roller brushes without the use of tools.

In an embodiment, the adaptor is a metal member with a certain rigidity, for example, an aluminum alloy member, referring to fig. 18 and 19, fig. 18 is a schematic view of a adaptor structure in another embodiment of the application, fig. 19 is a schematic view of an installation of a blocking mechanism in another embodiment of the application, as shown in the drawings, the adaptor 157 includes a fixing portion 1570 fixedly connected to the mounting base and a clamping portion 1571 integrally formed with the fixing portion, and the clamping portion 1571 of the adaptor 157 includes an upper groove 15710 and a lower groove 15711 formed by bending, and a supporting portion 15712 for supporting a main body portion of the blocking structure. The upper groove 15710 is a groove for horizontally limiting the blocking structure 153, and the lower groove 15711 is a groove for vertically limiting the blocking structure 153.

In this embodiment, the adaptor is fixed to the mounting base by means of screw fixing, as shown in fig. 18, the fixing portion 1570 on the adaptor 157 is a screw hole for screwing the screw. In other words, the disassembly or assembly of the adaptor and the mounting base requires the operation by means of a tool such as a screwdriver, and the disassembly or assembly of the blocking mechanism and the adaptor is performed without the aid of a tool.

As shown in fig. 19, the connection portions of the blocking structure include an upper connection portion 15310 that is engaged with the upper groove 15710 and a lower connection portion 15311 that is engaged with the lower groove 15711. In this embodiment, the blocking structure is made of rubber, and when the blocking structure is mounted on the adapter, the lower edge of the blocking portion contacts with the ground to be cleaned, and when the robot moves forward or backward, the robot is deformed in different directions by friction force.

As mentioned above, one side of the blocking part of the blocking structure is a smooth surface, the other side is a filter structure or a groove surface, the filter structure is a groove structure, specifically, the filter structure of the blocking part of the blocking structure is located at one side of the forward direction of the robot when the blocking structure is mounted on the adaptor, and the smooth surface of the blocking part of the blocking structure is located at one side of the backward direction of the robot. In the forward state of the cleaning robot, the blocking part is contacted with the surface to be cleaned and is stressed to be bent, so that at least the lower part area of the filtering structure (the convex structure or the groove surface) is bent towards and contacts the surface to be cleaned from the direction of the first rolling brush, the bottom surface of the blocking part is bent away from the surface to be cleaned from the contact surface to be cleaned, a plurality of filtering channels are formed between the lower part area of the filtering structure (the convex structure or the groove surface) and the surface to be cleaned, large-particle garbage is blocked in the working area of the first rolling brush, and liquid or small-particle garbage can flow through the filtering channels and towards the dirt collecting assembly positioned at the rear side and can be finally recovered by the dirt collecting assembly. In the backward state of the cleaning robot, the blocking part of the blocking mechanism contacts with the surface to be cleaned, at this time, the friction force exerted by the contact of the blocking part and the surface to be cleaned is towards the front side of the cleaning robot, the smooth surface contacts with the ground, and the passage from the second rolling brush and the rear side thereof towards the first rolling brush is further closed, so that the liquid cannot pass, in other words, the passage from the second rolling brush and the rear side thereof towards the first rolling brush is closed in the backward state of the cleaning robot, and the liquid is blocked from flowing to the first rolling brush

With continued reference to fig. 5 to 8, the garbage box 151 is detachably disposed on the mounting base 150, and is used for collecting the garbage rolled by the first rolling brush 152. Specifically, the garbage box 151 is disposed in parallel in front of the first rolling brush 152, the garbage box 151 is disposed in a strip shape, a garbage opening 1510 is disposed on a side of the garbage box 151 facing the first rolling brush 154, and the garbage opening 1510 is disposed on an upper portion of the side (the upper portion is a portion of the garbage box close to the chassis). In this way, the garbage can 151 is deposited at the bottom of the garbage can 151 after the garbage drawn in by the first rolling brush 152 is allowed to enter the garbage opening 1510, so that the garbage can be prevented from falling. In some examples, the garbage can 151 and the mounting base 150 are provided with compliant snap-fit structures (not shown), by which the garbage can 151 can be easily removed and mounted from the mounting base 150. Further, in some examples, a handle structure 1511 is provided on one side of the waste bin 151, so that the waste bin can be removed for cleaning by an operator.

In some embodiments, a drain hole is provided on a side of the waste bin 151 facing the surface to be cleaned, and the drain hole is used for draining the liquid in the waste bin 151 to the surface to be cleaned, so that the second rolling brush 154 of the cleaning device 15 can clean the liquid. In this way, the liquid contained in the garbage scanned in by the first roller brush 152 can be prevented from accumulating in the garbage box.

With continued reference to fig. 3 and 5, the dirt collecting assembly 155 is disposed at the bottom of the chassis 11 of the cleaning robot and behind the second rolling brush 154, and is used for collecting the dirt on the surface to be cleaned, for example, the dirt is the liquid remained by the second rolling brush 154 of the cleaning device 15 in any of the foregoing embodiments for washing the surface to be cleaned. Wherein the sewage collecting assembly 155 can communicate with the built-in accommodating space of the sewage tank 12 of the cleaning robot, thereby allowing the sewage to be collected and then transferred to the built-in accommodating space. In one embodiment, the dirt collection assembly 155 may be disposed on the mounting block 150.

In an embodiment, referring to fig. 7a, the dirt collecting assembly 155 includes a dirt inlet 1550 and a bar structure 1551, the bar structure 1551 includes a first bar 15510 located at a front side of the dirt inlet 1550 and a second bar 15511 located at a rear side of the dirt inlet 1550, and the first bar 15510 and the second bar 15511 are located at front and rear sides of the dirt inlet 1550, respectively, to alternately collect the dirt as the cleaning robot moves forward and backward. Specifically, the first and second wiper 15510 and 15511 are disposed in parallel with the main body portion and contact the surface to be cleaned. As the cleaning robot advances, the first wiper 15510 allows the sewage to pass through the sewage inlet 1550, and the second wiper 15511 forms a blocking effect on the sewage at the rear side, so that the sewage is collected to the sewage inlet 1550. The second scraping bar 15511 allows the sewage of the rear side to enter the sewage inlet 1550 when the cleaning robot is retreated, and the first scraping bar 15510 forms a blocking effect on the sewage at the front side, so that the sewage can be collected to the sewage inlet 1550. The sewage collected to the sewage inlet 1550 is sucked into the built-in accommodating space of the sewage tank 12 by the suction assembly of the cleaning robot.

