CN210138108U

CN210138108U - Cleaning robot and mopping assembly thereof

Info

Publication number: CN210138108U
Application number: CN201821883414.3U
Authority: CN
Inventors: 肖明银; 温佳佳
Original assignee: Ankobot Shanghai Smart Technologies Co ltd; Shin Kou (shenzhen) Intelligent Technology Co Ltd; Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Ankobot Shanghai Smart Technologies Co ltd; Shin Kou (shenzhen) Intelligent Technology Co Ltd; Shenzhen Silver Star Intelligent Technology Co Ltd
Priority date: 2018-10-27
Filing date: 2018-11-15
Publication date: 2020-03-13
Anticipated expiration: 2028-11-15
Also published as: CN210383777U; CN211674024U; CN210169970U; CN109363571A; CN109363587A; CN212261284U; CN109330504A

Abstract

The application discloses be applied to cleaning machines people's mopping subassembly and cleaning machines people, should drag the ground subassembly including dragging the pad and drag the pad supporting body, it is fixed in to drag the pad on dragging the stationary plane of pad supporting body, drag the installation face of pad supporting body then to install on the robot body through detachable mounting structure, fixed knot constructs simply, is convenient for the mop and drags pad supporting body group to unload the operation.

Description

Cleaning robot and mopping assembly thereof

Technical Field

The present disclosure relates to the field of cleaning robots, and more particularly, to a cleaning robot and a floor mopping assembly thereof.

Background

In recent years, with the development of social economy and the improvement of the household living standard, furniture cleaning gradually enters an intelligent and mechanized era, the cleaning robot which is produced by transportation is popular with more and more families due to the effects of automatic cleaning and the like, the cleaning robot can liberate people from household cleaning work, the work burden of people on the aspect of household cleaning is effectively relieved, and the fatigue degree of people in the household cleaning process is relieved.

The cleaning robot products on the market have three basic cleaning functions of sweeping, absorbing dust and mopping, wherein most cleaning robots can only realize the sweeping and absorbing dust, but cannot realize the mopping function, so that stubborn stains attached to the ground are difficult to effectively remove, and the ground cleaning effect is not ideal. Of course, some cleaning robots are equipped with a spraying device for performing a floor watering function. In addition, some cleaning robots are all-in-one sweeping and mopping machines and can also achieve the function of mopping the floor, and the common method is that a spraying device and cleaning cloth are arranged behind driving wheels at the bottom of the cleaning robot, and the cleaning cloth wipes the floor along with the traveling of the cleaning robot according to a preset path plan, so that the function of mopping the floor of the cleaning robot is achieved (when the cleaning cloth is used for providing clean water to dip in moisture through the spraying device, the function of mopping the floor is achieved).

Taking a sweeping and mopping machine as an example, the sweeping and mopping machine also has some problems, such as: in view of the size of the body of the cleaning robot, the spray devices have to be placed with limited space, which poses a number of challenges to the design of the interior space of the cleaning robot. In addition, when mopping, the fresh water supplied by the spraying device is applied to the cloth in a single controlled manner (e.g. a fixed frequency) regardless of the type of floor, so that: on the one hand, the mopping effect is often unsatisfactory because the moisture content requirements of the wiping cloth are different for different types of floors, for example, carpets do not need to be mopped, and tiles and floors have different water requirements; on the other hand, the volume of the water storage tank is limited so that the water storage tank cannot be filled with a lot of water, and if a spraying strategy cannot be designed reasonably, a user is bound to frequently participate in filling the water storage tank with clean water in the whole mopping process, so that the user experience is reduced. In addition, the mop in the cleaning robot also has the problems of complex fixing structure, inconvenient assembly and disassembly and the like, and influences the user experience.

Disclosure of Invention

In view of the above disadvantages of the prior art, an object of the present invention is to provide a floor mopping assembly applied to a cleaning robot and the cleaning robot, which are used to solve the problems of the prior art, such as complicated fixing structure of the floor mopping assembly and inconvenient assembly and disassembly.

To achieve the above and other related objects, a first aspect of the present application discloses a floor mopping assembly applied to a cleaning robot, comprising: dragging the cushion; the dragging pad bearing body comprises a fixing surface for fixing the dragging pad and a mounting surface opposite to the fixing surface, and the mounting surface is fixed at the bottom of the robot body through a detachable mounting structure.

The application discloses be applied to cleaning machines people's subassembly of dragging ground, including dragging the pad and dragging the pad supporting body, it is fixed in to drag the pad on dragging the fixed surface of pad supporting body, the installation face that drags the pad supporting body is then installed on the robot body through detachable mounting structure, and fixed knot constructs simply for the mop and drag pad supporting body group to unload conveniently.

In certain embodiments of the first aspect of the present application, the cleaning robot includes a mid-sweep assembly located in a central region of the robot body, and the mopping pad carrier is located on a rear side of the mid-sweep assembly.

In certain embodiments of the first aspect of the present application, the robot body is circular or D-shaped, and the bolster carrier and the bolster are arcuate.

In certain embodiments of the first aspect of the present application, the robot body is rectangular, and the pad carrier and the pad are rectangular or elongated.

In certain embodiments of the first aspect of the present application, the dragging pad is fixed on the fixing surface of the dragging pad carrier by a hook and loop fastener.

In certain embodiments of the first aspect of the present application, the mopping pad is fixed to the fixing surface of the mopping pad carrier by a snap-fit structure.

In certain embodiments of the first aspect of the present application, the snap-fit structure comprises: the clamping groove is arranged on the fixing surface of the pad bearing body; the clamping strip is arranged at the edge of the dragging pad.

In certain embodiments of the first aspect of the present application, the slot of the card slot extends inwardly to form a taper such that the slot forms a bayonet that is smaller in size than the card strip.

In certain embodiments of the first aspect of the present application, one end of the slot is a closed structure, and the other end of the slot is provided with an introduction opening.

In certain embodiments of the first aspect of the present application, the removable mounting structure comprises: the robot body is provided with at least one pair of clamping hooks arranged on two opposite sides of the mounting surface, and the robot body is provided with clamping grooves or clamping columns corresponding to the clamping hooks.

In certain embodiments of the first aspect of the present application, the removable mounting structure further comprises: the pair of guide grooves are arranged on two opposite sides of the mounting surface and are adjacent to the at least one pair of clamping hooks, and at least one pair of bulges or ribs corresponding to the guide grooves are arranged on the robot body.

In certain embodiments of the first aspect of the present application, the removable mounting structure further comprises: the pair of protrusions or ribs are arranged on the two opposite sides of the mounting surface and are adjacent to the pair of clamping hooks, and at least one pair of guide grooves corresponding to the protrusions or ribs are formed in the robot body.

The detachable mounting structure further includes: the convex points are arranged on two opposite sides of the mounting surface and are adjacent to the at least one pair of clamping hooks.

In certain embodiments of the first aspect of the present application, the mopping assembly further comprises a hook unlocking mechanism corresponding to each hook of the at least one pair of hooks, the hook unlocking mechanism comprising: a toggle switch; the connecting rod is connected with the clamping hook and the toggle switch; the hook is driven by the connecting rod to be separated from the clamping groove or the clamping column by using the toggle switch.

In certain embodiments of the first aspect of the present application, the two toggle switches of the at least one pair of trip unlocking mechanisms are disposed in a same unlocking zone where one-handed operation is available.

In certain embodiments of the first aspect of the present application, the mopping assembly further comprises a toggle switch corresponding to each of the at least one pair of hooks, the toggle switch being disposed outside of the hooks.

In certain embodiments of the first aspect of the present application, the mopping pad carrier is provided with a spray opening through the mounting surface and the securing surface.

In certain embodiments of the first aspect of the present application, the mopping assembly further comprises a mounting detection mechanism for detecting whether the mopping pad carrier is correctly mounted on the robot body.

In certain embodiments of the first aspect of the present application, the installation detection mechanism comprises: the Hall sensor is arranged on the robot body; the magnet is arranged on the dragging cushion bearing body.

In certain embodiments of the first aspect of the present application, the mopping assembly further comprises an auxiliary guide wheel provided at an intermediate position rearward of the fixed surface in the mopping pad carrier.

A second aspect of the present application discloses a cleaning robot comprising: a robot body configured with a mobile device; a mopping assembly as hereinbefore described.

The utility model discloses a cleaning machines people disposes and drags ground subassembly, should drag ground subassembly including dragging the pad and drag the pad supporting body, it is fixed in to drag the pad on dragging the stationary plane of pad supporting body, the installation face that drags the pad supporting body is then installed on the robot body through detachable mounting structure, and fixed knot constructs simply for the mop and drag pad supporting body group unload the facility.

In certain embodiments of the second aspect of the present application, the cleaning robot further comprises: and the spraying assembly is arranged in the robot body and is used for spraying cleaning fluid to the mopping assembly.

In certain embodiments of the second aspect of the present application, the spray assembly comprises: the storage tank is arranged in the storage tank containing groove of the robot body and used for storing cleaning fluid; a delivery pump, wherein a flow inlet of the delivery pump is communicated with a discharge port of the storage tank; the jet flow piece is arranged at the bottom of the robot body; the jet flow piece is communicated with the outflow port of the delivery pump and is provided with at least one spray head; and the controller is connected with the delivery pump and is used for controlling the pump flow action of the delivery pump according to a floor cleaning mode so as to spray the cleaning fluid in the storage tank through the at least one spray head of the spray member.

Drawings

Fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present disclosure.

Fig. 2 is a schematic perspective view of the cleaning robot according to the present embodiment opening the top cover.

Fig. 3 is a schematic bottom view of the cleaning robot of the present invention in this embodiment.

Fig. 4 is a schematic view of the cleaning robot of the present application from a perspective of the cleaning robot with the cover removed.

Fig. 5 is a schematic view of the cleaning robot of the present application from another perspective after removing the cover in this embodiment.

Fig. 6 is a schematic view showing the combination of the spray units in this embodiment.

Fig. 7 is an exploded view of the storage box and the robot body of the spray module according to the embodiment.

Fig. 8 is a schematic view of the storage box of this embodiment after the cover is removed.

Fig. 9 shows a schematic view of a combination of a check valve and a level sensor in this embodiment.

Fig. 10 is a partial cross-sectional view of fig. 9.

Fig. 11 is a perspective view of a cleaning robot configured with a floor mopping assembly.

Figure 12 shows a schematic view of the spray assembly and the floor assembly in this embodiment in cooperation.

FIG. 13 is an exploded view of the mopping assembly in one embodiment.

FIG. 14 is a schematic view of a mopping assembly in one embodiment.

FIG. 15 is a schematic view of the mopping assembly of FIG. 14 with the mounting surface removed.

FIG. 16 is a schematic view of the assembly of the mopping assembly of FIG. 14 with a chassis.

Fig. 17 is a schematic view of another embodiment of the floor mopping assembly.

Detailed Description

The following description of the embodiments of the present application is provided for illustrative purposes, and other advantages and capabilities of the present application will become apparent to those skilled in the art from the present disclosure.

In the following description, reference is made to the accompanying drawings that describe several embodiments of the application. It is to be understood that other embodiments may be utilized and that mechanical, 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. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.

Although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first preset threshold may be referred to as a second preset threshold, and similarly, the second preset threshold may be referred to as a first preset threshold, without departing from the scope of the various described embodiments. The first preset threshold and the preset threshold are both described as one threshold, but they are not the same preset threshold unless the context clearly indicates otherwise. Similar situations also include a first volume and a second volume.

Also, 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," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. 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; b; c; 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 inherently mutually exclusive in some way.

The application relates to the field of cleaning robots, which are automatic floor sweeping machines, intelligent dust collectors and the like, is an intelligent household appliance and can complete cleaning work such as sweeping, dust collection, floor mopping and the like. Specifically, the cleaning robot can be controlled by a person (an operator holds a remote controller) or automatically complete floor cleaning work in a room according to a certain set rule. Some cleaning machines people on the market are provided with a spraying device for realizing a floor spraying function or a floor mopping function, but the spraying action executed by the spraying device is single, so that the problems that good cleaning effect can not be obtained on various cleaning floors, the utilization rate of the spraying device is low and the like can not be solved. In view of the above, the present application discloses a spray assembly applied to a cleaning robot.

Please refer to fig. 1 to 3, which are schematic structural views of the cleaning robot of the present application in an embodiment, wherein fig. 1 is a schematic perspective view of the cleaning robot of the present application in the embodiment, fig. 2 is a schematic perspective view of an opened top cover of the cleaning robot of the present application in the embodiment, and fig. 3 is a schematic bottom view of the cleaning robot of the present application in the embodiment.

As shown in the drawings, the cleaning robot includes a robot body 10, and the robot body 10 includes a chassis 11, a cover 12, and other related devices or components.

In some embodiments, the chassis 11 may be integrally molded from a material such as plastic that includes a plurality of preformed slots, recesses, detents, or the like for mounting or integrating associated devices or components on the chassis 11. In certain embodiments, the enclosure 12 may include top and side panels, and the enclosure 12 may also be integrally formed from a material such as plastic and configured to complement the chassis 11 and provide protection for various associated devices or components mounted to the chassis 11. The chassis 11 and the cover 12 may be detachably combined by various suitable means (e.g., screws, snaps, etc.), and after being combined, the chassis 11 and the cover 12 may form a package structure having a certain receiving space.

