CN215777726U - Cleaning robot - Google Patents

Abstract

The utility model discloses a cleaning robot, comprising: a body; the walking module is used for supporting the machine body and driving the cleaning robot to move on a working surface; the cleaning module is arranged on the machine body and used for cleaning the working surface; the cleaning module includes: at least one working head, wherein the working head comprises a body extending along the height direction and a cleaning medium arranged on the side wall of the body perpendicular to the advancing direction of the cleaning robot; and at least part of the working head protrudes out of the machine body when the working head is in a working state. The cleaning robot and the cleaning system provided by the utility model can improve the coverage rate of mopping along the edge and realize the purpose of cleaning the edge; but also can clean the vertical surfaces of the leg sticking lines, the table legs, the chairs and the like.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot.

Background

In recent years, with the development of social economy and the improvement of the domestic living standard, the household cleaning gradually enters an intelligent and mechanized era, and the cleaning robot produced by transportation can release people from the household cleaning work, effectively reduce the work burden of people in the aspect of household cleaning, and relieve the fatigue degree of people in the household cleaning process.

The current cleaning robots also have some drawbacks in working, such as not being able to clean all the way around while mopping the floor. In order to solve the problem that the cleaning robot cannot completely clean the edge, the existing cleaning robot mainly detects the distance between the cleaning robot and a foot line through a collision plate; when mopping along the edge, the mop cloth can reach the leg sticking line, namely, the mop cloth is mopped to the edge based on the distance between the collision plate and the leg sticking line. However, the collision plate detects the distance between the collision plate and the foot line, which easily causes unsmooth walking, and the collision plate can scratch the foot line, so that the foot line is abraded and polluted.

Furthermore, conventional cleaning robots today typically clean the floor by means of horizontally arranged mops, the working area of which is defined as the area where the mops contact the floor, and thus the cleaning capacity is limited to cleaning the floor only.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the utility model provides the cleaning robot, which can improve the coverage rate of mopping along the edge and realize the purpose of cleaning the edge; but also can clean the vertical surfaces of the leg sticking lines, the table legs, the chairs and the like.

The above object of the present invention can be achieved by the following technical solutions:

a cleaning robot, comprising:

a body;

the walking module is used for supporting the machine body and driving the cleaning robot to move on a working surface;

the cleaning module is arranged on the machine body and used for cleaning the working surface; the cleaning module includes: at least one working head, wherein the working head comprises a body extending along the height direction and a cleaning medium arranged on the side wall of the body perpendicular to the advancing direction of the cleaning robot; and at least part of the working head protrudes out of the machine body when the working head is in a working state.

In a preferred embodiment, when the working head is in a working state, at least part of the cleaning medium protrudes out of the machine body.

In a preferred embodiment, the cleaning module at least comprises a first working head and a second working head, and at least one of the first working head and the second working head protrudes out of the machine body.

In a preferred embodiment, at least the first working head and the second working head rotate in opposite directions, and the cleaning module further comprises a cleaning mechanism, and the cleaning mechanism comprises: the first scraping strip is provided with a first end part which is contacted with the first working head; the second scraping strip is provided with a second end part which is contacted with the second working head; the temporary garbage storage bin is used for receiving garbage cleaned by the first scraping strip and the second scraping strip.

In a preferred embodiment, the cleaning module comprises three working heads, at least one of the three working heads protrudes from the machine body, and adjacent two working heads at least partially overlap in projection towards the working surface.

In a preferred embodiment, the cleaning robot further includes a collision sensor for detecting whether the working head collides.

In a preferred embodiment, the cleaning robot further comprises a control module, and the control module is used for adjusting the rotating speed of the working head when the collision sensor detects that the working head collides.

In a preferred embodiment, the cleaning robot has an edgewise mode, and the collision sensor is always in a trigger state for detecting the collision of the working head when the cleaning robot is in the edgewise mode.

In a preferred embodiment, the cleaning medium has a height ranging between 1/4 and 3/4 of the body; when the working head is in a working state, the working head vertically exceeds the machine bodies 1/8 to 3/8 along the advancing direction of the cleaning robot.

In a preferred embodiment, when the working head is in a non-working state, the working head is configured to be accommodated in the machine body.

In a preferred embodiment, the body has opposite front and rear walls in a direction parallel to the forward direction of the cleaning robot, the working head at least partially extending beyond the front wall of the cleaning robot.

The cleaning robot that provides in this application embodiment, through at the working head in the perpendicular to set up cleaning medium on cleaning robot advancing direction's the lateral wall, and when this working head during operation, the working head that is provided with cleaning medium is at least partly protrusion in the fuselage in the side direction, make this working head along with the in-process of fuselage motion, not only can be directly with the perpendicular facade on for example paste foot line, table leg chair etc. contact, realize clean to the limit, but also can clean pasting foot line, table leg chair etc. protect and paste foot line, table leg chair etc. avoid its wearing and tearing and pollution.

Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the utility model may be employed. It should be understood that the embodiments of the utility model are not so limited in scope. The embodiments of the utility model include many variations, modifications and equivalents within the spirit and scope of the appended claims. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

Drawings

The utility model is further described with reference to the following figures and embodiments.

Fig. 1 is a side view of a cleaning robot provided in an embodiment of the present application;

FIG. 2 is a bottom view of a cleaning robot provided in an embodiment of the present application;

FIG. 3 is a structural view of a working head of a cleaning robot provided in an embodiment of the present application;

FIG. 4 is a schematic view of a cleaning robot in a cleaning position for a horizontal surface according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a cleaning robot in cleaning a vertical surface according to an embodiment of the present disclosure;

fig. 6 is a schematic layout of a collision sensor of a cleaning robot provided in an embodiment of the present application;

fig. 7 is a schematic view of a cleaning robot provided in an embodiment of the present application in a state where a collision direction is perpendicular to a forward direction;

fig. 8 is a schematic view of a cleaning robot provided in an embodiment of the present application in a state where a collision direction is the same as a forward direction;

fig. 9 is a schematic structural view of another cleaning robot provided in an embodiment of the present application;

fig. 10 is a schematic structural view of another cleaning robot provided in an embodiment of the present application;

fig. 11 is a schematic view of a cleaning robot in an edge cleaning mode according to an embodiment of the present disclosure.

Reference numerals of the above figures:

1. a body;

2. a walking module;

3. a cleaning module; 30. a working head; 301. a cleaning medium; 302. a framework; 303. a horizontal plane; 304. vertical facade; 31. a first working head; 32. a second working head; 33. a third working head; 341. a first wiper strip; 342. a second wiper strip; 343. a temporary garbage storage bin; 35. a swing arm pivot shaft; 36. a first reset member; 37. a second reset member;

41. a forward collision sensor; 42. a lateral impact sensor;

v, the advancing direction; z, height direction; x, vertical advance direction.

Detailed Description

The technical solutions of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments, it should be understood that these embodiments are merely illustrative of the present invention and are not intended to limit the scope of the present invention, and various equivalent modifications of the present invention by those skilled in the art after reading the present invention fall within the scope of the appended claims.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In this specification, the direction of the cleaning module of the embodiment of the present invention, which is directed toward or facing the working surface in a normal use state, is defined as "lower", and the opposite direction, or the direction facing away from the working surface is defined as "upper". It should be noted that the definitions of the directions in the present specification are only for convenience of describing the technical solution of the present invention, and do not limit the directions of the cleaning module of the embodiment of the present invention in other scenarios, including but not limited to use, test, transportation, and manufacture, which may cause the orientation of the cleaning module to be reversed or the position of the cleaning module to be changed.

The cleaning module of the embodiment of the utility model can be configured in the cleaning robot, can be driven by the cleaning robot, and moves along the cleaning direction on the working surface to perform cleaning operation, wherein the cleaning direction is the advancing direction of the cleaning robot. Specifically, the cleaning robot may be provided with a body, and the cleaning module may be provided at the bottom of the body. The bottom of the machine body can also be provided with a walking module for driving the cleaning robot to move.

The cleaning robot in the embodiment of the present invention may further include other necessary modules or components such as a suction port, a dust box, a battery, a driving mechanism, a distance measuring sensor, and the like, in order to perform the basic function of the cleaning robot. It should be noted that any suitable existing configuration may be used for other necessary modules or components included in the cleaning robot. For clearly and briefly explaining the technical scheme provided by the utility model, the parts are not described again, and the drawings in the specification are correspondingly simplified. It will nevertheless be understood that no limitation of the scope of the utility model is thereby intended.

Cleaning robots configured with cleaning modules of embodiments of the present invention may be used for applications including, but not limited to: cleaning operation scenes such as sweeping and mopping integration, mopping and window wiping. In a specific scenario, the cleaning module according to the embodiment of the present invention is configured in a floor mopping robot (including a sweeping and mopping all-in-one machine), and the floor mopping robot can drive the cleaning module to contact with the ground, so as to wipe the ground. It should be noted that the above-mentioned scenario for mopping is only one possible cleaning operation scenario of the cleaning module according to the embodiment of the present invention. It is contemplated that one skilled in the art may expand the cleaning module of embodiments of the present invention for use in any suitable cleaning scenario, and the embodiments of the present invention are not limited thereto.

The application provides a cleaning robot and a cleaning system, which can not only improve the coverage rate of mopping along the edge, but also realize the edge cleaning; and can clean the vertical facade such as leg pasting line, table leg chair, protect leg pasting line, table leg chair, avoid wearing and tearing and pollution, when the edgewise is clean simultaneously, the route of walking is straight, and clean effect is better.

The present disclosure is described with reference to a mopping robot (including a sweeping and mopping machine) as a main scenario. It will nevertheless be understood that no limitation of the scope of the embodiments of the utility model is thereby intended, as illustrated in the accompanying drawings.