In one embodiment, referring to fig. 20, a schematic diagram of an arrangement of the dirt collecting assembly in a robot according to an embodiment of the present application is shown, and the dirt collecting assembly 155 further includes a dirt inlet seat 1552. The scraper bar 1551 may be withdrawn from the dirt-feeding seat 1552 in a direction parallel to the axes of the first and second rolling brushes, i.e. the scraper bar 1551 may be slidably and detachably arranged on the dirt-feeding seat 1552 for maintenance or replacement.

The dirt inlet seat 1552 is disposed on the chassis 11 of the robot, for example, the dirt inlet seat is fixed on the chassis by means of a locking screw, please refer to fig. 20 to 22, fig. 21 is a schematic structural diagram of a dirt collecting assembly according to an embodiment of the present application, fig. 22 is a schematic structural diagram of an exploded structural diagram of the dirt collecting assembly according to an embodiment of the present application, and in this embodiment, the dirt inlet seat 1552 is provided with a locking structure 15524 for locking on the chassis 11 corresponding to the mounting surface of the chassis 11, specifically, the locking structure is a stud with an internal thread, for example. The dirt inlet seat 1552 includes a dirt inlet channel 15521 for communicating with a dirt line and a first chute 15520.

Referring to fig. 22 and 23, fig. 23 is a schematic cross-sectional view of a dirt collecting assembly according to an embodiment of the present application, and as shown, the dirt collecting assembly 155 includes a dirt inlet 1550, a dirt scraping structure 1551, a dirt inlet seat 1552, a dirt scraping seat 1553, and a pressing plate 1554.

The scraper bar 1553 is slidably and detachably disposed on the dirt inlet 1552, where the scraper bar 1553 includes a second chute 15530 corresponding to the first chute 15520, and is configured to be fastened to the first chute 15520 when the scraper bar 1553 is slidably inserted into the dirt inlet 1552, and the dirt inlet 1550 is communicated with the dirt inlet 15521 of the dirt inlet 1552 and the dirt suction space of the scraper bar 1551, so that the sewage collected in the dirt suction space enters the pipeline of the sewage tank through the dirt inlet 1550 and the dirt inlet 15521.

In this embodiment, the first end of the dirt entering seat 1552 is configured to insert the second sliding groove 15530 into the first insertion portion 15522 of the first sliding groove 15520, the second end is configured to insert the second sliding groove 15530 into the second insertion portion 15532 of the first sliding groove 15520, the first end of the scraper seat 1553 is configured to insert the second sliding groove 15530 into the second stop portion 15531.

The wiper blade holder 1553 further includes a first coupling portion 15533 for providing the wiper blade structure 1551; the first combining portion 15533 has a step structure, and the scraper bar seat 1553 is provided with a plurality of clamping holes.

The platen 1554 is secured to the wiper blade holder 1553 for restraining the wiper blade structure 1551 to the wiper blade holder 1553; the pressing plate 1554 is provided with a hook 15540 corresponding to the plurality of clamping holes, and the hook 15540 is used for fixing the scraping structure 1551 on the scraping seat 1553 in a manner that the pressing plate 1554 passes through the clamping holes of the scraping seat 1553 to clamp the scraping structure.

The scraper structure 1551 includes a second coupling portion 15512 for coupling with the first coupling portion 15533, and a first scraper 15510 and a second scraper 15511 respectively disposed at the front and rear sides of the dirt inlet 1550 to form a dirt suction space for the dirt inlet 1550. In this embodiment, the first coupling portion 15533 is a step structure, the second coupling portion 15512 is a folded structure that is conformed to the step structure, and a protection structure 15534 for protecting the folded structure is formed on the scraper bar seat 1553. The first scraping strip and the second scraping strip are of an integrated structure. The first scraping strip and the second scraping strip are formed with two contracted ends at the first end and the second end and are arranged in parallel between the two contracted ends. A plurality of openings for sewage to enter the sewage suction space are formed in the first scraping strip at intervals.

Referring now to FIG. 24, a schematic view of a structure of a base plate according to an embodiment of the present application is shown, in which a fresh water tank 110 is integrally formed at the top of the base plate 11, and a suction module 112 is installed on the base plate.

In one embodiment, as shown in fig. 24 in combination with fig. 2, a recess is formed in the top surface of the bottom plate 11 around a sidewall 1101, the recess is an integrally formed fresh water tank 110, and a first positioning structure 1102 is provided on the fresh water tank 110, and the first positioning structure 1102 is compliant with a second positioning structure (not shown) provided on the foul water tank 12, for limiting the relative movement between the foul water tank 12 and the fresh water tank 110. Specifically, the first positioning structure 1102 is, for example, a groove structure provided on the sidewall 1101 of the fresh water tank 110, and the second positioning structure is a protrusion structure provided on the foul water tank 12 and complementary to the groove structure, however, the first positioning structure 1102 may be provided as a protrusion structure, and the second positioning structure may be provided as a protrusion structure, which is not limited by the specific form of the positioning structure according to the present application. It will be appreciated that in other embodiments, a water supply assembly may also be mounted on top of the chassis, the water supply assembly being in communication with the clean water tank to assist in delivering clean water tank water to the cleaning apparatus.

In one embodiment, as shown in FIG. 24 in combination with FIG. 2, a first piping structure 1103 is provided in the fresh water tank 110 to communicate with the collecting assembly 155, and the first piping structure 1103 is communicated with the built-in accommodating space 120 when the foul water tank 12 is combined with the bottom plate 11 to provide a water flow path from the collecting assembly 155 to the built-in accommodating space 120, and foul water collected to a foul water inlet 1550 of the collecting assembly 155 is introduced into the built-in accommodating space 120 of the foul water tank 12 through the first piping structure 1103.