As shown in the drawings, the robot body 10 of the cleaning robot of the present embodiment has an overall flat cylindrical structure: the chassis 11 is circular, and the top panel of the cover body 12 is circular, and the lateral panel of the cover body 12 extends downwards from the periphery of the circular top panel to form an outer circumferential side wall, and the lateral panel can also be provided with a plurality of grooves, openings and the like. The robot body 10 having the oblate cylindrical structure has better environmental compatibility when the cleaning robot moves (the movement includes at least one combination of forward, backward, turning, and rotating), for example, it reduces the probability of collision with surrounding objects (such as furniture, walls, etc.) or reduces the intensity of collision to reduce damage to the cleaning robot itself and the surrounding objects, and is more advantageous for turning or rotating. However, the present invention is not limited thereto, and in other embodiments, the robot body may also adopt a rectangular structure, a triangular prism structure, or a semi-elliptic prism structure (also referred to as a D-shaped structure).

In addition, the robot body 10 includes a front portion and a rear portion, and a front-rear center line X extending in the front-rear direction is defined between the front portion and the rear portion, the front-rear center line X dividing the robot body 10 into left and right portions. The "front portion" is with respect to the forward direction of the cleaning robot, and when the cleaning robot performs forward movement, the foremost part of the robot body 10, which is closest to the forward direction, is the front portion, and thus, the opposite part of the robot body 10 to the front portion is the rear portion.

Generally, the top surface of the housing 12 is further provided with a top cover 121, and the top cover 121 can be rotatably connected to the housing 12 through a rotating structure. The cap 121 may be located at the rear of the housing 12, but is not limited thereto, and the cap may be located at the front of the housing. In some embodiments, the rotational structure may have a rotational end rotatably connected to the cover 12 and a connection end fixedly connected to the top cover 121. In practical applications, the cap 121 is opened, closed, etc. by pulling a distal end of the cap 121 away from the rotating structure to cause the cap 121 to flip relative to the housing 12 about the rotating structure.

The top surface of the cover body 12 is further provided with a key area, and one or more function keys are laid in the key area, for example: a power button, a charging button, a cleaning mode selection button, etc. In some embodiments, the keys are also provided with status display lamps, and the status of the keys is displayed so as to provide better human-computer user experience. In a specific implementation, the status display lamp may have different selections of display colors and display modes, for example, the status display lamp may display different light colors according to different statuses (e.g., normal, standby, failure, etc.), the status display lamp may display different light colors according to different functions (e.g., power, charging, cleaning mode, etc.), and the status display lamp may also adopt different display modes (e.g., normal, standby, failure, etc.) according to different statuses (e.g., normal, standby, failure, etc.) or different functions (e.g., power, charging, cleaning mode, etc.) (e.g., normal, breathing light mode, flashing, etc.).

The top surface of the cover 12 may also be provided with other means. For example, in some embodiments, a camera device may be disposed on the top surface of the housing 12, and the number of the camera devices may be one or more, and the structure and arrangement information of the camera device will be described in detail later. In some embodiments, a microphone may be provided on the top surface of the housing 12 for picking up ambient sounds from the cleaning robot during the cleaning operation or voice commands from the user. In some embodiments, a microphone may be provided on the top surface of the housing 12 for playing voice messages. In some embodiments, a touch display screen may be disposed on the top surface of the cover 12, so as to achieve a good human-machine experience.

In order to protect the cleaning robot, the robot body is further provided with an anti-collision assembly for avoiding damage caused by collision of the cleaning robot with peripheral objects in a cleaning environment. In the embodiment shown in fig. 2, the collision avoidance component may be, for example, a bumper 13 for cushioning the cleaning robot from colliding with surrounding objects during movement. The bumper is substantially in the shape of a circular arc plate, which is installed at a forward portion of a side panel of the robot body 10. An elastic structure may be provided between the bumper and the robot body 10, so that a stretchable elastic space is formed therebetween. When the cleaning robot collides with an obstacle, the bumper is contracted toward the robot body 10 by the force, and absorbs and counteracts the impact force generated by the collision with the obstacle, thereby protecting the robot body 10. In some embodiments, the bumper may be a multi-layer structure, or a soft rubber strip may be provided on the outer side of the bumper.

The other related devices or components may include power supply devices, moving devices, sensing systems, cleaning devices, and control systems, among others.

The power supply device is used for supplying power to other electric devices (such as a mobile device, an image pickup apparatus and the like). In practical embodiments, the power supply device comprises a rechargeable battery (pack), such as a conventional nickel metal hydride (NiMH) battery, which is economically reliable, or other suitable rechargeable battery (pack), such as a lithium battery, which has a higher volumetric specific energy than a nickel metal hydride (NiMH) battery, and has no memory effect and can be charged with use, thereby greatly improving convenience. The rechargeable battery (pack) is mounted in a battery recess of the chassis, which may be sized according to the battery (pack) to be mounted. The rechargeable battery (pack) can be mounted in the battery recess in a conventional manner, such as a spring latch. The battery recess may be closed by a battery cover which may be secured to the chassis in a conventional manner, such as by screws. The rechargeable battery (pack) can be connected with a charging control circuit, a battery charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the control system. The cleaning robot is connected with the charging seat through a charging electrode arranged on the side or the bottom of the robot body for charging. In addition, the power supply device can comprise a main battery and a standby battery under necessary conditions, and when the electric quantity of the main battery is too low or an outlet wire fails, the standby battery can be switched to work.

The mobile device is arranged on the robot body and used for driving the mobile robot to move. Here, in order to describe the movement behavior of the robot more clearly, the following definitions are made: the cleaning robot can travel over the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the robot body: the X-axis corresponds to the front and rear center lines X, the X-axis is perpendicular to the Y-axis, and the Z-axis is perpendicular to a plane formed by the X-axis and the Y-axis. As such, the forward driving direction of the cleaning robot along the X axis is denoted as "forward" and the backward driving direction along the X axis is denoted as "backward". The "pitch up" is performed when the forward portion of the cleaning robot is inclined upward and the backward portion is inclined downward, and the "pitch down" is performed when the forward portion of the cleaning robot is inclined downward and the backward portion is inclined upward. In addition, the cleaning robot is rotatable about the Z-axis. For example, in the forward direction of the robot, when the cleaning robot is tilted toward the left side of the X-axis, it is "left turn", and when the cleaning robot is tilted toward the right side of the X-axis, it is "right turn".

In some embodiments, the moving device may include a traveling mechanism and a traveling driving mechanism, wherein the traveling mechanism may be disposed at a bottom of the robot body, and the traveling driving mechanism is embedded in the robot body. Further, the travelling mechanism may adopt a travelling wheel mode, and in one implementation mode, the travelling mechanism may for example include at least two universal travelling wheels, and the at least two universal travelling wheels may be independently driven by the corresponding at least two travelling drive mechanisms respectively. The at least two universal traveling wheels realize the movement of advancing, retreating, steering, rotating and the like. In other implementations, as shown in fig. 3, the traveling mechanism may, for example, include a combination of two straight traveling wheels 211 and at least one auxiliary steering wheel 213, the two straight traveling wheels 211 are respectively disposed at two opposite sides of the bottom of the chassis 11 of the robot body 10, and the two straight traveling wheels 211 may be independently driven by two corresponding traveling driving mechanisms, that is, the left straight traveling wheel is driven by the left traveling driving mechanism, and the right straight traveling wheel is driven by the right traveling driving mechanism. The ground engaging wheels may be mounted on the robot body 10 in a manner that is not limited to a single wheel, but may be mounted on the robot body 10 in a manner that is not limited to a single wheel. The spring bias allows the road gimbal or road straight wheel to maintain contact and traction with the ground with a certain ground contact force. At least one auxiliary steering wheel 213 is provided on the front side of the bottom of the chassis 11 of the robot body 10. In practical applications, the two road wheels are mainly used for forward and backward movement in the case where the at least one auxiliary steering wheel 213 is not involved, and the movement such as steering and rotation can be realized in the case where the at least one auxiliary steering wheel 213 is involved and engaged with the two road wheels 211. The walking driving mechanism can comprise a driving motor and a control circuit for controlling the driving motor, and the driving motor can drive the walking wheels in the walking mechanism to move. In a specific implementation, the driving motor can be a reversible driving motor, for example, and a speed change mechanism can be further arranged between the driving motor and the wheel axle of the travelling wheel. The walking driving mechanism can be detachably mounted on the robot body 10, so that the robot is convenient to disassemble, assemble and maintain.

The cleaning device may include at least a sweeping assembly and a dust extraction assembly. The sweeping assembly may in turn include a mid-sweep assembly, an edge-sweep assembly, and a dust extraction assembly.

The middle sweeping assembly is arranged in the central area of the bottom of the chassis. In some embodiments, the middle-sweeping assembly may include an upper casing, a lower casing, a middle-sweeping component, and a driving motor, wherein the upper casing and the lower casing may form a cavity via a combination body, and the middle-sweeping component is disposed in the cavity between the upper casing and the lower casing.

In the embodiment shown in fig. 3, the mid-scan component may be, for example, a rolling brush structure 31.

In some embodiments, the rolling brush structure 31 may include a middle sweeping rotary roller and a middle sweeping brush disposed on the middle sweeping rotary roller, the middle sweeping part is installed in the cavity between the upper casing and the lower casing, and a brush sweeping cavity opening (also called a dust suction opening) is disposed at the lower part of the lower casing, and the middle sweeping brush protrudes out of the sweeping cavity opening to contact with the ground to be swept. In practical application, the driving motor is used for driving the middle sweeping rotating roller in the middle sweeping component and the middle sweeping brush on the middle sweeping rotating roller to rotate so as to carry out sweeping work, and the garbage is swept from the cleaning floor and is conveyed into the dust collection assembly through the collection inlet.

In some embodiments, the rolling brush structure 31 may include a middle-sweeping rolling roller, and a middle-sweeping brush and a middle-sweeping glue brush disposed on the middle-sweeping rolling roller, so as to be compatible with various cleaning environments such as floors, carpets, and the like. The growth directions of the middle sweeping rubber brush and the middle sweeping brush are basically consistent with the radial direction of the middle sweeping rotating roller, the width of the rubber strip of the middle sweeping rubber brush and the width of the middle sweeping brush are matched with the cleaning cavity opening of the brush, the middle sweeping rubber brush and the middle sweeping brush do not adopt a parallel or nearly parallel arrangement mode, but have a larger included angle between the middle sweeping rubber brush and the middle sweeping brush, so that the middle sweeping rubber brush and the middle sweeping brush can respectively realize the application function of the middle sweeping rubber brush and the middle sweeping brush.

Because the brush clusters on the middle sweeping brush have larger gaps, wind can easily run off from the gaps, and the help for forming a vacuum environment is small. Therefore, through sweeping the brush with glue in setting up, can form the wind pocket effect to when wind pocket intensity reached and predetermine intensity, can assist the realization to sweep the cleaning object, make clean rubbish can be carried to the dust collection box in more conveniently under the sweeping of round brush structure 31 and the blowing of wind.

In addition, the bristles of the middle sweeping brush are arranged to be in a V-shaped or U-shaped spiral structure, the pointed end of the V shape is located at the middle position of the rolling brush structure 31, and in the rolling sweeping process of the rolling brush structure 31, the brushes on the two opposite sides of the V-shaped or U-shaped spiral structure gather the garbage from the two sides to the middle position, so that part of dust, especially large-particle garbage, is easier to suck into the dust collecting chamber, the structure is simple, and the sweeping efficiency is greatly improved. Of course, the brushes in the rolling brush structure 31 can be arranged in other spiral ways, such as "\\"/", which are staggered toward the middle of the rolling brush, and can also have the effect of collecting the garbage toward the middle position of the front side of the brush cleaning cavity opening.

In certain embodiments, the upper housing may be, for example, a floating system mount or a fixed frame, and the lower housing may be, for example, a roller brush cover.

Taking the floating system bracket as an example, the floating system bracket may further include a fixed bracket and a floating bracket, and a driving motor for driving the middle-sweeping part, and the like may be further mounted on the floating system bracket. One side of the floating bracket can be coupled to the fixed bracket through a shaft rotating structure, so that the other side of the floating bracket can float up and down relative to the fixed bracket. In addition, in the floating system support, the rear end of the floating support is provided with a dust inlet opening, the rear end of the fixed support is provided with a corresponding dust inlet opening, and the dust inlet opening of the floating support is communicated with the dust inlet opening of the fixed support through a telescopic flexible air inlet channel. The flexible air inlet channel can be in the floating support is relative when the fixed bolster floats about relative, specifically, when the floating support is relative when the fixed bolster is kept away from, the floating support with flexible air inlet channel between the fixed bolster extends, when the floating support is relative the fixed bolster is close to, the floating support with flexible air inlet channel between the fixed bolster contracts. When the cleaning robot is in a normal cleaning process, the floating support in the floating system support floats to the lowest position under the action of gravity, and the rolling brush structure arranged in the floating system support can be tightly attached to the ground to be cleaned no matter on the floor, a carpet or other non-smooth cleaning surfaces, so that the most efficient ground-attaching sweeping is realized, and meanwhile, the rolling brush structure has a better ground-attaching effect on different types of cleaning ground, so that the rolling brush structure obviously contributes to the air duct sealing property. In addition, when the height of the cleaning ground is fluctuated or an obstacle exists on the cleaning ground, the interaction between the rolling brush structure and the obstacle can be reduced through the up-and-down floating of the floating support, so that the cleaning robot is assisted to complete obstacle crossing operation, the rolling brush structure, the driving motor and the like can be protected, and the service life of the cleaning robot is prolonged.