Referring to fig. 1 and 2, in an embodiment of the present disclosure, a cleaning robot is provided, which mainly includes: the cleaning robot comprises a machine body 1, a walking module 2 and a cleaning module 3, wherein the walking module 2 is used for supporting the machine body 1 and driving the cleaning robot to move on a working surface, and the cleaning module 3 is installed on the machine body 1 and is used for cleaning the working surface.

The cleaning module 3 includes: at least one working head 30, the working head 30 extending entirely in the height direction, including a body having a height dimension and a cleaning medium 301 disposed on a side wall of the body perpendicular to the cleaning robot advancing direction V (i.e., a side wall parallel to the vertical advancing direction X in fig. 9 and 10). The working head 30 at least partially protrudes from the machine body 1 during operation. Here, the working head 30 at least partially protrudes from the machine body 1 during operation means that the working head 30 at least partially protrudes from the machine body 1 in the lateral direction. The lateral direction is understood to be in a direction parallel to the working plane.

It should be noted that: the specific arrangement of the working head 30, particularly the specific arrangement and thickness of the cleaning medium 301, varies. Specifically, when the working head 30 is in a working state, at least a part of the cleaning medium 301 protrudes out of the machine body 1, so that the cleaning medium 301 can be ensured to contact the edge. For example, the working head 30 may project laterally at least partially out of the body 1 during operation: only the cleaning medium 301 protrudes from the main body 1; it is also possible that both the side walls of the body and the cleaning medium 301 protrude from the main body 1.

In the present embodiment, the working head 30 has a body with a certain height, and the height of the body can be in a direction forming an included angle with the working surface. For example, the height dimension direction of the body may be a direction perpendicular to the working surface, and of course, the height dimension direction of the body and the working surface may have other angles.

The working head 30 may be a hollow structure or an internal solid structure, and the application is not limited in this respect. For example, the outer whole of the working head 30 may be a cylinder; accordingly, the height dimension is the height dimension of the cylinder. Of course, the working head 30 may also be other column structures with a certain height, such as a triangular prism structure with rounded corners; accordingly, the height dimension is the height dimension of the triangular prism. In addition, the working head 30 may have other regular or irregular shapes, and the application is not limited thereto.

The cleaning medium 301 of the first height is disposed on a sidewall of the body having a certain height dimension. The first height needs to be selected to be a proper height, firstly, the first height cannot be too small, otherwise, the cleaning medium 301 cannot be effectively cleaned when contacting with obstacles, such as a foot line, a table leg and a chair, and the like vertical elevation 304; of course, the first height should not be too large, and generally needs to be less than the height of the fuselage 1. In summary, the height of the cleaning medium ranges from 1/4 to 3/4 of the main body 1. Specifically, the first height of the cleaning medium 301 is greater than 20 mm and less than 80 mm.

Referring to fig. 3, in the present embodiment, the working head 30 may include a frame 302, and the frame 302 has a hollow structure and includes a cylindrical sidewall for installing the cleaning medium 301. The side wall is provided with a bottom wall on one side close to the working surface. The side of the bottom wall facing the work surface may be provided with a cleaning medium 301; the side thereof facing away from the working surface may be provided with a connection for cooperation with a drive mechanism. Specifically, the connection portion of the working head 30 may be connected to the driving mechanism by a detachable connection manner such as a snap connection, a threaded connection, etc., of course, the specific form of the connection portion may be different according to the connection manner between the connection portion and the driving mechanism, and the application is not limited in this respect.

The cleaning media 301 on the bottom wall may be the same as or different from those on the side walls. The cleaning medium 301 on the bottom wall may be provided integrally with the cleaning medium 301 on the side wall, or may be provided separately. Specifically, the cleaning medium 301 may have a sheet shape having a certain thickness. The material of the cleaning medium 301 may include: natural fabrics such as cotton and hemp, chemical fabrics such as polyester fibers and nylon fibers, sponge products such as rubber and kapok, paper products such as raw wood pulp and absorbent cotton, and synthetic products such as the above. The specific structure of the cleaning medium 301 is not limited in this application, and it may be a whole piece of cleaning cloth sleeved on the sidewall of the body, a bristle brush disposed on the sidewall of the body, or cleaning units formed on the sidewall of the body in an array. In one embodiment, the cleaning medium 301 is capable of generating static electricity, such as electrostatic paper, by friction with a working surface, thereby attracting hair, etc. In another embodiment, the cleaning medium 301 has a water absorbing function and can maintain integrity for a period of time, such as a mop. The cleaning medium 301 may be attached to the body by any suitable conventional means, such as, but not limited to, velcro, or by clips.

After the driving mechanism is started, the working head 30 can be driven by the driving mechanism, and in the process that the cleaning robot moves on the working surface, the working head 30 rotates around the rotation shaft of the cleaning robot, so that the cleaning effect on the working surface is improved. As shown in fig. 3, when the overall outer contour of the working head 30 is a cylinder, the extending direction of the rotating shaft is consistent with the height direction Z of the working head 30.