In one embodiment, as shown in FIG. 24 in combination with FIG. 2, the outer edge of the top of the bottom plate 11 extends at least partially upward to form a recessed area 113 in combination with the side wall 1101 of the fresh water tank 110, the recessed area 113 being used for mounting the suction module 112. When the sewage tank 12 is combined with the chassis 11, the suction assembly 112 communicates with the built-in accommodating space 120 of the sewage tank 12 to form a negative pressure in the built-in accommodating space 120, so that sewage collected by the sewage collecting assembly 155 is transferred into the built-in accommodating space 120 through the first duct structure 1103.

In particular, in one embodiment, the foul water tank may also be integrally formed of a material such as plastic, metal or other materials used in the art and configured to be complementary to the chassis, the foul water tank being capable of closing the clean water tank and providing protection for the associated devices, components, assemblies, mechanisms/structures or the like mounted or integrated onto the chassis when combined therewith. In some examples, the tank and the chassis may be removably combined together by a variety of suitable means (e.g., screws, snaps, etc.).

In an embodiment, referring to fig. 25 and 26 in combination with fig. 24 and 2, fig. 25 is a schematic view showing a structure of a horizontal section of a sewage tank in an embodiment of the present application, and fig. 26 is a schematic view showing a structure of a vertical section of a cleaning robot in an embodiment of the present application, the sewage tank 12 includes an outer housing 121, and the outer housing 121 is provided in a hollow structure with an opening upward to form a built-in accommodating space 120 for recycling sewage collected by the cleaning robot. Wherein the built-in receiving space 120 can have an overlapping area with the receiving space 1100 of the fresh water tank 110 in the vertical direction when the foul water tank 12 is nested in the fresh water tank 110 to be combined with the base plate 11. For example, the nesting of the outer case 121 in the fresh water tank 110 means that at least a partial region of the outer case 121 constituting the built-in accommodating space 120 wraps the fresh water tank 110 in such a manner that the built-in accommodating space 120 of the outer case 121 wraps the fresh water tank 110 in a U-shape as shown in FIG. 26, that is, at least a portion of the outer case 121 constituting the built-in accommodating space 120 can be fitted to the side wall 1101 of the fresh water tank 110, so that the overlapped region can be formed in the vertical direction as shown as a P region in FIG. 26.

It should be understood that in the embodiment in which the built-in accommodation space and the accommodation space of the fresh water tank have overlapping areas in the vertical direction, space utilization is ensured on the one hand and counterweight balancing of the cleaning robot in the vertical direction is ensured on the other hand. Taking the case that the outer shell of the sewage tank can be arranged in an inverted step shape which is complementary with the side wall of the chassis as an example, the water level is continuously reduced due to continuous reduction of purified water in the purified water tank after the purified water is used, and the sewage collected by the cleaning robot is continuously increased in the sewage tank when the purified water is used, and the collected sewage also sinks to the space area where the purified water tank is located in terms of vertical space distribution due to the overlapping area of the purified water tank and the purified water, so that the balance of the counterweight of the cleaning robot is ensured.

In one embodiment, as shown in fig. 3 and 25, a water filling port 123 is provided in the outer case 121, and a second pipe structure 124 communicating with the water filling port 123 is provided in the built-in receiving space 120, and the second pipe structure 124 communicates with the fresh water tank 110 when the foul water tank 12 is coupled with the bottom plate 11 to provide a water flow path from the water filling port 123 to the fresh water tank 110. For example, the water filling port 123 is used to dock with a workstation, so that water can be filled into the clean water tank 110 of the cleaning robot by the workstation, and water flows from the workstation through the second pipeline structure 124 and then enters the clean water tank 110, where the workstation may be, for example, a workstation disclosed in any embodiment of the present application, or another workstation, and the workstation may be used to fill water into the cleaning robot by using the cyclic water changing method in any embodiment of the present application, or may be used to fill water into the cleaning robot in another manner.

As previously mentioned, the foul water tank is provided in a complementary integral formation to the chassis so as to be able to close the fresh water tank when combined. Further, in an embodiment in which the foul water tank includes an outer casing and a bottom plate integrally formed inside the outer casing, the fresh water tank is jointly closed by the outer casing and the bottom plate. To prevent leakage of the fresh water tank, in some embodiments, a sealing strip is provided at the bottom of the fresh water tank to enable the fresh water tank to be sealed when the foul water tank is combined with the bottom tray. In other embodiments, a sealing strip is provided at the junction of the foul water tank corresponding to the opening of the fresh water tank, so that the fresh water tank can be sealed, for example, a sealing strip or the like is provided at the bottom of the casing and the bottom plate corresponding to the opening of the fresh water tank. In the present application, when the foul water tank 12 is nested on the fresh water tank 110 to be combined with the base plate 11 so as to be covered on the top opening of the fresh water tank 110, in this configuration, the foul water tank 12 is used as a cover of the fresh water tank 110 to seal the fresh water tank 110, and in a specific implementation, a sealing structure such as a groove structure formed on the foul water tank 12 corresponding to the top edge of the side wall of the fresh water tank 110 is provided between the foul water tank 12 and a sealing ring (such as a rubber ring) provided in the groove structure is provided so that the opening of the top of the fresh water tank 110 can be sealed by the sealing structure when the foul water tank 12 is covered on the fresh water tank 110.