It should be noted that, in general, the wider the width of the roller brush structure as the middle sweeping part, the larger the cleaning coverage and the wider the single cleaning width, while the dust collecting box as the garbage accommodating part is disposed in the housing together with the walking wheel and the like, the width is limited, and in order to increase the vacuum pressure to suck the garbage into the dust collecting box, the dust inlet of the dust box cannot be wide, and therefore, the section from the brush cleaning cavity opening of the floating bracket corresponding to the roller brush structure to the dust inlet opening of the floating bracket is reduced.

The rolling brush cover is detachably covered on the bottom of the floating system bracket or the fixed frame. When the rolling brush cover covers the floating system bracket or the fixed frame, a cavity capable of accommodating the rolling brush structure is formed between the floating system bracket and the fixed frame, and the rolling brush structure is limited in the cavity. The rolling brush cover is provided with an opening which corresponds to the rolling brush structure and can expose the middle sweeping brush and the middle sweeping glue brush in the rolling brush structure. In some embodiments, a scraping strip is provided on the rear edge of the opening of the roller cover (i.e., the scraping strip is located behind the rolling brush structure along the cleaning robot), and the hanging strip is spaced apart from the rolling brush structure (e.g., 1 mm to 3 mm), so that a small part of the garbage which is not directly rolled up by the rolling brush structure can be intercepted and scooped up by adhering to the cleaning ground, and thus can be rolled up under the sweeping action of the rolling brush structure and the suction of the fan. The position and angle of the scraping strip are selected so that the garbage is always in the optimal cleaning and suction position, and the phenomenon that the garbage is left behind the rubber strip is avoided. In practical application, the scraping strip can be made of a soft rubber material and is detachably arranged on the rolling brush cover.

The edge brush assembly is disposed at an edge of the bottom of the chassis, and in some embodiments, the edge brush assembly 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 the cleaning side brushes 33 may be at least one, and the cleaning side brushes 33 may be disposed at opposite sides of the front portion of the robot body 10 (if the number of the cleaning side brushes may be at least two, the at least two cleaning side brushes are symmetrically disposed at opposite sides of the front end of the robot body 10, respectively), and the cleaning side brushes 33 may be rotary type cleaning side brushes, and may be rotated under the control of the side brush motor. In some embodiments, the rotation axis of the rotary cleaning edge brush 33 is at an angle relative to the ground (which may be set parallel to the floor of the chassis of the robot body), for example, the angle may ensure that the outer bristles of the cleaning edge brush 33 are lower than the inner bristles, so that the outer bristles are closer to the ground, which is more beneficial for sweeping debris and the like into the rolling brush area.

The dust collection assembly can comprise a dust collection box, a dust collection fan and a corresponding air duct structure.

Referring to fig. 4, a schematic view of the cleaning robot of the present embodiment at a viewing angle after removing the cover is shown. In the embodiment shown in fig. 2 and 4, the dust bin 32 may be mounted in a dust bin receptacle of the chassis 11, which is open in a central region of the chassis 11, the size of which may be customized depending on the mounted dust bin 32. The dust bin 32 may be mounted in the bin receptacle in a conventional manner, such as a snap-lock latch or directly placed. In some embodiments, the dust bin 32 is provided with a handle or gripping structure (e.g., grooves, bumps, etc.) to facilitate gripping. The handle can adopt a pull-type handle or a turnover-type handle.

The dust collecting box 32 may at least include a dust collecting chamber, and a dust inlet and an air outlet communicated with the dust collecting chamber, and a filter element or a similar filter screen structure is further disposed at the air outlet of the dust collecting box 32, and the filter element or the similar filter screen structure is detachably designed and can be repeatedly used, for example, cleaned by a brush or washed by water. A sealing strip or a sealing ring is arranged at the dust inlet of the dust collection box 32, and the dust inlet of the dust collection box corresponds to the dust inlet opening of the fixed bracket in the floating system bracket, so that the dust inlet of the dust collection box 32 is communicated with the floating bracket through an air inlet channel between the fixed bracket and the floating bracket. The air outlet of the dust collecting box 32 is provided with a sealing strip or a sealing ring.

In addition, the dust collecting box 32 is designed to be openable and closable, in some embodiments, the dust collecting box 32 may be divided into a box body and a box cover, the box body has a dust collecting cavity, the air outlet and the filter element or similar filter screen structure at the air outlet are disposed on the box body, the box cover is provided with a dust inlet, and the box cover may be coupled to the box body in a manner of, for example, a rotating shaft, and may be covered on the box body in a manner of, for example, a buckle.

In the embodiment shown in fig. 4, the dust suction fan 34 has an air inlet and an air outlet, the air inlet of the dust suction fan 34 is communicated with the air outlet of the dust box 32 through a connecting passage 35, and the air outlet of the dust suction fan 34 is communicated with an air exhaust passage. Therefore, the air duct structure described herein may at least include a flexible air inlet channel (not shown in the drawings) between the dust inlet opening of the floating bracket and the dust inlet opening of the fixed bracket, a connecting channel 35 between the dust collecting box 32 and the dust suction fan 34, and an air exhaust channel 36 communicating with the air outlet of the dust suction fan. The exhaust duct 36 may be secured to the chassis 11 by mounting structures, which may be, for example, screw locks or the like, in some embodiments. In the embodiment shown in fig. 4, a curved main channel is arranged in the exhaust channel 36, a secondary channel is arranged at least beside the main channel, and exhaust guide elements for mutual communication are further arranged between the main channel and the secondary channel. In one embodiment, the exhaust air guiding element may be, for example, a grid arranged at intervals, the gap of the grid may be designed according to the actual requirement, the characteristics of the dust suction fan, the size of the exhaust air channel, and the like, and the height of the grid may be slightly lower than the height of the main channel, so that the grid and the top of the main channel also have a certain flow space. Of course, the air exhaust flow guide element can also adopt other structures, such as fins or through holes and the like.

In practical application, a fan motor in the dust collection fan 34 drives the fan to rotate so that an airflow doped with garbage enters the dust collection box 3 through a dust inlet, the garbage in the airflow is filtered by the filter element or a similar filter screen structure and then is retained in the dust collection box 3, the filtered airflow enters the dust collection fan 34 from an air outlet through the connecting channel 35, and then is discharged out of the cleaning robot from the air outlet of the dust collection fan 34 through the air exhaust channel 36, most of the airflow flows in the main channel in the air exhaust channel 36, but in a region where the air exhaust channel 36 turns or has a rapid wind flow, part of the airflow is dissipated into the auxiliary channel beside the air exhaust guide element, flows in the auxiliary channel and then flows back to the main channel through the air exhaust guide element to be converged, and the airflow is well divided and guided. The air exhaust passage 36 formed integrally is long, which is beneficial to noise elimination, and the air flow is finally exhausted out of the cleaning robot, so that the cleaning robot can form a relatively sealed space, and dust is not easy to enter the cleaning robot. In addition, the air outlet of the air exhaust channel is of an outward expansion structure which is gradually enlarged, so that air exhaust is facilitated, and meanwhile, the effect of reducing wind noise can be achieved.

As mentioned above, the air outlet of the dust collecting box 32 is provided with a filter element or similar filter screen structure for filtering air, so as to prevent the dust in the dust collecting box 32 from escaping and damaging the dust collection fan 34 behind, and to prevent the blockage of the filter element or similar filter screen structure from affecting the smooth air passage, the sectional area of the air outlet of the dust collecting box 32 is usually larger, and the air inlet of the dust collection fan 34 is far smaller than the air outlet of the dust collecting box 32, so that the cross section of the connecting channel 35 communicating the air outlet of the dust collecting box 32 and the air inlet of the dust collection fan 34 is reduced, and the air coming out of the filter element or similar filter screen structure of the dust collecting box 32 enters the dust collection fan 34 in a certain direction with as little loss as possible.

In order to detect whether the dust collecting box is positioned in the dust collecting box containing groove, the dust collecting component can be also provided with a dust collecting box position detecting mechanism. In some embodiments, the dust box position detecting mechanism may include a hall sensor and a magnet, wherein the hall sensor is disposed on the robot body 10, for example, on a mounting structure adjacent to the dust box receiving slot in the chassis 11, and the hall sensor is connected to a control system on the chassis 11, and the magnet is disposed on a side or bottom of the dust box 32 or on the filter element or similar filter screen structure. The magnet is arranged on the filter element or a similar filter screen structure, and the filter element or the similar filter screen structure cannot be missed after the dust collection box is placed in the dust collection box accommodating groove, so that the risk that the garbage in the dust collection box enters the fan to be damaged when the filter element or the similar filter screen structure is missed is avoided. In practical application, when the dust collection box is placed in the dust collection box containing groove, when the magnet on the dust collection box corresponds to the hall sensor at the dust collection box containing groove, the hall sensor outputs a pulse signal because the magnet on the dust collection box is changed by a magnetic field and cuts magnetic lines of force, so that the dust collection box is determined to be placed in place and correctly placed in the dust collection box containing groove, when the magnet on the dust collection box does not correspond to the hall sensor at the dust collection box containing groove, the hall sensor does not output the pulse signal, and the control system outputs an alarm signal because the control system does not receive the corresponding pulse signal, so as to remind a user that the dust collection box is not placed in place (or the filter element or a similar filter screen structure is not placed in place).

The sensing system is used for sensing relevant signals and physical quantities to determine position information and motion state information of the mobile device, and the like.

In some embodiments, the sensing system may include a camera, a Laser Direct Structuring (LDS), various sensing devices, and the like, wherein the devices may be combined differently according to product requirements. For example, in one implementation, the sensing system may include a camera device and various types of sensing devices. In one implementation, the sensing system may include a laser ranging device and various sensing devices. In one implementation, the sensing system may include a camera device, a laser ranging device, and various sensing devices. In these implementations, the number of the image capturing devices may be one or more.

In some embodiments, the at least one camera may be disposed on a top surface of the robot body 10 (e.g., a central region of the top surface, a front end of the top surface opposite the central region, and a rear end of the top surface opposite the central region), and an optical axis of the at least one camera is at an acute angle or close to a right angle with respect to a plane formed by the top surface for capturing an image of an operating environment of the cleaning robot, so as to facilitate subsequent VSLAM (Visual simultaneous localization and Mapping) and object recognition. For example, in an implementation manner, a monocular camera may be disposed on the top surface of the robot body, the monocular camera may calculate the change of the camera pose through adjacent image matching, perform triangulation ranging on two viewing angles and obtain depth information of corresponding points, and positioning and mapping may be implemented through an iterative process. In one implementation mode, the top surface of the robot body can be provided with a binocular camera, the monocular camera can calculate depth information through a triangulation method, and positioning and mapping can be achieved through an iteration process. In an implementation mode, the top surface of the robot body can be provided with a fisheye camera which protrudes out of the top surface of the robot body, and a panoramic image can be obtained through the fisheye camera.

In some embodiments, the at least one camera may be disposed on a side surface of the robot body. For example, in one implementation, the at least one camera may be disposed on a side surface of a front of the robot body (i.e., a front portion located on the front-rear center line X).

In some embodiments, the at least one camera device may be disposed at a junction between the top surface and the side surface of the robot body, for example, in an implementation, at least one concave structure may be disposed at the junction between the top surface and the side surface of the robot body, and the at least one camera device is disposed in the corresponding at least one concave structure, so that the camera device has a wider camera view angle, obtains image data with more information, obtains more accurate distance measurement and determines the position and the posture of the mobile robot by using the image data of the camera device, and improves accuracy and reliability of vision-based simultaneous positioning and mapping. For information on the recessed structure and the setting position, setting mode, design structure, working mode, etc. of the image capturing device, reference may be made to the related descriptions in the patent application (title of the invention: mobile robot, application No. CN201721554630.9, grant No. CN207424680U) filed by the applicant in 2017, 11, 20.

The sensing system may include a variety of sensors for a variety of different purposes including, but not limited to, any one or combination of pressure sensors, gravity sensors, ranging sensors, cliff sensors, drop sensors, collision detection sensors, and the like.

In some embodiments, a pressure sensor may be provided on a shock-absorbing device of the traveling wheel, and it is determined whether the moving device passes through a concave-convex surface of the cleaning region by detecting a pressure change of the shock-absorbing device, and when the cleaning robot passes through the concave-convex surface, a shock-absorbing motion of the shock-absorbing device causes the pressure sensor to output a pressure signal different from a pressure signal on a flat ground. In some embodiments, a pressure sensor may be provided on a bumper assembly (e.g., a bumper, etc.) of the cleaning robot, and when the bumper assembly collides with an obstacle, the pressure-reducing vibration of the bumper assembly causes the pressure sensor to output a pressure signal generated based on the collision.