In the present embodiment, the working head 30 has an operating state and a non-operating state opposite to each other. When the working head 30 is in a working state, at least part of the working head protrudes out of the machine body 1. As shown in fig. 4, when the working head 30 is not in contact with the skirting line, table legs, etc. in the vertical elevation 304, it primarily cleans the working surface with the bottom wall cleaning medium 301. Typically, the work plane is a horizontal plane 303, such as a floor, or the like. When the working head 30 is in contact with a skirting line, a table leg, etc., as shown in fig. 5, it can not only clean a horizontal working plane with the cleaning medium 301 of the bottom wall, but also clean an object to be cleaned, such as a skirting line, a table leg, etc., on the vertical elevation 304 with the cleaning medium 301 of the side wall.

In the embodiment, since the cleaning medium 301 is disposed on the side wall of the working head 30, and when the working head 30 works, at least a portion of the working head 30 provided with the cleaning medium 301 protrudes out of the machine body 1 in the lateral direction, the working head 30 can directly contact with the leg attaching line, the leg chair and the like on the vertical surface 304 to clean the edge, and can also clean the leg attaching line, the leg chair and the like to protect the leg attaching line, the leg chair and the like and avoid abrasion and pollution of the leg attaching line, the leg chair and the like in the process of moving along with the machine body 1.

The dimension of the working head 30 provided with the cleaning medium 301 protruding at least from the machine body 1 in the lateral direction can be different according to the sensing performance parameters of the ranging sensor. For example, in the case of a sweeping and mopping machine which cannot clean the edge, in order to avoid the chassis from rubbing against the foot line, the chassis is kept at a certain safe distance from the foot line by the edge distance measuring sensor.

In the cleaning robot provided in the present specification, in order to overcome the problem of the lack of cleaning while reducing the improvement cost as much as possible, the distance by which the working head 30 provided with the cleaning medium 301 protrudes from the body 1 may be set as the safe distance of the distance measuring sensor. The working head 30 is beyond the body 1/8 to 3/8 in a direction perpendicular to the forward direction V of the cleaning robot. Specifically, the distance may be 5 mm to 15 mm. Namely, when the working head 30 is in a working state, the working head 30 laterally exceeds the machine body by 5 mm to 15 mm. Of course, the distance may be adaptively adjusted according to the size of the body 1 of the cleaning robot, and the present application is not limited thereto.

When the working head 30 is in a non-working state, the position of the working head 30 can be maintained at the same position as the working state, that is, at least part of the working head 30 protrudes out of the machine body 1 in the lateral direction; further, the working head 30 may be configured to be entirely accommodated in the body 1. When the working head 30 is in a non-working state, the working head 30 is configured to be accommodated in the machine body 1, on one hand, the cleaning robot is convenient to accommodate, the occupied space is reduced, and on the other hand, secondary pollution to the cleaning medium 301 on the working head 30 can be prevented.

Specifically, the switching from at least part of the working head 30 protruding from the machine body 1 to the complete storage in the machine body 1 can be realized by arranging an adjusting mechanism between the working head 30 and the machine body 1, for example, the adjusting mechanism is a telescopic or rotatable mechanism, and when the working head 30 needs to enter a working state, part of the working head 30 protrudes from the machine body 1 through the adjusting mechanism; when the working head 30 needs to be switched from the working state to the non-working state, the adjusting mechanism can be used to completely accommodate the working head 30 in the machine body 1. In addition, when the working head 30 is switched from the working state to the non-working state, the function of being completely accommodated in the machine body 1 can be realized by other existing technical means, and the description of the application is not further expanded.

In the present embodiment, the cleaning robot may include a collision sensor for recognizing a collision generated by the work head 30. Compared with the scheme that the collision sensor is arranged on the collision plate, the collision sensor detects the contact collision between the collision plate and the wall surface (the working principle is that the collision plate firstly collides, detects the contact edge and then rebounds for cleaning, the process is circulated, the abrasion of the collision plate and/or the wall body is caused, meanwhile, the walking route is wavy, the dragging is missed) so as to realize the cleaning along the edge, the collision sensor is used for identifying the collision generated by the working head 30, the abrasion of the collision plate and/or the wall body can be avoided, meanwhile, the walking route is linear, the dragging is prevented from being missed, and the cleaning effect is good. Specifically, the form of the impact sensor is not limited in this application, and for example, the impact sensor may be in the form of a contact-type tact switch, a non-contact-type photoelectric switch, or the like. Furthermore, the crash sensor can be a displacement sensor, a pressure sensor, or another type of sensor, depending on the sensing principle.

As shown in fig. 6, further, the cleaning robot may further include a control module (not shown). When the cleaning robot is provided with the control module and the collision sensor at the same time, the control module is electrically connected with the collision sensor, the walking module 2 and the cleaning module 3. The control module is used for adjusting the rotating speed of the working head 30 when the collision sensor detects that the working head collides. Wherein, adjusting the rotation speed of the working head 30 may include controlling the working head 30 to perform at least one of the following actions: deceleration, stop, retreat, and turn.