In view of this, the cleaning robot further includes a drain assembly applicable to a robot including a first accommodation chamber and a second accommodation chamber for draining liquid of the first accommodation chamber and the second accommodation chamber of the robot. The robot may be, for example, a cleaning robot as described in any of the foregoing embodiments and the following embodiments of the present application, or may be a cleaning robot of other structures or a robot with other functions, and the present application is not limited to the structure of the robot to which the drain assembly is applied, and only needs to have a first accommodating chamber and a second accommodating chamber. For the sake of understanding and description, the following embodiments are described with reference to the example in which the drain assembly is applied to the cleaning robot according to the present application, and herein, the first receiving cavity corresponds to the receiving space corresponding to the clean water tank, and the second receiving cavity corresponds to the receiving space corresponding to the foul water tank for receiving foul water, so that the first receiving space will be referred to as the receiving space of the clean water tank and the second receiving space will be referred to as the built-in receiving space of the foul water tank hereinafter, and those skilled in the art can correspond the first receiving cavity and the second receiving cavity to their actual structures according to the specific robot structure when the drain assembly is applied to the robot of other structures.

Referring to fig. 27 to 31 in combination with fig. 2, fig. 27 is a schematic view showing that the drain assembly is disposed on the cleaning robot according to an embodiment of the present application, fig. 28 is a schematic view showing that the drain assembly is configured in a perspective view according to an embodiment of the present application, fig. 29 is a schematic view showing that the drain assembly is configured in a C-C section according to an embodiment of the present application shown in fig. 28, fig. 30 is a schematic view showing that the drain assembly is configured in a D-D section according to an embodiment of the present application shown in fig. 28, fig. 31 is a schematic view showing that the drain assembly 3 is disposed on the body 10 of the cleaning robot 1 according to an embodiment of the present application, and the drain assembly 3 includes a first water inlet section 30, a second water inlet section 31, and a main body 32. The first inlet section 30 is provided to communicate with the receiving space 1100 of the fresh water tank 110. The second water inlet section 31 is used to communicate with the built-in accommodating space 120 of the sewage tank 12. The main body 32 is provided with a water discharge port 320 and a passage structure (not shown) which communicates with the first water inlet section 30, the second water inlet section 31, and the water discharge port 320, so that the liquid in the receiving space 1100 of the fresh water tank 110 and the built-in receiving space 120 of the foul water tank 12 is introduced into the passage structure through the first water inlet section 30 and the second water inlet section 31, respectively, and discharged through the water discharge port 320 when the water discharge port 320 is opened.

In order to ensure that the waste in the sewage tank 12 can smoothly enter the channel structure (such as the second flow channel 35 mentioned further below) through the second water inlet section 31, the water inlet aperture of the second water inlet section 31 needs to be adapted to the size of the inlet of the sewage collecting assembly 155 of the cleaning robot and the corresponding pipeline thereof, in other words, the water inlet aperture of the second water inlet section 31 needs to be not smaller than the size of the sewage collecting assembly 155 and the corresponding pipeline thereof capable of entering the waste, so as to ensure that the waste in the sewage can smoothly enter the channel structure to be discharged in the process of discharging the sewage in the sewage tank 12, and avoid the waste in the sewage from being blocked/accumulated at the second water inlet section 31 to block the flow channel and the like. Wherein the drain opening 320 is openable and closable by a cover 33 provided thereon to be openable and closable.

Further, in an embodiment, as shown in fig. 27 to 31 in combination with fig. 2, the drain assembly 3 may be obliquely disposed on the cleaning robot 1 at the lower side of the receiving space 1100 of the fresh water tank 110 and the built-in receiving space 120 of the foul water tank 12, so that the liquid in the receiving space 1100 and the built-in receiving space 120 may be discharged through the channel structure and the drain opening 320 depending on gravity when the drain opening 320 is opened.

In one embodiment, as shown in fig. 27 and 29 in combination with fig. 2, the channel structure includes a first flow channel 34 and a second flow channel 35. The first flow channel 34 communicates with the first water intake section 30 and the water discharge opening 320. The second flow channel 35 communicates with the second water inlet section 31 and the water outlet 320. In the present embodiment, the liquid flowing into the first flow path 34 from the accommodation space 1100 through the first water inlet section 30 is discharged when the water outlet 320 is opened, and the liquid flowing into the second flow path 35 from the built-in accommodation space 120 through the second water inlet section 31 is discharged. In this embodiment, the drain port 320 may be formed by, for example, the ends of the two flow channels (34, 35), or may be an opening provided at the end of the two flow channels (34, 35) to communicate the two flow channels (34, 35). The ends of the two flow channels (34, 35) are the ends of the drain assembly 3 away from the accommodating space 1100 for communicating with the water tank 110 and the built-in accommodating space 120 of the sewage tank 12, and are configured on the cleaning robot, and are the ends of the drain assembly 3 facing the outer side of the cleaning robot.

In some embodiments, as shown in fig. 27-31, the drain assembly 3 further includes a first water outlet section 36 disposed on the main body portion 32. The first water outlet section 36 communicates with the first flow channel 34 such that when the water outlet 320 is opened, the liquid in the receiving space 1100 of the fresh water tank 110 can flow out from the first water inlet section 30 through the first flow channel 34 and the first water outlet section 36 (as indicated by arrows in fig. 29, which indicates the flow direction of the liquid). When the water discharging assembly 3 is configured on the cleaning robot, the first water outlet section 36 is also communicated with the water spraying structure of the cleaning robot 1, so that the water supplying assembly of the cleaning robot 1 can circulate the liquid in the accommodating space 1100 of the clean water tank 110 to the water spraying structure through the first liquid flowing channel 34 and the first water outlet section 36 by the first water inlet section 30 in a pumping mode to be discharged, and thus, the cleaning robot 1 can also discharge water in a docking mode with a workstation.

In some embodiments, as shown in fig. 28 to 31, the drainage assembly further includes a second water outlet section 37 disposed on the main body 32, and the second water outlet section 37 is in communication with the second fluid channel 35, so that when the drainage port 320 is opened, the liquid in the internal accommodating space 120 of the sewage tank 12 can flow out from the second water inlet section 31 through the second fluid channel 35 and the second water outlet section 37 (as indicated by arrows in fig. 30, the liquid flows). When the drainage assembly 3 is configured on the cleaning robot 1, the second water outlet section 37 is also communicated with the drain outlet of the cleaning robot 1, so that the liquid flowing out of the second water outlet section 37 is discharged through the drain outlet, for example, when the cleaning robot 1 is docked with a workstation and uses the suction assembly to discharge sewage, the suction assembly can convey the liquid in the built-in accommodating space 120 to the drain outlet for discharge through the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 in a pumping manner, and of course, when the cleaning robot 1 is docked with the workstation, the liquid in the built-in accommodating space 120 can be circulated to the drain outlet through the second liquid flow channel 35 by using the liquid flow gravity.