In some embodiments, the gravity sensor may be disposed at any position of the robot body, and determine whether the mobile device passes through the concave-convex surface of the cleaning region by detecting a gravity value of the cleaning robot, which changes when the cleaning robot passes through the concave-convex surface.

The distance measuring sensor can detect the vertical distance change between the chassis of the cleaning robot and the ground and the distance change between the cleaning robot and peripheral objects. In some embodiments, the ranging sensor may be disposed on a chassis of the cleaning robot, and determine whether the mobile device passes through a concave-convex surface of the cleaning region by detecting a distance between the chassis of the cleaning robot and the floor surface, and the ranging sensor may be capable of detecting a change in the distance between the chassis of the cleaning robot and the floor surface when the cleaning robot passes through the concave-convex surface. In some embodiments, the ranging sensor may be disposed on a bumper assembly of the cleaning robot for enabling the ranging sensor to detect changes in distance of the cleaning robot from other objects in the cleaning environment while the cleaning robot is traveling. As described above, the collision-prevention component is exemplified by a bumper, which is in the shape of a circular arc and is disposed at the front of the robot body. In a specific implementation, the distance measuring sensors may include a plurality of infrared distance measuring sensors, for example, the number of the infrared distance measuring sensors may be four, six or eight, and the infrared distance measuring sensors are respectively symmetrically disposed on two opposite sides of the bumper. Each path of infrared distance measuring sensor is provided with an infrared signal transmitter and an infrared signal receiver, a beam of infrared light is transmitted by the infrared signal transmitter and reflected after irradiating an object, the reflected infrared light is received by the infrared signal receiver, and the distance between the cleaning robot and the object is calculated according to time difference data of the transmission and the reception of the infrared light. In one implementation, the ranging sensor may include a ToF sensor, the ToF (time of flight) technique. The number of ToF sensors may be plural, for example, the number of ToF sensors is two, and the ToF sensors are symmetrically disposed on two opposite sides of the bumper respectively. The ToF sensor transmits the modulated near-infrared light, reflects the modulated near-infrared light after encountering an object, receives the reflected light, and calculates the distance between the cleaning robot and the object by calculating the time difference or phase difference between the light transmission and the light reflection. In a particular implementation, the range sensor may include an ultrasonic range sensor, which may be disposed on a forward-most end centered in the bumper. The ultrasonic ranging sensor is provided with an ultrasonic transmitter and a sound wave receiver, the ultrasonic transmitter is used for transmitting ultrasonic waves, the counter starts timing at the same time of transmitting time, the ultrasonic waves are transmitted in the air and are immediately reflected back when being blocked by an object on the way, and the ultrasonic receiver immediately stops timing when receiving the reflected ultrasonic waves, so that the distance between the cleaning robot and the object is calculated according to the time recorded by the timer. In practical application, the various distance measuring sensors can be combined for use, and the distance measuring modes in various modes can achieve good balance in the aspects of distance measuring range, distance measuring accuracy, cost and the like.

Collision detection sensor sets up on the robot and is correlated with the bumper, mainly include light emitter, light receiver and be located the collision telescopic link between light emitter and the light receiver, under normal condition, the collision telescopic link is in the initial position, the light path is unblocked between light emitter and the light receiver, when cleaning machines people dodge untimely and collide the barrier, the bumper that is located cleaning machines people front portion will receive the impact of barrier and the relative robot is internal sunken, at this moment, the collision telescopic link that is located the bumper inboard contracts and blocks between light emitter and light receiver after the atress, the light path between light emitter and the light receiver is cut off, collision detection sensor sends collision signal.

The cliff sensor is arranged at the bottom of the robot body. In some embodiments, the number of the cliff sensors is multiple, for example, four, and the cliff sensors are respectively arranged at the front end of the bottom of the robot body and used for transmitting sensing signals to the ground and sensing the cliff by using the signals received by reflection. Cliff sensors are also known as hover sensors, which are optical sensors that primarily utilize a variety of modalities, and in some embodiments, cliff sensors may employ infrared sensors having infrared signal transmitters and infrared signal receivers so that a cliff may be sensed by transmitting infrared light and receiving reflected infrared light, and further, the depth of the cliff may be analyzed.

Of course, in certain embodiments, the sensing device may also include other sensors, such as magnetometers, accelerometers, gyroscopes, odometers, and the like.

The control system is arranged on a circuit main board in the robot body and comprises a memory (such as a hard disk, a flash memory and a random access memory) and a processor (such as a central processing unit and an application processor). The processor draws an instant map of the environment where the cleaning robot is located by using a positioning algorithm (such as SLAM) according to object information fed back by a laser ranging device in the sensing system, or draws the instant map of the environment where the cleaning robot is located by using the positioning algorithm (such as VSLAM) according to image information shot by a camera device in the sensing system, so that the most efficient and reasonable cleaning path and cleaning mode are planned based on the drawn instant map information, and the cleaning efficiency of the robot is greatly improved. And the current working state of the sweeper is comprehensively judged by combining distance information, speed information, attitude information and the like fed back by other sensors (such as a pressure sensor, a gravity sensor, a distance measuring sensor, a cliff sensor, a falling sensor, a collision detection sensor, a magnetometer, an accelerometer, a gyroscope, an odometer and the like) in the sensing system, so that specific next-step action strategies can be provided according to different conditions, and corresponding control instructions are sent to the cleaning robot.

The cleaning robot disclosed herein is further configured with a spray assembly for providing a spray function. Referring to fig. 5 and 6, fig. 5 is a schematic view of the cleaning robot in the embodiment at another viewing angle after removing the cover, and fig. 6 is a schematic view of the spraying assembly in the embodiment. In the embodiment shown in fig. 5 and 6, the spray assembly may include a storage tank 41, a delivery pump 43, a spray 45, and a controller (not shown).

The storage tank 41 is for storing cleaning fluid. The storage box 41 may be a regular hexahedral structure (e.g., a rectangular parallelepiped structure, a truncated pyramid with a trapezoidal cross section, etc.), a cylindrical structure, or other similar structures, but is not limited thereto, and may adopt other types of structures according to the structure of the robot body and/or the layout design of the chassis. The volume of the storage tank can reach 150 ml to 500 ml, and of course, the volume of the storage tank can be larger if the internal structure of the robot body allows. The cleaning fluid stored in the storage tank can be clean water, cleaning solution or a mixture of clean water and detergent. In some embodiments, for example, where fresh water and detergent are mixed, the storage tank may be divided into two compartments, wherein one compartment is substantially larger than the other (by a volume ratio of at least 10:1), such that the larger compartment stores fresh water and the smaller compartment stores detergent.

Please refer to fig. 7, which is an exploded view of the storage box and the robot body of the spray module in the embodiment. As shown in fig. 7, the storage box 41 is provided in a storage box receiving groove 42 of the robot body 10, which is opened on the base plate 11 and is adjacent to the dust box receiving groove, specifically, the dust box receiving groove is opened in a central region of the base plate 11, and the storage box receiving groove is positioned at a front side of the dust box receiving groove. The size of the bin pocket may be customized to the bin 41 to be installed.

The storage tank 41 may be mounted within the storage tank pocket 42 in a conventional manner. For example, the storage box 41 may be mounted in the storage box pocket 42 by a storage box locking structure.

In certain embodiments, the storage box locking structure may employ a spring latch structure, and in particular, in certain embodiments, the storage box locking structure comprises: corresponding elastic protrusions and depressions, wherein the elastic protrusions are provided on opposite sides of the storage box 41, and the depressions are provided on opposite sides of the storage box receiving groove 42, wherein the elastic protrusions may be protruded from the sides of the storage box 41 by an elastic member (e.g., a spring). In practical application, in the process of installing the storage box 41 in the storage box containing groove 42, the storage box 41 is descended, after the elastic protrusions in the descending storage box 41 touch the upper edge of the storage box containing groove 42, the elastic protrusions are stressed to retract, the storage box 41 continues to descend until the elastic protrusions descend to the position of the recess in the storage box containing groove 42, and the elastic protrusions extend out and are embedded into the recess under the action of the elastic piece, so that the installation of the storage box 41 is completed. However, the spring latch structure is not so limited and, in certain embodiments, the storage box locking structure comprises: elastic protrusions and depressions corresponding to each other, wherein the elastic protrusions are provided on opposite sides of the storage-box accommodating groove 42, and the depressions are provided on opposite sides of the storage box 41, wherein the elastic protrusions may be protruded from the sides of the storage-box accommodating groove 42 by an elastic member (e.g., a spring). In practical application, in the process of installing the storage box 41 in the storage box containing groove 42, the storage box 41 is descended, after the descending storage box 41 meets the elastic bulges of the storage box containing groove 42, the elastic bulges are stressed to retract, the storage box 41 continues descending until the recesses in the storage box 41 descend to the positions of the elastic bulges in the storage box containing groove 42, and the elastic bulges extend out and are embedded into the recesses under the action of the elastic pieces, so that the installation of the storage box 41 is completed.

Of course, the bin locking structure is not so limited and other variations are possible. As shown in fig. 7, the storage box has a turnover handle 410, in practical applications, a user can take the storage box 41 by pulling the turnover handle 410, after placing the storage box 41 in the storage box containing groove 42, the turnover handle 410 is folded toward the storage box 41 after being turned over, and when taking the storage box 41 from the dust box containing groove, after turning the turnover handle 410 over from the storage box 41 and then opening, the turnover handle 410 is pulled to take the storage box 41 out of the storage box containing groove 42. From the above, the flip-up handle 410 can be flipped over at a large angle (e.g. 90 °), and in view of this, the present application also discloses a locking structure of the storage box based on the flip-up handle 410. As shown in fig. 7, in some embodiments, the storage box locking structure includes: the protrusion 411 and the hook groove 422 correspond to each other, wherein the protrusion 411 is disposed at a first side of the shaft end of the flip handle 410, in the embodiment shown in fig. 7, an extension section is disposed at the shaft end of the flip handle, and the extension section forms an angle with a connecting rod of the flip handle (the connecting rod is connected to the shaft end of the flip handle and the handle rod of the flip handle), and in practical applications, the angle corresponds to a turning angle of the flip handle from a folded state to an unfolded state or from the unfolded state to the folded state (for example, the turning angle is 90 °). The hook groove 422 is disposed on two opposite side surfaces of the storage box accommodating groove 42 corresponding to the pivot end of the flip handle 410, and since the position of the boss 411 changes with the flipping operation of the flip handle 410 (the extension section where the boss 411 is located rotates around the pivot end), in the embodiment shown in fig. 7, the hook groove 422 is integrally an arc-shaped hook structure having an opening, an arc-shaped guide area and a bag falling area. In practical application, a user lifts the flip-up handle 410 of the storage box 41, at this time, the flip-up handle 410 is in a vertical open state (the extension section is horizontal), the storage box 41 is placed in the storage box containing groove 42, at this time, the boss 411 on the extension section in the flip-up handle 410 corresponds to the opening of the hook groove 422; the turnover handle 410 is turned over towards the storage box 41 to be folded, and at the moment, the boss 411 on the extension section enters along the arc-shaped guide area of the hook groove 422 along with the turning action of the turnover handle 410; when the flip-over handle 410 is flipped to the horizontal folded state, the protrusion 411 enters the bag falling area along the arc guiding area of the hook groove 422. Due to the engagement of the boss 411 and the hook groove 422, the storage box 41 can be surely locked in the storage box receiving groove 42.

In order to stabilize the locking of the storage box 41 in the storage-box pocket 42, in the embodiment shown in fig. 7, the storage-box locking structure further includes: a recess 413 and a protrusion 424 corresponding to the recess 413, wherein the recess 413 is disposed at a second side of the shaft end of the flip-up handle 410, as shown in fig. 7, the recess 413 is disposed on the connecting rod of the flip-up handle 410 and adjacent to the shaft end, and the protrusion 424 is disposed on two opposite side surfaces of the storage box accommodating slot 42 corresponding to the shaft end of the flip-up handle 410 and adjacent to the hook slot 422. In practical application, when the user overturns the turnover handle 410 towards the storage box 41 until the folded state, at this time, the recess 413 in the connecting rod descends to the position of the protrusion 424 in the storage box accommodating groove 42, the turnover handle 410 is continuously overturned downwards, the recess 413 on the turnover handle 410 descends and reaches the position of the protrusion 424 of the storage box accommodating groove 42 until the protrusion 424 is embedded into the recess, generally, the connecting rod of the turnover handle 410 has a certain length and is mostly made of plastic, therefore, the connecting rod has certain flexibility, can generate deformation to a certain extent under the action of force, is beneficial to the protrusion 424 to be embedded into the recess 413, even the protrusion 424 at this time does not have scalability. Of course, in some embodiments, the protrusion 424 of the storage box pocket 42 may be designed as a telescoping, resilient protrusion, as desired. In this way, the storage box 41 is securely locked in the storage box accommodating groove 42 by multipoint locking by the fitting of the recess 413 and the projection 424 in combination with the fitting of the boss 411 and the hook groove 422.