Generally, a cleaning robot performs a cleaning work along a preset route. Specifically, the preset route may be different according to different types of preset paths inside different cleaning robots. For example, the preset path of the cleaning robot may be to perform edge cleaning first and then perform non-edge central area cleaning; or cleaning a non-edge central area first and then cleaning the edge; furthermore, instead of distinguishing between edgewise cleaning and non-edgewise cleaning, global cleaning may be performed according to a preset route based on a stored map. When the cleaning robot performs a cleaning work according to a preset route, it may encounter the cleaning object. Particularly, in the case of non-edgewise, when the cleaning robot meets the object to be cleaned, it should be noted that the object to be cleaned in the non-edgewise mode is mainly an object with a height such as a table leg and a chair, and in order to achieve effective cleaning of the object to be cleaned while minimizing the dead angle of cleaning, the cleaning robot can be controlled to continue to travel along a preset path, and at the same time, the wear degree of the object to be cleaned and the cleaning medium can be minimized by controlling the speed of the working head 30, for example, by decelerating or stopping the rotation of the working head.

In addition, adjusting the rotation speed of the working head 30 may also include increasing the rotation speed, which may be adaptively adjusted according to the condition of the object to be cleaned, the user's needs, and the like.

In one real-time approach, the cleaning robot has an edgewise mode and a non-edgewise mode. In the edgewise mode, the collision sensor can be always in a trigger state of detecting that the working head 30 generates collision, namely the collision sensor can be always in the trigger state, and the working head 30 close to the edge is controlled to decelerate; in the non-edgewise mode, the impact sensor may be triggered at a certain time, and at this time, the working head 30 may decelerate or even stop, and further, the working head 30 may be controlled to move backward or turn. It should be understood that the speed of the respective working heads 30 of the cleaning robot may be different in different operation modes; in the same mode, the speed of the working head 30 of the cleaning robot, especially the working head 30 close to the side, can be adjusted in multiple stages.

In one embodiment, the collision sensor may be a displacement sensor, and the cleaning module 3 further includes: the pivot center of the swing arm pivot shaft 35 is fixed on the machine body 1, and the free end of the swing arm pivot shaft 35 can drive the working head 30 to swing; the resetting piece is arranged between the machine body 1 and the swing arm pivot shaft 35 and used for providing resetting force for the swing arm pivot shaft 35.

In the present embodiment, the working head 30 may be connected to the body 1 by a swing arm pivot shaft 35. The swing arm pivot 35 has a first end rotatably disposed on the body 1, and the center of the first end is the swing arm pivot center. The second end of the swing arm pivot 35 is a free end, and is connected to the working head 30 in a matching manner, so as to drive the working head 30 to swing around the swing arm pivot center. Specifically, the second end of the swing arm pivot shaft 35 can be coaxially sleeved on the frame 302 of the working head 30. When the working head 30 is in contact with an obstacle, the free end of the swing arm pivot shaft 35 drives the working head 30 to swing, so that the working head 30 generates certain displacement; after the generated displacement is sensed by the displacement sensor, the displacement sensor transmits the sensed signal to the control module, and the subsequent control module controls the driving mechanism to decelerate or stop rotating the working head 30. When the working head 30 is decelerated or stopped to rotate, the protection of objects in contact with the working head is facilitated, and the degree of abrasion of the contact surface is reduced as much as possible.

One end of the reset piece can be fixed on the machine body 1, and the other end is connected on the swing arm pivot shaft 35. When the cleaning robot works, the working head 30 can generate certain displacement after contacting with an obstacle, and at the moment, the reset piece accumulates elastic potential energy; when the working head 30 is no longer in contact with an obstacle, the reset member releases the accumulated elastic potential energy to provide reset force for the swing arm pivot shaft 35 and the working head 30. Specifically, the reset element may be in the form of a reset spring, and of course, the reset element may also be in other forms capable of providing a reset force, and the application is not limited in this respect.

Referring to fig. 6, 7 and 8 in combination, in one embodiment, the main body 1 has opposite front and rear walls along the forward direction V of the cleaning robot, and the working head 30 at least partially extends beyond the front wall of the cleaning robot.

For the cleaning robot, it has opposite front and rear walls in the forward direction V. The working head 30 extends at least partially beyond the front wall.

When the cleaning robot works, the working head 30 has multiple working conditions, namely a first working condition, the working head 30 needs to clean the obstacle outside the front wall, and at the moment, the working head 30 needs to at least exceed the front wall, so that the working head can be contacted with the obstacle outside the front wall, and the obstacle can be cleaned while the cleaning is carried out; in the second working condition, the working head 30 needs to clean the obstacles outside the front wall and the side walls at the same time, and at this time, the working head 30 needs to exceed the front wall and the side walls at the same time, so that the working head can contact with the obstacles outside the front wall and the side walls, and the obstacles can be cleaned while the working head is cleaned.

In order that the cleaning robot can sense an obstacle to be cleaned under different working conditions, as shown in fig. 6, the collision sensor includes: a forward impact sensor 41 and a lateral impact sensor 42 disposed along both sides of the swing arm pivot shaft 35.