The control device 14 is arranged on the cleaning robot 1 and is used for controlling the operation of all parts on the cleaning robot body. For example, the control device 14 may be used to control the mobile device 13 and the cleaning device 15 to cooperate to perform cleaning operations, and to perform positioning, mapping, navigation, etc. using navigation techniques.

In some embodiments, the control device 14 includes a memory and a processor.

The processor may be used to read and execute computer readable instructions. In particular implementations, the processor may include primarily a controller, an operator, and registers. The controller is mainly responsible for instruction decoding and sending out control signals for operations corresponding to the instructions. The arithmetic unit is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, logic operations, and the like, and may also perform address operations and conversions. The register is mainly responsible for storing register operands, intermediate operation results and the like temporarily stored in the instruction execution process. In a specific implementation, the hardware architecture of the processor may be an Application Specific Integrated Circuit (ASIC) architecture, a MIPS architecture, an ARM architecture, an NP architecture, or the like. The number of processors may be one or more, for example: the processors may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (IMAGE SIGNAL processor, ISP), a controller, a video codec, a digital signal processor (DIGITAL SIGNAL processor, DSP), a baseband processor, and/or a neural Network Processor (NPU), etc. Wherein the different processors may be separate devices or may be integrated in one or more processors.

The memory is coupled to the processor for storing various software programs and/or sets of instructions (e.g., storing software programs that control the cleaning robot to perform a preset number of back and forth reciprocations). In particular implementations, the memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The memory may store an operating system, such as an embedded operating system such as uCOS, vxWorks, RTLinux. The memory may also store communication programs that may be used to communicate with a smart terminal, an electronic device, one or more servers, or additional devices.

In some embodiments, the control device 14 further comprises at least one interface unit, each interface unit being configured to output a visual interface, receive a human-machine interaction event generated according to a technician's operation, and the like. For example, the interface unit includes, but is not limited to: a serial interface such as an HDMI interface or a USB interface, or a parallel interface, etc. In one embodiment, the interface unit further comprises a network communication unit, which is a device for data transmission using a wired or wireless network, including, but not limited to: an integrated circuit including a network card, a local area network module such as a WiFi module or a bluetooth module, a wide area network module such as a mobile network, and the like.

When an existing cleaning robot performs a cleaning task of a surface to be cleaned, for example, a floor cleaning task of a supermarket or a floor cleaning task of an airport, for reasons such as convenience in control of the cleaning robot and convenience in planning a path, a control device controls the cleaning robot to advance along the planned path and control the cleaning device to operate in the advancing process so as to perform the cleaning task, and the cleaning task of the surface to be cleaned is completed after the cleaning robot traverses the planned path. In the application, the cleaning robot is provided with the blocking mechanism between the first rolling brush and the second rolling brush of the cleaning device, and the blocking mechanism is used for blocking at least part of garbage from flowing to the dirt collecting assembly in the advancing state of the cleaning robot, so that the blocking mechanism can prevent large-particle garbage from passing through the dirt collecting assembly to cause the rear rolling brush to stick dirt or block the dirt collecting assembly for collecting sewage. However, during the rotation of the first rolling brush (e.g., the first rolling brush 152 is rotated counterclockwise in fig. 7 a), the first rolling brush may not completely carry/sweep/roll all the garbage into the garbage can, and a portion of the garbage (e.g., large-particle garbage) that does not enter the garbage can may be accumulated on the front side of the blocking mechanism, and if the influence of the accumulated garbage is ignored, the cleaning effect of the cleaning robot may be affected.

In view of this, the control device of the present application controls the moving device and the cleaning device to cooperate to perform the steps S10 and S20 to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box and to recycle the sewage retained on the rear side of the blocking mechanism through the sewage collecting assembly.

In step S10, the control device controls the cleaning robot to perform a backward movement to collect the garbage accumulated at the front side of the blocking mechanism into the garbage can by the rotation of the first roller brush. Specifically, in the forward process of the cleaning robot, the front side of the blocking mechanism stacks garbage (for example, stacks large-particle garbage), and the control device controls the cleaning robot to execute backward movement, so that the stacked garbage can relatively move relative to the backward blocking mechanism, and is closer to the first rolling brush, namely, is farther away from the blocking mechanism, and can be brought into/swept into/rolled into the garbage box by the first rolling brush which rotates. For example, referring to fig. 32, a schematic diagram of a front-back state of a cleaning robot in an embodiment of the application is shown, where the robot accumulates garbage in front of a blocking mechanism 153 before the robot performs the backward (or in a forward state of the robot), after the backward distance Q (i.e. the distance between the positions of the front sides of the cleaning robot before and after the backward is Q), the accumulated garbage is rolled up by a first rolling brush 152, i.e. the first rolling brush 152 rotates counterclockwise (e.g. indicated by an indication arrow corresponding to the first rolling brush 152 in fig. 32), and then the rolled garbage can be collected in a garbage box 151.

In some embodiments, a blocking mechanism 153 may be in contact with the surface to be cleaned to block the dirty water (e.g., liquid left by the second roll brush surface to be cleaned) on the rear side of the blocking mechanism 153 from passing through the blocking mechanism 153 when the cleaning robot is retreated, so that the dirty water is held between the blocking mechanism 153 and the dirty water collecting assembly 155, so that the dirty water can be recovered to the dirty water tank when the cleaning robot is subsequently controlled to advance.