Of course, the number and arrangement positions of the recesses 413 and the protrusions 424 may be varied. For example, in some embodiments, the protrusion 424 may be disposed at the second side of the axle end of the roll-over handle 410, that is, the protrusion 424 is disposed on the connecting rod of the roll-over handle 410 and adjacent to the axle end, and correspondingly, the recess 413 may be disposed on two opposite sides of the storage box accommodating slot 42 corresponding to the axle end of the roll-over handle 410 and adjacent to the hook slot 422.

In fact, in order to ensure that the storage box 41 is correctly placed in the storage-box receiving groove 42, in the present application, the storage box 41 is further provided with a drop detection mechanism (not shown in the drawings) for detecting whether the storage box 41 is correctly placed in the storage-box receiving groove. In some embodiments, the drop detection mechanism may include a hall sensor and a magnet, wherein the hall sensor may be disposed on the robot body 10, for example, on a mounting structure in the chassis 11 adjacent to the storage box receiving slot 42, the hall sensor may be connected to the controller or other associated control circuitry, and the magnet is disposed on the storage box 41. In principle, when the magnet on the storage box is gradually close to the hall sensor in the storage box accommodating groove 42 in the process of placing the storage box 41 in the storage box accommodating groove 42 until the storage box 41 is completely placed in the storage box accommodating groove 42, the magnet on the storage box is just opposite to the hall sensor in the storage box accommodating groove 42, and a first voltage signal is output; if the storage box 41 is not completely placed in the storage box receiving groove 42, or the storage box 41 is incorrectly placed in the storage box receiving groove 42, or the storage box 41 is placed in the storage box receiving groove 42 at an incorrect position, or the storage box 41 is far from the hall sensor of the storage box receiving groove 42, the second voltage signal is outputted, and if necessary, an alarm message can be sent according to the second voltage signal. In practical applications, the first voltage signal may be, for example, a low level signal and the second voltage signal may be, for example, a high level signal, or the first voltage signal may be, for example, a high level signal and the second voltage signal may be, for example, a low level signal. The alarm information can adopt alarm light, alarm sound or alarm light and alarm sound at the same time, the alarm light can be luminous normally, twinkling, and the like, and the alarm sound can be alarming for long-time sounding, intermittent alarm, and the like.

After the storage tank 41 is properly placed in the storage tank pocket 42, the storage tank 41 communicates with the delivery pump. In the embodiment shown in fig. 8, the storage tank 41 has at least one drain port 412 located at the bottom of the storage tank 41 to enable full use of the cleaning fluid stored within the storage tank 41. The at least one discharge port 412 is in communication with the intake of the transfer pump.

As mentioned above, the cleaning fluid stored in the storage tank 41 may be clean water, cleaning solution, or a mixture of clean water and detergent, and there may be impurities or undissolved substances in the cleaning fluid, and the impurities or undissolved substances escaping into the delivery pump may damage the delivery pump, so that a filter screen (not shown in the drawings) is disposed at least one outlet 412 of the storage tank 41 to deliver the filtered cleaning fluid to the delivery pump 43 to retain the impurities or undissolved substances in the storage tank 41, thereby protecting the delivery pump 43 and various fluid pipelines and ensuring smooth delivery of the cleaning fluid. In addition, in order to clean the impurities or undissolved substances remaining on the filter net or precipitated at the bottom of the storage tank 41 near the discharge port, the filter net may be, for example, detachably designed so that the filter net can be cleaned or replaced with a new one.

In some embodiments, a check valve is further provided between the discharge port of the storage tank 41 and the inlet port of the delivery pump 43, such that the cleaning fluid in the storage tank 41 is delivered to the delivery pump 43 via the check valve. By installing the check valve, the cleaning fluid can only flow along one direction and is not allowed to flow backwards, so that the influence of pressure impact of a pumping system on the delivery pump can be prevented, and the cleaning fluid can be prevented from flowing backwards to the water tank or flowing backwards out of the robot body 10 when the delivery pump does not work.

In certain embodiments, the spray assembly further comprises a liquid level sensor. In some embodiments, the level sensor is used to detect whether the tank 41 contains cleaning fluid. In some embodiments, the level sensor is used to detect specific fluid level data of the cleaning fluid stored in the storage tank 41.

Referring to fig. 8 to 10, fig. 8 is a schematic view of the storage tank with the cover removed in the embodiment, fig. 9 is a schematic view of the combination of the check valve and the liquid level sensor in the embodiment, and fig. 10 is a partial sectional view of fig. 9.

In the embodiment shown in fig. 8 to 10, the check valve 414 is disposed in the storage tank 41 and adjacent to the bottom of the storage tank 41, and the check valve 414 may include a valve seat 415, a valve element 416, a return spring 417, and a spring seat 418, wherein the valve seat 415 and the spring seat 418 are combined with each other to form a cavity, the valve seat 415 has a fluid inlet communicated with the cavity, the valve element 416 is disposed in the cavity and has a force acting part protruding from the valve seat 415 through an opening, a fluid outlet communicated with the cavity is disposed in the force acting part, and a return force is provided at the rear part of the valve element 416 by the return spring 417 disposed in the spring seat 418. In some implementations, the valve seat 415 and the spring seat 418 may be coupled to each other by a snap-fit or threaded connection. The force-applying member may be, for example, a force-applying rod having a fluid outlet and associated fluid passageway at the center of the force-applying rod. Further, a seal ring is provided between the valve seat 415 and the valve body 416, and a seal ring is provided between the valve seat 415 and the reserve tank 41. In practical application, generally, the valve core 416 in the check valve is in a reset state under the action of the reset spring 417, and at this time, the fluid passage in the valve core 416 is not communicated with the cavity; when the force-bearing part of the valve element 416 in the check valve is stressed and the applied force is greater than the elastic force of the return spring 417, the valve element contracts, and at this time, the fluid passage in the valve element 416 is communicated with the cavity, so that the cleaning solution in the storage tank 41 can sequentially enter the cavity through the fluid inlet and then flows out through the fluid passage and the fluid outlet.

In the embodiment shown in fig. 8-10, the disclosed level sensor employs a ball float level sensor 44 for sensing the presence of cleaning fluid in the storage tank 41. The float level sensor 44 is provided on the robot body 10 and communicates with the discharge port of the reservoir tank 41 and the feed pump 43. Based on the aforementioned check valve 414, the ball float level sensor 44 is provided at the bottom of the storage tank-accommodating groove 42 and corresponds to the position of the check valve 414 on the storage tank 41 to be mounted. The float level sensor 44 may include: a body 441, a liquid level tube 442, a floating ball 443, and at least one pair of an infrared transmitter and an infrared receiver. The seat body 441 is fixed to the bottom of the storage box accommodating groove 42 through a mounting structure, which may be, for example, a plurality of mounting ears that are uniformly distributed, and the mounting ears are provided with mounting holes. The seat body 441 is provided with a liquid level pipe 442 inside and a fluid inlet and a fluid outlet which are communicated with the liquid level pipe 442, wherein the fluid inlet has a larger caliber, a filter screen is additionally provided, and a receiving part corresponding to a force acting part of a valve core in the check valve 414 is further provided at the fluid inlet in order to be matched with the check valve 414 on the storage tank 41, and the receiving part is substantially funnel-shaped. The liquid level tube 442 is disposed inside the seat body 441, and generally, the liquid level tube 442 is a straight tube vertically disposed to facilitate the movement of the built-in floating ball 443 inside the liquid level tube 442, but not limited thereto, and the liquid level tube 442 may be disposed in other manners or may be a curved tube, for example. The floating ball 443 is disposed in the fluid level tube 442, and the specific gravity of the floating ball 443 is smaller than that of the cleaning fluid, so that the floating ball 443 floats on the surface of the cleaning fluid in the fluid level tube 442 when the fluid level tube 442 is filled with the cleaning fluid. At least one pair of IR emitter and IR receiver, which are disposed opposite each other on opposite sides of the fill tube at a predetermined at least one measurement height, wherein in the embodiment shown in FIG. 9, a pair of IR emitter and IR receiver are included, which are disposed on opposite sides of the top of the fill tube 442 and are connected to a controller or other associated control circuitry. The infrared transmitter and the infrared receiver are arranged oppositely, the infrared transmitter is used for transmitting infrared beams to the infrared receiver, and the opposite infrared receiver is used for receiving the infrared beams. If there is an obstacle between the infrared transmitter and the infrared receiver, the infrared receiver cannot receive the infrared beam because the infrared beam is blocked by the obstacle.

In practical application, when the storage tank 41 is placed in the storage tank containing groove 42, the valve core 416 in the check valve 414 at the bottom of the storage tank 41 (the force-acting part of the valve core 416 extends out of the storage tank 41) interferes with and acts on the receiving part of the float level sensor 44 at the bottom of the storage tank containing groove 42, so that the fluid passage in the valve core 416 is communicated with the containing cavity, the cleaning solution in the storage tank 41 can be input into the float level sensor 44 through the check valve, at this time, the liquid level tube 442 in the float level sensor 44 is filled with the cleaning liquid, the float ball 443 floats on the fluid surface of the cleaning fluid in the liquid level tube 442, the floating float ball 443 is located between the infrared transmitter and the infrared receiver, the optical path between the infrared transmitter and the infrared receiver is blocked, the infrared receiver cannot receive the infrared light beam emitted by the infrared transmitter, the controller or other associated control circuitry outputs first feedback information indicating that cleaning fluid is present in the reservoir 41. When the cleaning fluid in the storage tank 41 is used up (as long as the cleaning fluid still remains in the storage tank 41, the fluid level in the fluid level tube 442 of the float level sensor 44 is still filled with the cleaning fluid because the float level sensor 44 is located below the bottom of the storage tank 41), the fluid level of the cleaning fluid in the fluid level tube 442 of the float level sensor 44 drops due to the absence of the new cleaning fluid, the float 443 drops along with the drop of the fluid level, the infrared receiver receives the infrared light beam emitted by the infrared emitter due to the absence of the obstruction of the float 443 between the infrared emitter and the infrared receiver, and the controller or other related control circuit outputs a second feedback message indicating that the cleaning fluid in the storage tank 41 is used up, so as to remind the user of taking out the storage tank 41 and filling the tank. The second feedback information may adopt an alarm light, an alarm sound, or both an alarm light and an alarm sound, the alarm light may be, for example, normally on, flashing, etc., and the alarm sound may be, for example, a prolonged alarm, an intermittent alarm, etc. In addition, the controller or other associated control circuitry may additionally control the delivery pump 43 to cease operation in the event that it is determined that the cleaning fluid is depleted.

In practice, a float level sensor may also be provided within the tank 41 for use in detecting specific fluid level data of the cleaning fluid stored in the tank 41. For example, the float level sensor may include a level tube, a float ball, and a plurality of pairs of infrared emitters and infrared receivers.

The fluid level line is disposed within the tank 41 and is in communication with the cleaning fluid within the tank 41 such that the fluid level of the cleaning fluid within the fluid level line is consistent with the fluid level of the cleaning fluid within the tank 41. Generally, the liquid level pipe is a straight pipe vertically arranged to facilitate the movement of the built-in floating ball in the liquid level pipe, but not limited thereto, the liquid level pipe may be arranged in other manners or may be a curved pipe, for example. The float ball is disposed in the fluid level tube, and has a specific gravity less than that of the cleaning fluid, so that the float ball floats above a fluid level of the cleaning fluid in the fluid level tube in a state where the fluid level tube is filled with the cleaning fluid.

And a plurality of pairs of infrared emitters and infrared receivers, which are oppositely arranged on two opposite sides of the liquid level pipe at a plurality of preset measuring heights, and can be used for detecting the fluid level of the cleaning fluid in the liquid level pipe. For example, a pair of IR emitter and IR receiver may be provided at 2/3, 1/3, and the bottom of the fluid level tube, respectively, such that the fluid level of the cleaning fluid in the fluid level tube may be detected at a corresponding height using three pairs of IR emitter and IR receiver, which may be referred to as a first pair, a second pair, and a third pair, respectively. Specifically, the floating ball floats on the fluid level of the cleaning fluid in the liquid level tube, when the fluid level of the cleaning fluid in the liquid level tube is at the height of the liquid level tube 2/3, the floating ball is positioned between the first pair of infrared transmitters and the infrared receiver, the optical path between the first pair of infrared transmitters and the infrared receiver is blocked, the infrared receiver cannot receive the infrared light beams emitted by the infrared transmitters, and the controller or other related control circuits output first feedback information indicating that the fluid level of the cleaning fluid in the storage tank is 2/3 of the height of the storage tank. When the fluid level of the cleaning fluid in the fluid level tube is at the height of the fluid level tube 1/3, the float ball is positioned between the second pair of infrared emitters and the infrared receiver, the optical path between the second pair of infrared emitters and the infrared receiver is blocked, the infrared receiver cannot receive the infrared beam emitted by the infrared emitter, and the controller or other related control circuit outputs second feedback information indicating that the fluid level of the cleaning fluid in the storage tank is 1/3 of the storage tank. When the fluid level of clean fluidic in the liquid level pipe was located the bottom of liquid level pipe, the floater this moment fell the bottom of liquid level pipe and was located the third between to infrared emitter and infrared receiver, has blocked the light path between third pair infrared emitter and the infrared receiver, and infrared receiver can't receive the infrared light beam that infrared emitter launched, controller or other relevant control circuit will export third feedback information, show that the clean fluid in the bin uses totally, reminds the user to take out bin 41 and carry out the water injection. The third feedback information may adopt an alarm light, an alarm sound, or both an alarm light and an alarm sound, the alarm light may be, for example, normally on, flashing, etc., and the alarm sound may be, for example, a prolonged alarm, an intermittent alarm, etc. In addition, the controller or other associated control circuitry may additionally control the delivery pump 43 to cease operation in the event that it is determined that the cleaning fluid is depleted. Of course, in the above-mentioned solution using multiple pairs of ir emitters and ir receivers, the number of pairs of ir emitters and ir receivers may be varied as the design space allows or the user needs, for example, the number of pairs of ir emitters and ir receivers may be four, five or even more, so that more fluid level data of the cleaning fluid can be obtained.