In the present embodiment, the front impact sensor 41 and the side impact sensor 42 may be in the form of contact impact sensors.

In the following embodiments, the forward collision sensor 41 and the lateral collision sensor 42 are mainly exemplified as contact collision sensors. For example, the impact sensor may also take the form of an alternative sensor, such as a non-contact distance measuring sensor. When the sensor is in the form of a non-contact ranging sensor, a sensing threshold is correspondingly set, and when the sensed distance is less than or equal to the sensing threshold, it indicates that the working head 30 has contacted with an obstacle to be cleaned. Other forms may be adapted by those skilled in the art and are not repeated here.

As shown in fig. 7, the lateral collision sensor 42 is a contact type collision sensor, and according to the movement track of the swing arm pivot shaft 35 after the working head touches the obstacle, a lateral touch receiving portion may be disposed at a corresponding position of the body 1, and a lateral collision triggering portion may be disposed on the swing arm pivot shaft 35.

When the working head 30 touches a lateral obstacle, the swing arm pivot 35 is driven to swing, and then the first reset member 36 is compressed for a distance until the lateral collision trigger part contacts with the lateral touch receiving part, and at this time, the lateral collision sensor 42 sends a signal to the control module.

As shown in fig. 8, the forward collision sensor 41 is a contact collision sensor, and according to the movement track of the swing arm pivot shaft 35 after the working head touches the obstacle, a forward touch receiving portion may be disposed at a corresponding position of the body 1, and a forward touch triggering portion may be disposed on the swing arm pivot shaft 35.

When the working head 30 touches a forward obstacle, the swing arm pivot shaft 35 is driven to swing, and then the second reset member 37 is compressed for a distance until the forward collision touch part contacts the forward collision receiving part, and at this time, the forward collision sensor 41 sends a signal to the control module.

In some embodiments, the cleaning module comprises at least a first working head 31 and a second working head 32, at least one of which protrudes from the body.

As shown in fig. 9, in one embodiment, the cleaning module 3 may comprise a first working head 31 and a second working head 32. When the first working head 31 and the second working head 32 are in working states, at least one of the first working head and the second working head protrudes out of the machine body in the lateral direction. Specifically, the first working head 31 and the second working head 32 may be arranged side by side along a vertical advancing direction X perpendicular to the advancing direction V of the cleaning robot. Of course, it should be noted that the specific arrangement positions of the first working head 31 and the second working head 32 may be reasonably arranged according to the functions that are actually required to be realized by the cleaning robot, and the application is not limited in this respect. For example, the first working head 31 and the second working head 32 may be arranged back and forth along the advancing direction V, wherein at least the first working head 31 at the front side can at least partially protrude from the machine body in the working state. The second working head 32 on the rear side can now be used as a supplementary cleaning head to the first working head 31, further improving the cleaning effect of the working surface.

In a particular embodiment, the cleaning module 3 can comprise two working heads, which can be mounted symmetrically on both sides of the body 1 along the advancement direction V, as shown in fig. 9. The two working heads are separated by a small gap, so that the two working heads can not interfere with each other when in a rotating working state.

In some embodiments, to keep the vehicle body balanced, at least the first working head 31 and the second working head 32 rotate in opposite directions.

In some embodiments, the cleaning module further includes a cleaning mechanism, which can be used to clean up the garbage on the working head, for example, after the cleaning robot completes one cleaning operation or when the cleaning robot returns to the base station to charge, the cleaning mechanism can clean the working head to ensure the cleaning effect of the next cleaning operation, and avoid causing secondary pollution.

In some embodiments, the above-mentioned cleaning mechanism may include: the first scraping strip is provided with a first end part which is contacted with the first working head; the second scraping strip is provided with a second end part which is contacted with the second working head; and the temporary garbage storage bin is used for receiving the garbage cleaned by the first scraping strip and the second scraping strip. Set up clean mechanism and can avoid the manual rubbish of getting rid of user, and convenience of customers directly emptys rubbish, improves user experience.

In a specific embodiment, still taking the two working heads shown in fig. 9 as an example, the rotation directions of the first working head 31 and the second working head 32 are opposite to each other, so as to ensure the balance of the cleaning robot. Cleaning module 3 includes a cleaning mechanism, the cleaning mechanism includes: a first scraping bar 341, wherein the first scraping bar 341 is provided with a first end part contacting with the first working head 31; a second scraping bar 342, wherein the second scraping bar 342 is provided with a second end part which is contacted with the second working head 32; a temporary garbage bin 343 for receiving garbage cleaned by the first and second scraping bars 341 and 342.

As shown in fig. 9, in the present embodiment, the first working head 31 can rotate clockwise, and the second working head 32 can rotate counterclockwise; or the first working head 31 may be rotated counterclockwise and the second working head 32 may be rotated clockwise. A cleaning mechanism may be provided at a downstream position where the first working head 31 and the second working head 32 are close to each other. The cleaning mechanism may include a scraping bar for cleaning the garbage adhered to the surface of the working head, and a temporary garbage storage 343 for temporarily storing the cleaned garbage.