When the cleaning robot is changed from the forward state to the backward state, the blocking mechanism is stressed to be biased towards a direction approaching the first rolling brush. For example, as shown in fig. 32, when the cleaning robot is in a forward state, the blocking mechanism 153 is forced to deviate in a direction away from the first rolling brush 152, and garbage is accumulated on the front side of the blocking mechanism 153, when the robot is changed from the forward state to the backward state, the blocking mechanism 153 is forced to deviate in a direction close to the first rolling brush 152, and garbage accumulated on the front side of the blocking mechanism 153 is pushed to the working area of the first rolling brush 152 during the deviation direction of the blocking mechanism 153 is changed, so that the accumulated garbage is promoted to be closer to the first rolling brush 152. The working area of the first rolling brush refers to an area where the first rolling brush can be rolled into garbage when rotating, namely, the garbage in the working area can be rolled up by the first rolling brush when the first rolling brush rotates.

In an embodiment, the distance of movement of the cleaning robot to perform the backward movement is greater than the distance between the blocking mechanism and the first rolling brush in the forward state of the cleaning robot. In an example, the backward movement distance is greater than a distance between a lowermost end of the blocking mechanism and a center position of the first rolling brush in a forward state of the cleaning robot. For example, referring to fig. 33, a schematic view of an advancing state of a cleaning robot according to an embodiment of the application is shown, in which a distance between a lowermost end of the blocking mechanism 153 and a center position of the first rolling brush 152 in the advancing state of the cleaning robot is Q1, and a moving distance of the cleaning robot for performing backward movement is greater than Q1, so that garbage deposited on a front side of the cleaning robot can relatively move and then enter a working area of the first rolling brush 152 to be collected in the garbage box 151 by the first rolling brush 152 in a counterclockwise rotation (for example, indicated by an indication arrow corresponding to the first rolling brush 152 in fig. 33). In other examples, the travel distance of the retreat may be determined by a plurality of experiments or the like.

In step S20, the control device controls the cleaning robot to perform forward movement to recover the sewage retained at the rear side of the blocking mechanism through the sewage collecting assembly. Specifically, during the process of brushing the surface to be cleaned by the second rolling brush of the cleaning robot, the back side of the blocking mechanism can retain sewage (such as sewage generated during the process of brushing the surface to be cleaned by the second rolling brush), the retained sewage is not collected by the sewage collecting assembly, and then the first scraping strip of the sewage collecting assembly is stressed and deformed to allow the sewage retained between the blocking mechanism and the sewage collecting assembly to enter the sewage inlet through the first scraping strip when the cleaning robot is controlled to advance, the second scraping strip forms a blocking effect on the sewage at the back side, so that the sewage is collected to the sewage inlet, and the sewage collected to the sewage inlet is sucked into the built-in accommodating space of the sewage tank by the suction assembly of the cleaning robot. Further, during the advancing process of the cleaning robot, the blocking mechanism can allow liquid or small particle garbage to pass through, and the liquid or small particle garbage passing through the blocking mechanism can be collected by the dirt collecting assembly after entering the dirt inlet through the first scraping strip.

In an embodiment, the distance of travel of the cleaning robot to perform the advancement is greater than the distance between the blocking mechanism and the dirt collection assembly. In one example, the forward travel distance is greater than a distance between a lowermost end of the blocking mechanism and the dirt collection assembly in the cleaning robot retracted state. For example, referring to fig. 34, which is a schematic diagram illustrating a backward state of the cleaning robot according to an embodiment of the application, as shown in the drawing, a distance between the lowermost end of the blocking mechanism 153 and the first scraping bar 15510 of the dirt collecting assembly 155 is Q2, and a moving distance of the cleaning robot for performing forward movement is greater than Q2, so that the dirt retained between the dirt collecting assembly 155 and the blocking mechanism 153 can be collected by the dirt collecting assembly 155 through the first scraping bar 15510 of the dirt collecting assembly 155 to the dirt inlet of the dirt collecting assembly 155. For another example, the forward moving distance is greater than a distance between the lowermost end of the blocking mechanism and the dirt inlet of the dirt collecting assembly in the backward state of the cleaning robot. In other examples, the advancing movement distance may also be determined based on multiple experiments, or the like.

In an embodiment, during the cleaning task performed by the cleaning robot, the control device controls the moving device and the cleaning device to cooperate to perform step S10 and step S20, for example, after the cleaning robot works for a preset period of time, the cleaning robot controls the cleaning robot to perform step S10 and step S20. For another example, after the cleaning robot moves a distance of a preset length, the cleaning robot controls the cleaning robot to perform step S10 and step S20 to clean the garbage accumulated on the front side of the blocking mechanism and the sewage retained on the rear side of the blocking mechanism, thereby preventing the garbage and the sewage from reducing the cleaning effect of the cleaning task.

In still another embodiment, when the cleaning robot performs the cleaning task (performing the cleaning task includes any one of stopping the water jet flow of the water jet structure, stopping the rotation and the rising of the second rolling brush, stopping the rotation and the rising of the first rolling brush), the control device controls the moving device and the cleaning device to cooperate to perform the step S10 and the step S20, for example, the cleaning robot completes the cleaning task of the surface to be cleaned according to the planned path, if the cleaning operation is stopped immediately, the accumulated garbage remains in front of the blocking mechanism at the position where the cleaning task is finished, the sewage (for example, the sewage dropped after the second rolling brush stops working) is retained at the rear side of the blocking mechanism, and thus the garbage and the sewage which are not collected may remain on the surface to be cleaned during the subsequent movement (for example, returning to the charging pile) of the cleaning robot. In view of this, when the cleaning robot has performed the cleaning task, steps S10 and S20 may be performed to perform the finalizing work to thoroughly clean up the garbage accumulated on the front side of the blocking mechanism and the sewage retained on the rear side of the blocking mechanism of the cleaning robot after the cleaning task is finished.

The present application is not limited to the timing of executing the backward and forward operations, and the backward and forward operations may be used for collection when there is accumulated refuse and stagnant sewage.