Furthermore, in addition to the float level sensor, in some embodiments, the level sensor may also be, for example, a float level transmitter, a magnetic float level sensor, or a static pressure level sensor, etc. disposed within the storage tank.

The application discloses spray assembly still is equipped with the air valve door on the bin. In the embodiment shown in fig. 7, an air valve 415 is further provided on the top surface of the storage tank 41, and the air valve 415 is used to adjust the pressure balance inside and outside the storage tank 41. Specifically, when the cleaning fluid in the storage tank 41 is pumped out by the pump flow action of the delivery pump 43, the air pressure in the storage tank 41 gradually decreases, and when the air pressure in the storage tank 41 is smaller than the external air pressure, the external air enters from the vent hole of the air valve 415 and moves the adjusting valve cover below the vent hole inwards, the air path is smooth, the air flows from outside to inside until the internal and external pressures are balanced, the adjusting valve cover moves outwards again and blocks the vent hole, and the air valve is closed, so that the storage tank 41 is in a sealed state.

In the spray assembly disclosed herein, a delivery pump is in communication with the reservoir and the spray. In the embodiment shown in fig. 5, the delivery pump 43 is fixed on the chassis 11 of the robot body 10 and can be adjacent to the storage tank 41, and the delivery pump 43 is fixed on the chassis 11 (for example, a slot structure is provided on the chassis 11) and can be directly locked on the chassis 11 by using a locking tool such as a screw or can be fixed on the chassis 11 by using a special delivery pump mounting structure (not shown in the drawings), wherein the delivery pump mounting structure can be locked on the chassis 11 by using a locking tool such as a screw. In some embodiments, a buffer (not shown) may be further added between the delivery pump 43 and the delivery pump mounting structure for buffering and shock absorption, so as to better protect the delivery pump 43 and reduce the noise generated by the operation of the delivery pump 43. The buffer member can be, for example, a cushion, a coating or the like, and the buffer member can be coated or lined in the delivery pump mounting structure and covers the delivery pump 43 after the delivery pump 43 is mounted in the delivery pump structure. The delivery pump 43 is fixed to the chassis 11 and has an inlet and an outlet. The arrangement positions of the inlet and the outlet can be changed in various ways: in one implementation, the inlet may be disposed beside the delivery pump 43, and the outlet may be disposed at the bottom of the delivery pump 43; in one implementation, the inlet may be disposed at the bottom of the delivery pump 43, and the outlet may be disposed beside the delivery pump 43; in other embodiments, the inlet and outlet may be located at the bottom or side of the transfer pump 43. The delivery pump 43 is communicated with the discharge port of the storage tank 41 through a delivery pipe, and in the embodiment shown in fig. 8, the inlet of the delivery pump 43 is communicated with the fluid outlet of the ball float level sensor 44 below the storage tank 41 through the delivery pipe, and the outlet of the delivery pump 43 is communicated with the jet 45.

While other variations of the mounting position and mounting manner of the delivery pump 43 are possible in FIG. 8, in some embodiments, the delivery pump may be fixed to the storage tank, for example, a delivery pump mounting structure is provided on the storage tank, and the delivery pump is fixed to the storage tank through the delivery pump mounting structure, so as to achieve better structural integrity and save space, and at the same time, the structural design has good shock absorption and can reduce noise. The transfer pump mounting structure may, for example, be a pocket structure provided at a corner of the upper housing adjacent the discharge opening in the storage tank, the pocket structure being sized to be customized according to the transfer pump to be mounted. If necessary, a buffer part can be arranged between the delivery pump and the groove containing structure, the buffer part can be a cushion pad, a coating or a similar structure, and the buffer part can be coated or lined in the delivery pump mounting structure, and coats the delivery pump after the delivery pump is mounted in the delivery pump structure.

In the spraying assembly disclosed by the application, the jet flow piece is arranged at the bottom of the robot body, the jet flow piece is provided with a fluid inlet and at least one spraying head, the jet flow piece is communicated with the outflow port of the delivery pump through the fluid inlet to obtain the cleaning fluid, and the spraying head of the jet flow piece faces the bottom of the robot body and is used for spraying the cleaning fluid. In the embodiment shown in fig. 5 and 6, the jet 45 is a bar-shaped or strip-shaped jet pipe, and the jet 45 is fixed to the chassis 11 of the robot main body 10 and located at the rear part of the robot main body 10, that is, the jet 45 is located at the rear side of the central scanning assembly. The jet flow element 45 is fixed on the chassis 11 by directly locking with a locking tool such as a screw or by fastening with a fastener or the like on the chassis 11. The direction of the jet pipe as the jet member 45 is perpendicular to the front and rear center line X of the robot body 10, and the length of the jet member 45 is determined according to the spraying requirement or the size of the mop (if disposed) in the mop assembly, and generally, the longer the length of the jet member 45, the larger the coverage of the cleaning fluid is sprayed, and the better spraying and cleaning effects are obtained.

The fluid inlet of jet 45 may be disposed at an end of jet 45, for example, an end of jet 45 near delivery pump 43, to facilitate the laying of a delivery pipe for communicating the fluid inlet of jet 45 with the outlet of delivery pump 43, but not limited thereto, the fluid inlet of jet 45 may be disposed at a middle portion of jet 45.

The spouting member 45 may be provided with a plurality of nozzles 451, and after the spouting member 45 is attached and fixed to the chassis 11 of the robot body 10, the nozzles 451 in the spouting member 45 face the bottom of the robot body 10. The plurality of nozzles 451 may be spaced apart from each other, and each of the nozzles 451 has at least one nozzle, and if there are a plurality of nozzles, the nozzles may have different designs according to the requirement. In some embodiments, the spray direction, spray pattern (orientation, dispersion, etc.), spray force, etc. of the cleaning fluid sprayed by spray head 451 can be determined by the number, orientation, configuration, etc. of the spray holes in the spray head.

In the spray assembly disclosed herein, a controller is further included for controlling a pump flow action of the delivery pump to spray the cleaning fluid within the storage tank through the at least one spray head of the spray jet.

In some embodiments, a controller is coupled to the delivery pump 43 to control the pump flow of the delivery pump 43 according to a floor cleaning mode. The floor cleaning mode is adapted to different floor types, which can be identified by a floor identification device. The ground recognition device is used for acquiring ground information of a target area and judging the ground type of the target area according to the ground information, and the ground type can at least comprise floor tiles, floors, cement floors, painted floors, carpets and the like. In particular embodiments, the ground recognition device may employ a camera device, one or more types of sensors, or a combination thereof. For example, taking the ground recognition device as an example, the ground recognition device captures a ground image, recognizes the captured ground image, and may recognize the ground type corresponding to the ground image by using an artificial intelligence manner if necessary. For example, in the case that the ground recognition device employs a pressure sensor, the pressure sensor is configured on the traveling wheel, and the ground type of the current target area is recognized according to the pressure generated by different grounds. For example, taking the example that the ground identification device employs a temperature and humidity sensor, the temperature and humidity sensor is used to identify the ground type of the target area according to different temperature and humidity information of different grounds, and so on.

Taking the ground recognition device as an example, the image capturing device can be used to capture images related to the ground. The recognition of the ground type of the at least one image can be realized by using a ground image classifier, namely, when in recognition, the image to be recognized is input into the ground image classifier as an input, and then the recognition result can be output. The ground image classifier can be obtained through convolutional neural network training. Convolutional Neural Network (CNN) is an architecture of deep neural network, which is closely related to image processing. The weight sharing network structure of the convolutional neural network is more similar to a biological neural network, the complexity of a network model is reduced, and the number of weights is reduced, and the network structure has high invariance to translation, scaling, inclination or other forms of deformation. The convolutional neural network can directly take the image as the input of the network, thereby avoiding the complex characteristic extraction and data reconstruction process in the traditional recognition algorithm. Based on these advantages, it has an advantage of being unique in image recognition.

The ground image classifier is obtained through convolutional neural network training.

In some embodiments, the training may include: firstly, a training sample set is made, and images containing the ground which accord with preset rules are collected to be used as training samples. And then, training according to the manufactured training sample set to obtain the ground image classifier. In one embodiment, when the training sample set is made, images of the ground conforming to the preset rules may be collected by itself, for example, images of the relevant ground are searched from the network or images of the relevant ground are taken by itself, and an image of a typical ground conforming to the preset rules is selected from the images and is used as the training sample. In other embodiments, some or all of the images of the ground may be selected from the existing standard libraries of various types of ground as the training samples, for example, some or all of the images of the ground may be selected from different standard libraries of the ground and combined to form a training sample set, or at least one standard library may be selected from different standard libraries of the ground and some or all of the images in the selected at least one standard library may be determined as the training sample set. To a particular surface, which in this application includes but is not limited to the following: floor tiles, floors, cement floors, painted floors, carpets and the like, wherein the floor tiles can be subdivided into polished tiles, glazed tiles, full-body tiles, vitrified tiles, ceramic mosaic tiles and the like, and the floors can be subdivided into solid wood floors, composite floors and the like. In addition, before the created training sample set is trained, the images in the training sample set may be subjected to corresponding image preprocessing. In certain embodiments, the image pre-processing includes, but is not limited to: and (3) performing clipping, compression, gray processing, image filtering and/or noise filtering processing and the like on the images in the training sample set.

Subsequently, the images can be identified by using the ground image classifier obtained by training. In the application, when image recognition is performed, an image to be recognized is input into the ground image classifier as an input, and then the ground image classifier can output a corresponding recognition result. In certain embodiments, identifying the image using the ground image classifier may include at least the steps of: carrying out image preprocessing on an image to be recognized; performing feature extraction on the image after image preprocessing; and inputting the characteristics of the image to be recognized into a ground image classifier to obtain a recognition result.

The image preprocessing of the image to be recognized includes but is not limited to: the image to be recognized is cut, compressed, processed in gray scale, thresholded, etc., and of course, the preprocessing may also include image filtering, noise filtering, etc. Taking grayscale processing and thresholding processing as examples, the grayscale image to be recognized is subjected to grayscale processing to obtain a grayscale image, and the grayscale image after grayscale processing is subjected to thresholding (for example, the grayscale image can be changed into a binary image reflecting the whole and local features of the image after binarization processing, i.e. a black-and-white image). The feature extraction of the image after image preprocessing includes but is not limited to: and extracting contour features, texture features and the like of the image to be recognized.

Therefore, at least one image is obtained from the images shot by the camera device and is identified by the ground image classifier, so that the type of the ground in the at least one image can be detected.

In some embodiments, the controller may, for example, be a Pulse Width Modulation (PWM) controller, such that a floor cleaning mode is determined by the PWM controller according to the floor type identified by the floor identification device, and at least one of a pumping frequency and a pumping power of the delivery pump is controlled in the determined floor cleaning mode. For example, in one implementation, the controller controls the delivery pump 43 to stop when the ground recognition device recognizes that the ground in the target area ahead of the travel direction will be changed from tile or floor to carpet. In one implementation, the controller controls the transfer pump 43 to operate when the ground recognition device recognizes that the ground of the target area ahead of the travel direction thereof is to be changed from carpet to floor tile or floor. In one implementation, when the ground recognition device recognizes that the ground of the target area in front of the traveling direction of the ground recognition device is going to be changed from floor tile to floor or from floor to ground, the controller controls the delivery pump 43 to change the pumping frequency, or the pumping power, or both the pumping frequency and the pumping power, for example, to increase the spraying amount of the cleaning fluid by increasing the pumping frequency, or the pumping power, or both the pumping frequency and the pumping power, or to decrease the spraying amount of the cleaning fluid by decreasing the pumping frequency, or both the pumping power, or both the pumping frequency and the pumping power.

The controller is used for controlling the pump flow action of the delivery pump according to the floor cleaning mode, so that the cleaning robot can adopt different spraying strategies according to different floor types under the condition that the appearance volume of the storage tank is limited, and the utilization rate of cleaning fluid is effectively improved.

In certain embodiments, as previously described, the spray assembly of the present application further includes a level sensor for measuring the level of cleaning fluid contained within the storage tank. For the level sensor, reference is made to the preceding description. The controller is connected to the liquid level sensor, and controls the pump flow operation of the delivery pump 43 according to the liquid level information of the cleaning fluid in the storage tank 41 sensed by the liquid level sensor. The controller is a Pulse Width Modulation (PWM) controller, and thus, at least one of the pumping frequency and the pumping power of the transfer pump 43 is controlled by the PWM controller according to the liquid level information sensed by the liquid level sensor. For example, in one implementation, when the level sensor detects that the level of cleaning fluid in the storage tank 41 is low, the controller controls the delivery pump to decrease the pumping frequency, or decrease the pumping power, or both decrease the pumping frequency and the pumping power to decrease the amount of cleaning fluid sprayed.