Specifically, each working head is provided with a scraping strip. The scraping strip can be made of a material with certain elasticity, such as a rubber material, and abrasion to the cleaning medium 301 on the surface of the working head can be reduced.

As for the first working head 31, a first wiper strip 341 is provided. The first end of the first scraping strip 341 contacts with the first working head 31; the other end of the first scraping bar 341 away from the first end can be coupled to a temporary garbage bin 343. Specifically, the mating manner may be a snap connection, or may be other mating manners, and the application is not limited in this application.

For the second working head 32, a second wiper strip 342 is provided. The second end of the second scraping bar 342 is in contact with the second working head 32; the other end of the second scraping bar 342 away from the second end can be coupled to a temporary garbage bin 343. Specifically, the mating manner may be a snap connection, or may be other mating manners, and the application is not limited in this application.

In another embodiment, the cleaning module 3 comprises at least three working heads, at least one of the at least three working heads protrudes from the machine body, and adjacent two working heads at least partially overlap in projection towards the working surface.

In a specific embodiment, as shown in fig. 10, two adjacent working heads at least partially overlap in a vertical advancing direction X perpendicular to the advancing direction V of the cleaning robot.

In the embodiment, in order to avoid the area of missed dragging in the advancing direction V, the plurality of working heads may be arranged in a staggered manner, and an overlapping area exists between two adjacent working heads in a vertical advancing direction X perpendicular to the advancing direction V of the cleaning robot. For example, as shown in fig. 10, when the cleaning module 3 includes three working heads, namely a first working head 31, a second working head 32 and a third working head 33, the first working head 31 and the second working head 32 located at the outer side can respectively extend out of the front wall and the side wall of the machine body 1, and the third working head 33 located at the middle is located between the two and located at the opposite downstream position in the advancing direction V.

In some embodiments, the body has opposing front, side and rear walls in the forward direction of the cleaning robot, and the working head 30 extends at least partially beyond at least one of the front, side and rear walls. The above embodiments and the drawings can be referred to for the working head 30 at least exceeding at least one of the front wall and the side wall, and the description of the application is omitted here.

Wherein, the working heads 30 may at least partially exceed the rear wall according to the number of the working heads 30 and the specific form. For example, when the cleaning robot is a sweeping and mopping all-in-one machine, the cleaning robot may be provided with a dust washing port and a roller brush at the front thereof and with side brushes at both sides thereof, and in this case, the working head 30 may be located at the rear side of the machine body, which may protrude from the side walls and the rear wall of the machine body.

Based on the cleaning robot provided in the above embodiment, there is also provided in the present specification a cleaning system, which may include: a base station (not shown in the figures) for performing maintenance on the cleaning robot and the cleaning robot provided in the above embodiments. Specifically, the base station may perform functions of charging, washing, or replacing the cleaning medium 301 for the cleaning robot.

Referring to fig. 11, a control method of a cleaning robot having an edge mode and a non-edge mode is also provided in the present specification, and the control method may include: when the cleaning robot is in the edgewise mode, the working head 30 is controlled to operate at a first speed. Wherein the working head 30 includes a body extending in a height direction and a cleaning medium 301 disposed on a side wall of the body perpendicular to the forward direction V of the cleaning robot. The working head 30 is arranged on the body 1 of the cleaning robot, and at least part of the working head 30 protrudes out of the body 1 when in work.

And when the cleaning robot is in a non-edgewise mode, controlling the working head 30 to work at a second speed.

Further, the second speed is higher than the first speed, namely the cleaning speed of the cleaning robot in the non-edgewise mode is higher than that in the edgewise mode, the cleaning speed of the cleaning robot in the non-edgewise mode is high, the cleaning efficiency of the non-edgewise mode can be ensured, the cleaning speed of the cleaning robot in the edgewise mode is low, on one hand, the cleaning effect of the edgewise mode can be improved, and on the other hand, the abrasion generated on the cleaning robot and the edgewise mode can be reduced.

It is noted that all the working heads can be operated at the second speed when the cleaning robot is in the non-edgewise mode. When the working head enters the edge mode from the non-edge mode, the working speed of the working head can be reduced from the second speed to the first speed. When the working head which is not along the edge touches an obstacle, the working head can be controlled to decelerate, for example, to a first speed, or other speeds, and the working head can be controlled to stop; in addition, the working head can be controlled to perform actions such as backing, steering and the like, namely receiving a detection signal of the collision sensor in the non-edge mode; if the detection signal of the collision sensor indicates that the working head collides with the obstacle, the working head colliding with the obstacle is controlled to execute at least one of the following actions: deceleration, stop, retreat, and turn.

In this embodiment, specific structures of the cleaning robot can refer to the detailed description of the above embodiments, and detailed description thereof is omitted here. When the cleaning robot is in the edgewise mode, the working head 30 works at the first speed, and the working head 30 is always in the collision state, so that the mopping to the edge is realized, and simultaneously, the foot line is wiped. The first speed mainly refers to the rotation speed of the working head 30.