In some embodiments, the control device controls the cleaning robot to perform a preset number of back and forward reciprocating motions through the moving device, so as to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through the first rolling brush and to recycle the sewage remained on the rear side of the blocking mechanism through the sewage collecting assembly. Specifically, in order to collect the garbage accumulated at the front side of the blocking mechanism into the garbage can as much as possible, the control device controls the cleaning robot to perform the reciprocating motion of the preset number of receding and advancing. In some examples, the preset number of times may be 2 to 5 times, specifically, the preset number of times is, for example, 2 times, 3 times, 4 times, or 5 times. It should be noted that, in practical application, the preset number of times may be determined according to an experiment or the like, so as to ensure that the retained garbage and sewage can be collected.

In a specific embodiment, the control device controls the cleaning robot to execute the reciprocating motion of the backward and forward of the preset times through the moving device when the water spraying structure stops spraying water flow or when the cleaning robot is detected to complete the cleaning task. The garbage currently accumulated on the front side of the blocking mechanism and the sewage remained on the rear side of the blocking mechanism can be more thoroughly collected through multiple reciprocating motions.

In an embodiment, in the first backward and forward reciprocating motion, the control device controls the cleaning robot to perform a backward first preset distance before controlling the cleaning robot to perform a forward second preset distance. For example, when there is an obstacle (e.g., a fixed obstacle such as a wall, a virtual wall, a shelf, an industrial apparatus, a seat, etc., or a moving obstacle such as a pedestrian, a pet, etc.) in the forward direction of the cleaning robot when the cleaning robot performs a finishing operation (e.g., when the cleaning robot completes a cleaning task and controls a water spray structure to stop spraying water flow), the control device controls the cleaning robot to perform a backward first preset distance before performing a forward second preset distance. Referring to fig. 35, a schematic view of a cleaning robot performing a first backward and forward reciprocating motion according to an embodiment of the present application is shown, in which the cleaning robot performs a backward first preset distance Q3 when performing the first reciprocating motion, during which garbage is rolled up by the first rolling brush 152, sewage on the rear side of the blocking mechanism 153 is limited between the blocking mechanism 153 and the dirt collecting assembly 155 along with the backward motion of the cleaning robot, and then the cleaning robot is controlled to perform a forward second preset distance Q4, during which the sewage is collected by the dirt collecting assembly 155, and after the cleaning robot performs the first forward and backward reciprocating motion, the garbage is collected into the garbage box 151, and the sewage is also collected by the dirt collecting assembly 155, as shown in fig. 35.

In another embodiment, in the first backward and forward reciprocating motion, the control device may control the cleaning robot to perform the forward second preset distance before controlling the cleaning robot to perform the backward first preset distance. For example, when the cleaning robot performs a finishing operation (for example, when the cleaning robot completes a cleaning task and controls a water spray structure to stop spraying water flow), the control device controls the cleaning robot to perform a forward second preset distance and then a backward first preset distance, when an obstacle temporarily occurs at the rear side of the cleaning robot and the front side of the cleaning robot can pass.

The second preset distance and the first preset distance may be equal or different in size. In an example, the second preset distance is greater than the first preset distance. Specifically, because the interval between blocking mechanism with the interval between the first round brush is less than blocking mechanism and the dirty subassembly of collection, so less first default distance can satisfy blocking mechanism front side accumulational rubbish can by first round brush roll up in order to collect to the rubbish box, compare in first default distance, need set up great second default distance and collect the sewage that is detained between blocking mechanism and the dirty subassembly of collection, both improved cleaning robot's efficiency of carrying out cleaning task or carry out the efficiency of ending operation like this, can guarantee good cleaning effect again.

In one embodiment, the control device controls the cleaning device to stop performing the cleaning operation after controlling the cleaning robot to perform the reciprocating motion of the backward and forward for a predetermined number of times. Specifically, when the water spraying structure stops spraying water flow or the cleaning robot detects that the cleaning robot completes cleaning tasks, the cleaning robot is controlled to execute the ending operation by controlling the cleaning robot to execute the back and forward reciprocating motions of preset times, when the ending operation is executed, namely, after the back and forward reciprocating motions of preset times are completed, the cleaning device is controlled to stop executing the cleaning operation, namely, the first rolling brush is stopped to be driven, the second rolling brush is stopped to be driven, the water spraying structure is controlled to stop spraying water flow, and the suction assembly is stopped to be driven.

In summary, according to the cleaning robot for executing cleaning operation disclosed by the application, by arranging the blocking mechanism between the first rolling brush and the second rolling brush of the cleaning device, the phenomenon that the first rolling brush is wetted and then is stuck to the garbage to influence the garbage to enter the garbage box, the phenomenon that the garbage flows to the second rolling brush to pollute the second rolling brush and the phenomenon that the garbage flows to the dirt collecting assembly to cause blockage to the dirt collecting assembly can be avoided; and the control device of the cleaning robot can collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through controlling the cleaning robot to execute the backward movement, and can recover the sewage retained on the rear side of the blocking mechanism through the sewage collecting assembly through controlling the cleaning robot to execute the forward movement, so that the thorough cleaning of the garbage and the sewage retained on the surface to be cleaned is realized, the cleaning effect of the cleaning robot is improved, and further, the control device is used for controlling the cleaning robot to execute the backward and forward reciprocating movement of preset times through the moving device when the water spraying structure stops spraying water flow or the cleaning robot is detected to finish the cleaning task, so that the tail-collecting operation after the cleaning task is finished can be realized, the garbage and the sewage on the surface to be cleaned where the cleaning operation is stopped after the cleaning task is finished are prevented, and the cleaning effect of the surface to be cleaned is further improved.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

A cleaning robot for performing a cleaning operation, the cleaning robot comprising:

the moving device comprises a driving wheel arranged at the bottom of the cleaning robot;

The cleaning device is arranged at the bottom of the cleaning robot and is used for executing cleaning operation; the cleaning device sequentially includes, from the front side toward the rear side of the cleaning robot: the garbage box, the first rolling brush, the blocking mechanism, the second rolling brush and the dirt collecting assembly; wherein the blocking mechanism is used for blocking at least part of garbage from flowing to the dirt collecting assembly in the forward state of the cleaning robot;