The controller is used for controlling the pump flow action of the delivery pump according to the liquid level information of the retained cleaning fluid detected in real time, and a spraying strategy suitable for the liquid level information of the cleaning fluid is adopted, so that the utilization rate of the cleaning fluid is effectively improved.

The cleaning robot disclosed herein is also configured with a floor mopping assembly for providing floor mopping functions, which may include a dry mopping function and a wet mopping function.

Referring to fig. 11 and 12, fig. 11 is a perspective view illustrating a cleaning robot provided with a floor mopping assembly, and fig. 12 is a schematic view illustrating the spraying assembly and the floor mopping assembly according to the embodiment. In the embodiment shown in fig. 11 and 12, the floor mopping assembly 50 is fixed to the chassis 11 of the robot main body 10 and is located at the rear of the robot main body 10, i.e., the floor mopping assembly 50 is located at the rear side of the middle broom assembly.

Referring to fig. 13, an exploded view of the floor mopping assembly 50 is shown in one embodiment. As shown in fig. 13, the mopping assembly 50 further comprises a mopping pad 51 and a mopping pad carrier 52. In the embodiment shown in fig. 13, the chassis 11 of the robot body 10 is circular or D-shaped, so that the pad carrier 52 and the pad 51 can be integrally in an arch shape or a similar arch shape, and not only can be adapted to the chassis 11, but also the space at the rear of the chassis can be fully utilized to obtain a larger mopping surface. If the chassis 11 of the robot body 10 is rectangular, the pad carrier 52 and the carried pad 51 may be rectangular or long.

The pad carrier 52 is used as a carrying structure of the pad 51, and the pad 51 is mounted on the robot body 10 via the pad carrier 52. In some embodiments, the pad carrier 52 is a substantially flat plate-like structure including a fixing surface for fixing the pad 51 and a mounting surface opposite to the fixing surface, the mounting surface being fixed to the bottom of the chassis 11 of the robot body 10.

The pad carrier 52 is fixed to the bottom of the chassis 11 of the robot body 10 by a detachable mounting structure.

Referring to fig. 14 to 16, fig. 14 is a schematic structural view of the floor mopping assembly 50 in an embodiment, fig. 15 is a schematic structural view of the floor mopping assembly 50 in fig. 14 with a mounting surface removed, and fig. 16 is a schematic assembly view of the floor mopping assembly 50 in fig. 14 and the chassis 11. In the embodiment shown in fig. 14-15, the removable mounting structure may include at least one pair of catches. Taking a pair of hooks as an example, two hooks 521 of the pair of hooks are respectively disposed on two opposite sides of the mounting surface of the pad carrier 52. As for the hook 521, the hook 521 can be further rotatably connected to the pad carrier 52 through a rotating shaft, and in order to allow the hook 521 to be locked to the bottom of the chassis 11 after being actuated, a torsion spring (not shown in the drawings) can be disposed in the rotating shaft or an elastic member (not shown in the drawings) connected to the hook 521 can be disposed beside the hook, and the elastic member can be, for example, a tension spring or a spring plate. In order to mount and fix the pad carrier 52 on the chassis 11, correspondingly, the bottom of the chassis 11 of the robot body 10 is provided with a slot 111 corresponding to the hook 521, and naturally, as long as the bottom of the chassis 11 can be mounted in cooperation with the hook 521, the structure that the chassis 11 can be provided is not limited to the slot 111, for example, in other implementations, the bottom of the chassis 11 of the robot body 10 can be provided with a column or a hook corresponding to the hook 521, which should have similar effects. In the initial state, the hooks 521 are in the folded state under the action of the torsion spring or the elastic member, that is, two hooks 521 of a pair of hooks which are oppositely arranged are close to each other in a face-to-face manner. When the pad carrier 52 and the upper pad 51 are fixed on the chassis 11, the hooks 521 are pressed by the chassis 11 to open, that is, the two hooks 521 oppositely disposed in a pair of hooks are away from each other in a face-to-face manner, when the hooks 521 are pushed until reaching the slots 111 of the chassis 11, the hooks 521 return to a closed state from an open state under the action of a torsion spring or an elastic member and fall into the slots 111 due to the disappearance of the original acting force from the chassis 11 to the hooks 521, the hooks 521 are engaged with the slots 111 to complete locking, and the pad carrier 52 and the upper pad 51 thereon can be fixed on the chassis 11. Of course, the above-mentioned detachable mounting structure is only an exemplary illustration, but not limited thereto, for example, in some embodiments, the detachable mounting structure may include a hook and a slot, wherein the hook is disposed at the bottom of the chassis 11, and the slot is disposed on the pad carrier, and should have a similar engaging effect.

In addition, in the embodiment shown in fig. 14-16, the removable mounting structure further includes at least one pair of guide slots provided in the mounting surface of the tow pad carrier 52. Taking a pair of guide grooves as an example, two guide grooves 522 of the pair of guide grooves are disposed oppositely and respectively disposed on two opposite sides of the mounting surface of the pad carrier 52, and the guide grooves 522 are adjacent to the hooks 521. Also, correspondingly, a protrusion or rib 112 corresponding to the guiding groove 522 is provided at the bottom of the chassis 11 of the robot body 10, when the pad carrier 52 and the pad 51 thereon are mounted, the guiding groove 522 on the pad carrier 52 is inserted into the protrusion or rib 112 of the chassis 11, and the pad carrier 52 is pushed under the cooperation of the guiding groove 522 and the protrusion or rib 112, so as to ensure smooth and smooth pushing of the pad carrier 52. The pad carrier 52 and the pad 51 carried thereby can be guided smoothly into the intended position of installation by the engagement of the protrusions or ribs 112 with the channels 522. Of course, the above is only an exemplary illustration, but not limited to this, for example, in some embodiments, protrusions or ribs are provided on two opposite sides of the installation surface of the pad carrier 52, and corresponding guide grooves are provided on the bottom of the chassis 11 of the robot body 10, which should have similar propelling effect.

In addition, in the embodiment shown in fig. 14 to 16, the removable mounting structure further includes at least one pair of contact bumps provided on the mounting surface of the pad carrier 52. Taking a pair of contact bumps as an example, two contact bumps 523 of the pair of contact bumps are respectively disposed on two opposite sides of the mounting surface of the pad carrier 52, and the contact bump x is adjacent to the hook 521. The contact bumps 523 are intended to project above the mounting surface of the pad carrier 52. In the process of installing and propelling the pad carrier 52 and the pad 51 thereon, the contact salient points 523 on the installation surface in the pad carrier 52 are always in point contact with the bottom of the chassis 11 of the robot body 10 (no matter whether the installation surface in the pad carrier 52 or the bottom of the chassis 11 is flat or not), so that the good positioning effect is achieved, and the pad carrier is more beneficial to propelling.

In addition, in the embodiment shown in fig. 14 to 16, the detachable mounting structure further includes a hook unlocking mechanism corresponding to each hook 521 of the at least one pair of hooks. The trip unlocking mechanism may further include: toggle switch 525 and connecting rod 527, wherein, toggle switch 525 locates the intermediate position at the back of dragging pad carrier 52, and connecting rod 527 connects trip 521 and toggle switch 525. The unlocking operation of the hook can be completed by utilizing the hook unlocking mechanism. Specifically, by toggling the toggle switch, the connecting rod 527 drives the hook 521 to open to be separated from the slot 111 on the chassis 11. As mentioned above, the detachable mounting structure includes at least one pair of hooks respectively disposed on two opposite sides of the mounting surface of the pad carrier 52, so that, as shown in fig. 15, two toggle switches 525 of the at least one pair of hook unlocking mechanisms can be disposed together, i.e., at an intermediate position of the rear portion of the pad carrier 52, which can be referred to as an unlocking region, and since these toggle switches 525 are disposed adjacent to each other in the same unlocking region, a single-handed operation can be achieved. Specifically, the user operates two toggle switches 525 with one hand, for example, toggle one toggle switch 525 with the thumb and the index finger respectively, and drive the hooks 521 to open via the connecting rod 527, that is, two hooks 521 oppositely disposed in a pair of hooks are far away from each other to be separated from the corresponding slots 111, so that the unlocking operation of the hooks can be completed, and the pad carrier 52 can be detached easily.

In the embodiment shown in fig. 14-16, the pad carrier 52 is further provided with spray openings 524 that extend through the mounting and mounting surfaces, the number of spray openings 524 being the same as the number of spray heads of the spray 45. After the pad carrier 52 is fixed to the bottom of the chassis 11 of the robot body 10, the spraying openings 524 of the pad carrier 52 are aligned with the spraying heads 451 of the spraying members 45, so that the cleaning liquid sprayed from the spraying heads 451 of the spraying members 45 can be sprayed onto the pad 51 mounted on the pad carrier 52 through the spraying openings 524 of the pad carrier 52. In addition, a filter element or similar filter screen structure may be disposed on the spraying opening 524 for spraying the cleaning fluid from the nozzle of the spraying member 45 to prevent impurities in the cleaning fluid from contaminating the mop pad 51.

In the embodiment shown in fig. 14-16, the mopping assembly may also be provided with a mounting detection mechanism for detecting whether the mopping pad carrier 52 is properly mounted to the chassis 11. In some embodiments, the installation detection mechanism may include a hall sensor disposed on the chassis 11 of the robot body 10, the hall sensor being connected to the control system on the chassis 11, and a magnet disposed on the mat carrier 52. In practical application, when the dragging pad carrier 52 is mounted on the chassis 11, when the magnet on the dragging pad carrier 52 corresponds to the hall sensor on the chassis 11, the hall sensor will output a pulse signal because of the magnetic field change and cuts the magnetic line of force, so as to determine that the dragging pad carrier 52 is mounted in place, when the magnet on the dragging pad carrier 52 does not correspond to the hall sensor on the chassis 11, the hall sensor will not output a pulse signal, and the control system outputs an alarm signal because it does not receive a corresponding pulse signal, so as to remind the user that the dragging pad carrier 52 is not mounted in place.

In the embodiment shown in fig. 15 and 16, the floor mopping assembly may be further provided with an auxiliary guide wheel 526, and the auxiliary guide wheel 526 may be disposed at a middle position of the rear portion of the fixing surface of the pad carrier 52, by which not only the rear portion of the floor mopping assembly is prevented from being blocked by obstacles (e.g., thick blankets, protrusions of the ground, etc.), but also the smoothness of the floor mopping operation of the floor mopping assembly during mopping is facilitated.

Please refer to fig. 17, which is a schematic structural diagram of a mopping assembly in another embodiment. In the embodiment shown in fig. 17, the mopping assembly 50 includes a mopping pad 51 and a mopping pad carrier 54, wherein the mopping pad carrier 54 is fixed to the bottom of the chassis 11 of the robot body 10 by another detachable mounting structure. The detachable mounting structure may include at least one pair of catches. Taking a pair of hooks as an example, two hooks 541 of the pair of hooks are respectively disposed on two opposite sides of the mounting surface of the pad carrier 54. As for the hook 541, the hook 541 is movably disposed in the mounting groove of the pad supporting body 54, the hook portion of the hook 541 faces the outer side of the pad supporting body 54, the hook 541 can move left and right through an elastic member 542 disposed in the mounting groove, and the elastic member 542 can be, for example, a tension spring or a spring plate. In order to mount and fix the pad carrier 54 on the chassis 11, correspondingly, a slot (not shown in the drawings) corresponding to the hook 541 is disposed at the bottom of the chassis 11 of the robot body 10, the slot faces the inner side of the robot body 10, and of course, as long as the mounting with the hook 541 is achieved, the structure that the chassis 11 can be disposed is not limited to the slot, for example, in other implementations, a column or a hook corresponding to the hook 541 may be disposed at the bottom of the chassis 11 of the robot body 10, and similar effects should be achieved. In an initial state, the hooks 541 are in an outward expansion state under the action of the elastic member 542, that is, two hooks 541 disposed opposite to each other in a pair of hooks are away from each other in a back-to-back manner. When the pad carrier 54 and the upper pad 51 are fixed on the chassis 11, the hooks 541 are pressed by the chassis 11 to retract inward, that is, the two hooks 541 oppositely disposed in a pair of hooks approach each other in a back-to-back manner, when the hooks 541 push in until reaching the slots of the chassis 11, because the original acting force from the chassis 11 to the hooks 541 disappears, the hooks 541 return from the retracted state to the expanded state and fall into the slots under the action of the elastic member 542, the hooks 541 and the slots are engaged to complete locking, and the pad carrier 52 and the upper pad 51 thereon can be fixed on the chassis 11. Of course, the above-mentioned detachable mounting structure is only an exemplary illustration, but not limited thereto, for example, in some embodiments, the detachable mounting structure may include a hook and a slot, wherein the hook is disposed at the bottom of the chassis 11, and the slot is disposed on the pad carrier, and should have a similar engaging effect.