Further, as shown in fig. 11, the number of the working heads 30 is at least two, at least one working head is in a side-by-side state (the working head is perpendicular to the advancing direction V and faces one side of the wall), and the controlling the working heads to work at the first speed includes: controlling the working head in the side-approaching state to work at a first speed; and controlling the working head not close to the edge to work at a third speed, wherein the first speed is lower than the third speed, or controlling the working head not close to the edge to work at the first speed.

In the embodiment, the working head capable of controlling the side approaching state, specifically, the state of the working head contacting with the obstacle, works at the first speed; and controlling the working head not close to the edge to work at a third speed, wherein the first speed can be lower than the third speed, so that the working head can be ensured to effectively clean the welt line and avoid abrasion when contacting with an obstacle, such as the welt line.

It can be understood that when both working heads of the cleaning robot are alongside, both working heads of the alongside may move at a first speed. Further, it should be noted that: the first speed and the third speed can be set adaptively according to different cleaning scene requirements and other different design requirements. For example, to ensure the balance of the vehicle, the first speed and the third speed may be kept equal; when an obstacle located on vertical facade 304 is very dirty and requires heavy cleaning, the first speed may be set greater than the third speed.

In one embodiment, the control method further comprises: receiving a detection signal of an impact sensor in the non-edge mode; and if the detection signal of the collision sensor indicates that the working head collides with the obstacle, controlling the working head colliding with the obstacle to decelerate or stop.

When the collision sensor receives a detection signal in a non-edgewise mode, the control module receives the detection signal and judges that the working head collides with the obstacle based on the detection signal, and the working head colliding with the obstacle can be controlled to decelerate or stop so as to clean the obstacle and protect the obstacle.

In a specific working scene, the cleaning robot stores preset working modes and control logics. Specifically, after the cleaning robot receives a starting signal, the cleaning robot firstly cleans the working surface in an edge mode; in the edgewise mode, the at least one working head operates at a first speed; entering a global cleaning mode after the edge mode is finished, wherein the working head works at a second speed in the global cleaning mode, and the second speed is higher than the first speed; and in the global cleaning mode, when the collision sensor is triggered, the working head which collides with the obstacle is controlled to reduce the rotating speed or stop rotating.

It should be noted that, in the description of the present application, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is intended or should be construed to indicate or imply relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

The above embodiments in the present specification are all described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on being different from other embodiments.

The above description is only a few embodiments of the present invention, and although the embodiments of the present invention are described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims (11)

1. A cleaning robot, characterized in that the cleaning robot comprises:

a body;

the walking module is used for supporting the machine body and driving the cleaning robot to move on a working surface;

the cleaning module is arranged on the machine body and used for cleaning the working surface;

the cleaning module includes: at least one working head, wherein the working head comprises a body extending along the height direction and a cleaning medium arranged on the side wall of the body perpendicular to the advancing direction of the cleaning robot;

and at least part of the working head protrudes out of the machine body when the working head is in a working state.

2. The cleaning robot as claimed in claim 1, wherein at least a portion of the cleaning medium protrudes from the body when the working head is in an operating state.

3. The cleaning robot as claimed in claim 1, wherein the cleaning module comprises at least a first working head and a second working head, at least one of the first working head and the second working head protruding from the body.

4. The cleaning robot of claim 3, wherein at least the first working head and the second working head rotate in opposite directions, the cleaning module further comprising a cleaning mechanism comprising:

the first scraping strip is provided with a first end part which is contacted with the first working head;

the second scraping strip is provided with a second end part which is contacted with the second working head;

the temporary garbage storage bin is used for receiving garbage cleaned by the first scraping strip and the second scraping strip.

5. The cleaning robot of claim 3, wherein the cleaning module comprises three working heads, at least one of the three working heads protrudes from the body, and adjacent two working heads at least partially overlap in projection toward the working surface.

6. The cleaning robot as claimed in claim 1, further comprising a collision sensor for detecting whether the working head collides.

7. The cleaning robot as claimed in claim 6, further comprising a control module for adjusting the rotation speed of the working head when the collision sensor detects a collision of the working head.

8. The cleaning robot as claimed in claim 6, wherein the cleaning robot has an edgewise mode, and the collision sensor is always in a trigger state of detecting the collision of the working head when the cleaning robot is in the edgewise mode.

9. The cleaning robot of claim 1, wherein the cleaning medium has a height ranging between 1/4 and 3/4 of the main body; when the working head is in a working state, the working head exceeds the machine bodies 1/8 to 3/8 in the direction perpendicular to the advancing direction of the cleaning robot.

10. The cleaning robot as claimed in claim 1, wherein the working head is configured to be received in the body when the working head is in a non-operating state.

11. The cleaning robot of claim 1, wherein the body has opposing front and rear walls in a direction parallel to a forward direction of the cleaning robot, the working head at least partially extending beyond the front wall of the cleaning robot.

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