Control means for controlling the movement means and the cleaning means to cooperate to perform the steps of:

controlling the cleaning robot to perform backward movement to collect the garbage piled on the front side of the blocking mechanism into the garbage box by the rotation of the first rolling brush;

The cleaning robot is controlled to perform forward movement to recover the sewage retained at the rear side of the blocking mechanism through the sewage collecting assembly.
The cleaning robot for performing a cleaning operation according to claim 1, wherein the blocking mechanism is further configured to contact a surface to be cleaned in a retracted state of the cleaning robot to block the dirty water from passing through the blocking mechanism to hold the dirty water between the blocking mechanism and the dirty collecting assembly.
The cleaning robot for performing a cleaning operation according to claim 1, wherein the blocking mechanism is further configured to be biased toward a direction approaching the first roller brush by a force when the cleaning robot is changed from the forward state to the backward state, so as to push the garbage accumulated on the front side of the blocking mechanism toward the working area of the first roller brush.
The cleaning robot for performing a cleaning operation of claim 1, wherein the blocking mechanism is further adapted to allow liquid or small particle waste to pass therethrough in the cleaning robot advanced state for collection by the dirt collection assembly.
The cleaning robot for performing a cleaning operation according to claim 4, wherein the blocking mechanism is in contact with a surface to be cleaned in a forward state of the cleaning robot to form a filter passage for allowing liquid or small particle garbage to pass through.
The cleaning robot for performing a cleaning operation according to claim 1, wherein the control means is configured to control the cleaning robot to perform a preset number of back and forward reciprocating movements by the moving means to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box by the first roller brush and to collect the sewage retained on the rear side of the blocking mechanism by the sewage collecting assembly.
The cleaning robot for performing a cleaning operation according to claim 6, wherein the preset number of times is 2 to 5 times.
The cleaning robot for performing a cleaning operation of claim 1, further comprising a water spray structure for spraying a water flow to wet the second roll brush.
The cleaning robot for performing a cleaning operation according to claim 8, wherein the control means is for controlling the cleaning robot to perform a preset number of back and forward reciprocating motions by the moving means when the water spray structure stops spraying water flow or when it is detected that the cleaning robot completes a cleaning task.
The cleaning robot for performing a cleaning operation according to claim 6 or 9, wherein the control means controls the cleaning robot to perform a backward first preset distance and then to perform a forward second preset distance during the first reciprocating movement.
The cleaning robot for performing a cleaning operation of claim 10, wherein the second preset distance is greater than the first preset distance.
The cleaning robot for performing a cleaning operation according to claim 9, wherein the control means controls the cleaning means to stop performing the cleaning operation after controlling the cleaning robot to perform a preset number of back and forward reciprocating movements.
The cleaning robot for performing a cleaning operation according to claim 1, wherein a moving distance of the cleaning robot to perform a backward movement is larger than a distance between the blocking mechanism and the first rolling brush in a forward state of the cleaning robot.
The cleaning robot for performing a cleaning operation of claim 1, wherein the distance of travel the cleaning robot performs forward travel is greater than the distance of the blocking mechanism from the dirt collection assembly.
The cleaning robot for performing a cleaning operation according to claim 1, wherein the blocking mechanism is provided along the first roll brush length direction, and in the cleaning robot advanced state, the blocking mechanism is forced to be biased toward a direction away from the first roll brush.
The cleaning robot for performing a cleaning operation according to claim 1, wherein a distance between the blocking mechanism upper portion and the first rolling brush is smaller than a distance between the blocking mechanism lower portion and the first rolling brush.
The cleaning robot for performing a cleaning operation of claim 1, wherein the blocking mechanism has a curved surface, the curved direction of the curved surface conforming to the outer edge of the first roller brush.
The cleaning robot for performing a cleaning operation according to claim 1, wherein the blocking mechanism comprises: a connection portion and a blocking portion; the connecting portion is used for being connected with the bottom of the chassis of the cleaning robot, and the blocking portion is connected with the connecting portion and used for blocking at least part of garbage to flow to the dirt collecting assembly.
The cleaning robot for performing a cleaning operation according to claim 18, wherein the blocking mechanism further comprises a reinforcing portion which is positionable on the connecting portion to support and reinforce the blocking portion.
The cleaning robot for performing a cleaning operation according to claim 18, wherein a filter structure for allowing liquid or small particle garbage to pass therethrough in a forward state of the cleaning robot is provided on the blocking portion.
The cleaning robot for performing cleaning operations according to claim 20, wherein the filter structure is provided as a raised structure on the surface of the barrier or as a hole open on the barrier.
The cleaning robot for performing a cleaning operation according to claim 18, wherein the blocking portion is made of a flexible material.
The cleaning robot for performing a cleaning operation according to claim 18, wherein the blocking portion is provided as a brush body.
The cleaning robot for performing a cleaning operation according to claim 1, wherein the dust box is disposed in parallel in front of the first rolling brush.
The cleaning robot for performing a cleaning operation of claim 1, wherein the dirt collection assembly includes a dirt inlet and a wiper strip structure including a first wiper strip positioned on a front side of the dirt inlet and a second wiper strip positioned on a rear side of the dirt inlet.
The cleaning robot for performing a cleaning operation according to claim 25, wherein the first wiper strip allows the front-side sewage to enter the sewage inlet in a forward state of the cleaning robot, and the second wiper strip forms a blocking effect on the rear side to allow the sewage to be gathered to the sewage inlet.
The cleaning robot for performing a cleaning operation according to claim 25, wherein the second wiper strip allows the sewage of the rear side to enter the sewage inlet in a retreated state of the cleaning robot, and the first wiper strip forms a blocking effect on the sewage of the front side so that the sewage is gathered to the sewage inlet.
The cleaning robot for performing a cleaning operation according to claim 1, further comprising a sewage tank having a built-in accommodation space in communication with the sewage collecting assembly, the sewage tank for accommodating sewage collected by the sewage collecting assembly.