In the embodiment shown in fig. 17, the detachable mounting structure further comprises a hook unlocking mechanism corresponding to each hook 541 of the at least one pair of hooks. The hook unlocking mechanism may further include: the toggle switch 543 is disposed on the mounting surface of the pad carrier 54 and located outside the hook 541, and is connected to the hook 541 through the connecting member. The unlocking operation of the hook can be completed by utilizing the hook unlocking mechanism. Specifically, by shifting the toggle switch, the hook 541 is driven to retract to disengage from the slot on the chassis 11, so as to complete the unlocking operation of the hook, and the pad carrier 52 can be easily detached.

In the embodiment shown in fig. 17, the removable mounting structure further includes at least one pair of guide slots provided in the mounting surface of the tow pad carrier 54. Taking a pair of guide grooves as an example, two of the guide grooves (not shown in the drawings, refer to fig. 16) are disposed oppositely and respectively disposed on two opposite sides of the mounting surface of the pad carrier 54, and the guide grooves are adjacent to the hooks 541. Also, correspondingly, a protrusion or rib corresponding to the guiding groove is provided at the bottom of the chassis 11 of the robot body 10, when the pad carrier 54 and the pad 51 thereon are mounted, the guiding groove of the pad carrier 54 is inserted into the protrusion or rib of the chassis 11, and the pad carrier 54 is pushed under the cooperation of the guiding groove and the protrusion or rib, so as to ensure smooth and smooth pushing of the pad carrier 54. The pad carrier 54 and the pad 51 carried thereby can be guided smoothly into the intended position of installation by the cooperation of the projections or ribs with the channels. Of course, the above is merely an exemplary illustration, but not limited thereto, for example, in some embodiments, protrusions or ribs are provided on two opposite sides of the mounting surface of the pad carrier 54, and corresponding guide grooves are provided on the bottom of the chassis 11 of the robot body 10, which should have similar propelling effect.

The pad carrier 54 is also provided with spray openings 544 extending through the mounting and mounting surfaces, the number of spray openings 544 being the same as the number of spray heads of the spray jet 45. After the pad carrier 54 is fixed to the bottom of the chassis 11 of the robot body 10, the spraying openings 544 of the pad carrier 54 are aligned with the spraying heads 451 of the spraying member 45, so that the cleaning liquid sprayed from the spraying heads 451 of the spraying member 45 can be sprayed onto the pads 51 mounted on the pad carrier 54 through the spraying openings 544 of the pad carrier 54. In addition, a filter element or similar filter screen structure may be disposed on the spray opening 544 for spraying the cleaning fluid from the nozzle of the spray member 45 to prevent impurities in the cleaning fluid from contaminating the mop pad 51.

In the embodiment shown in fig. 17, the removable mounting structure further comprises at least one pair of guide projections provided on the mounting surface of the tow pad carrier 52. Taking a pair of guiding protrusions as an example, two of the guiding protrusions are respectively disposed on two opposite sides of the front end of the pad carrier 52, and the guiding protrusions are adjacent to the hooks 541. The guide projection can guide the pad carrier 54 and the pad 51 carried thereby into a predetermined mounting position smoothly.

The floor module may be further provided with an auxiliary guide wheel 546, and the auxiliary guide wheel 546 may be disposed at a middle position of the rear portion of the fixing surface of the floor pad carrier 54, by which not only the rear portion of the floor module is prevented from being blocked by obstacles (e.g., thick blankets, protrusions of the floor, etc.), but also the smoothness of the floor operation of the floor module during the floor mopping process can be facilitated.

In the embodiment shown in fig. 17, the floor assembly may also be provided with a mounting detection mechanism for detecting whether the pad carrier 54 is properly mounted to the chassis 11. In some embodiments, the installation detection mechanism may include a hall sensor disposed on the chassis 11 of the robot body 10, the hall sensor being connected to the control system on the chassis 11, and a magnet disposed on the mop pad carrier 54. In practical application, when the dragging pad carrier 54 is mounted on the chassis 11, when the magnet on the dragging pad carrier 54 corresponds to the hall sensor on the chassis 11, the hall sensor will output a pulse signal because it is changed by the magnetic field and cuts the magnetic line of force, so as to determine that the dragging pad carrier 54 is mounted in place, when the magnet on the dragging pad carrier 54 does not correspond to the hall sensor on the chassis 11, the hall sensor will not output a pulse signal, and the control system outputs an alarm signal because it does not receive a corresponding pulse signal, so as to remind the user that the dragging pad carrier 54 is not mounted in place.

The mop pad is detachably arranged on the fixing surface of the mop pad bearing body.

For example, the pad can be attached to the fixing surface of the pad carrier by a hook and loop fastener. In the embodiment shown in fig. 13 and 17, a needle array is disposed on the fixing surface of the pad carrier 52 to form a hook and loop surface (not shown), and fluff is disposed on the attaching surface of the pad 51 to form a loop and loop surface 511. Specifically, as shown in fig. 13 and 17, the hook and loop fastener surface may be formed on an outer edge of the fixing surface of the pad carrier 52, for example, two strip hook and loop fastener surfaces are disposed on two opposite sides of the outer edge of the fixing surface of the pad carrier 52, and correspondingly, two hook and loop fastener surfaces 511 corresponding to the two strip hook and loop fastener surfaces are disposed on two opposite sides of the edge of the attaching surface of the pad 51. For providing two strip hook and loop fastener surfaces, two strip mounting grooves may be provided on opposite sides of the outer edge of the fixing surface of the pad carrier 52 for mounting the two strip hook and loop fastener surfaces. The depth of the installation containing groove can correspond to the thickness of the hook-and-loop fastener surface, so that after the hook-and-loop fastener surface is installed in the installation containing groove, the top surface of the hook-and-loop fastener surface is not protruded from the fixed surface of the dragging pad bearing body 52, and the smoothness of the fixed dragging pad 51 is ensured. Of course, other variations can be made in the above embodiment, for example, if necessary, a strip or block hook and loop fastener surface can be added to the central area of the fixing surface of the pad carrier 52, and a strip or block loop and loop fastener surface 511 can be added to the central area of the attaching surface of the pad 51. Thus, the pad 51 is adhered to the fixing surface of the pad carrier 52 by a hook and loop fastener.

For example, the pad can be fixed to the fixed surface of the pad carrier by a snap-fit structure. The engaging structure may include: a card strip and a card slot. In the embodiment shown in fig. 13 and 17, the edge of the dragging pad 51 is provided with a forming clamp strip 512, and the clamp strip 512 can be made of hard material, for example, sewing cloth is added on the edge of the dragging pad 51, and a strip-shaped or rod-shaped clamp strip 512 is added in the sewing cloth. Be equipped with banding draw-in groove (not shown in the drawing) on the fixed surface of trawl cushion carrier 52, the notch of draw-in groove extends inwards and forms the form that contracts inwards and make the notch form the bayonet socket, the size of bayonet socket will be less than the size of card strip 512, and, in the length direction of draw-in groove, the one end of draw-in groove is enclosed construction, and the other end of draw-in groove then is equipped with leading-in opening. When the installation is fixed, the clamping strip 512 at the edge of the dragging pad 51 is clamped into the clamping groove of the dragging pad carrier 52 through the leading-in opening of the clamping groove, the dragging pad 51 is moved until the opening end of the clamping strip 512 of the dragging pad 51 reaches the closed end of the clamping groove, and due to the bayonet design of the clamping groove, the clamping strip 512 of the dragging pad 51 cannot be pulled out of the clamping groove. In other embodiments, other configurations that enable a removable design may be used.

When the hook and loop fastener and the engaging structure are used to assemble and disassemble the dragging pad 51, for example, to install and fix the dragging pad 51, the clip strip 512 at the edge of the dragging pad 51 is inserted into the clip slot of the dragging pad carrier 52 through the leading-in opening of the clip slot, the dragging pad 51 is moved along the length direction of the clip slot until the leading-in end of the clip strip 512 of the dragging pad 51 reaches the closed end of the clip slot, and then the hook and loop surface 511 of the dragging pad 51 is correspondingly attached to the hook and loop surface of the dragging pad carrier 52. Taking the removal of the dragging pad 51 as an example, the dragging pad 51 is pulled first to separate the hook and loop surface 511 of the dragging pad 51 from the hook and loop surface of the dragging pad carrier 52, and then the dragging pad 51 is moved along the length direction of the slot until the clamping strip 512 of the dragging pad 51 is completely moved out of the lead-in opening of the slot.

Thus, the pad 51 is detachably mounted and fixed to the fixing surface of the pad carrier 52. The mopping pad 51 may be, for example, a disposable mopping pad, or may be, for example, a durable mopping pad that can be cleaned multiple times.

The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.

Claims

1. A floor mopping assembly for use with a cleaning robot, the floor mopping assembly comprising:

dragging the cushion; and

the dragging pad bearing body comprises a fixing surface for fixing the dragging pad and a mounting surface opposite to the fixing surface, and the mounting surface is fixed at the bottom of the robot body through a detachable mounting structure.

2. The mopping assembly of claim 1, wherein the cleaning robot includes a midspan assembly located in a central region of the robot body, and the mopping pad carrier is located on a rear side of the midspan assembly.

3. The mopping assembly of claim 1, wherein the robot body is circular or D-shaped, and the mopping pad carrier and the mopping pad are arcuate.

4. The mopping assembly of claim 1, wherein the robot body is rectangular, and the mopping pad carrier and the mopping pad are rectangular or elongated.

5. The mopping assembly of claim 1, wherein the mopping pad is fixed to the fixing surface of the mopping pad carrier by a hook and loop fastener.

6. The mopping assembly of claim 1 or 5, wherein the mopping pad is fixed to the fixed surface of the mopping pad carrier by a snap-fit structure.

7. The mopping assembly of claim 6, wherein the snap-fit structure comprises:

the clamping groove is arranged on the fixing surface of the pad bearing body; and

the clamping strip is arranged at the edge of the dragging pad.

8. The mopping assembly of claim 7, wherein the slot of the slot extends inwardly to form a tapered shape such that the slot forms a bayonet that is smaller in size than the clip strip.

9. The mopping assembly of claim 7, wherein one end of the slot is closed along the length of the slot, and the other end of the slot is provided with an inlet opening.

10. The mopping assembly of claim 1, wherein the removable mounting structure comprises: the robot body is provided with at least one pair of clamping hooks arranged on two opposite sides of the mounting surface, and the robot body is provided with clamping grooves or clamping columns corresponding to the clamping hooks.

11. The mopping assembly of claim 10, wherein the removable mounting structure further comprises: the pair of guide grooves are arranged on two opposite sides of the mounting surface and are adjacent to the at least one pair of clamping hooks, and at least one pair of bulges or ribs corresponding to the guide grooves are arranged on the robot body.

12. The mopping assembly of claim 10, wherein the removable mounting structure further comprises: the pair of protrusions or ribs are arranged on the two opposite sides of the mounting surface and are adjacent to the pair of clamping hooks, and at least one pair of guide grooves corresponding to the protrusions or ribs are formed in the robot body.

13. The mopping assembly of claim 10, wherein the removable mounting structure further comprises: the convex points are arranged on two opposite sides of the mounting surface and are adjacent to the at least one pair of clamping hooks.

14. The mopping assembly of claim 10, further comprising a hook unlocking mechanism corresponding to each hook of the at least one pair of hooks, the hook unlocking mechanism comprising:

a toggle switch;

the connecting rod is connected with the clamping hook and the toggle switch; and

the hook is driven by the connecting rod to be separated from the clamping groove or the clamping column by using the toggle switch.

15. The mopping assembly of claim 14, wherein two toggle switches of the at least one pair of trip unlocking mechanisms are disposed in a same unlocking area for single-handed operation.

16. The mopping assembly of claim 10, further comprising a toggle switch corresponding to each of the at least one pair of hooks, the toggle switch being disposed outside of the hooks.

17. The mopping assembly of claim 1, wherein the mopping pad carrier has a spray opening therethrough the mounting surface and the securing surface.

18. The mopping assembly of claim 1, further comprising a mounting detection mechanism for detecting whether the mopping pad carrier is properly mounted on the robot body.

19. The mopping assembly of claim 18, wherein the installation detection mechanism comprises:

the Hall sensor is arranged on the robot body; and

the magnet is arranged on the dragging cushion bearing body.

20. The mopping assembly of claim 1, further comprising an auxiliary guide wheel disposed at an intermediate location rearward of the fixed surface in the mopping pad carrier.

21. A cleaning robot, characterized by comprising:

a robot body configured with a mobile device; and

a mopping assembly according to any one of claims 1 to 20.

22. The cleaning robot of claim 21, further comprising: and the spraying assembly is arranged in the robot body and is used for spraying cleaning fluid to the mopping assembly.

23. The cleaning robot of claim 22, wherein the spray assembly comprises:

the storage tank is arranged in the storage tank containing groove of the robot body and used for storing cleaning fluid;

a delivery pump, wherein a flow inlet of the delivery pump is communicated with a discharge port of the storage tank;

the jet flow piece is arranged at the bottom of the robot body; the jet flow piece is communicated with the outflow port of the delivery pump and is provided with at least one spray head; and

and the controller is connected with the delivery pump and is used for controlling the pump flow action of the delivery pump according to a floor cleaning mode so as to spray the cleaning fluid in the storage tank through the at least one spray head of the spray member.