EP4393367A1 - Cleaning robot - Google Patents

Cleaning robot Download PDF

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Publication number
EP4393367A1
EP4393367A1 EP22860663.8A EP22860663A EP4393367A1 EP 4393367 A1 EP4393367 A1 EP 4393367A1 EP 22860663 A EP22860663 A EP 22860663A EP 4393367 A1 EP4393367 A1 EP 4393367A1
Authority
EP
European Patent Office
Prior art keywords
cleaning
cleaning robot
roller brush
fan
power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22860663.8A
Other languages
German (de)
English (en)
French (fr)
Inventor
Shisong Zhang
Hongfeng Zhong
Fu Qian
Yichun Ma
Shaoqing QIAO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of EP4393367A1 publication Critical patent/EP4393367A1/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/18—Floor surfacing or polishing machines motor-driven with rotating tools the tools being roll brushes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0405—Driving means for the brushes or agitators
    • A47L9/0411—Driving means for the brushes or agitators driven by electric motor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0427—Gearing or transmission means therefor
    • A47L9/0433—Toothed gearings
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0427—Gearing or transmission means therefor
    • A47L9/0444—Gearing or transmission means therefor for conveying motion by endless flexible members, e.g. belts
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0455—Bearing means therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries

Definitions

  • a cleaning robot includes: a body, having a front end; a movement mechanism, including at least one driving wheel, and configured to support and drive the cleaning robot to move on a to-be-cleaned ground; a cleaning mechanism, including a roller brush, and configured to perform cleaning work on the to-be-cleaned ground; a dust suction mechanism, including a fan, and configured to suck garbage cleaned off by the cleaning mechanism into the body; a dust collection mechanism, including a dust box, and configured to collect the garbage sucked into the body; and a controller, configured to control the cleaning robot to move on the to-be-cleaned ground, to implement autonomous cleaning of the to-be-cleaned ground, where the roller brush includes at least a first cleaning roller brush and a second cleaning roller brush, the first cleaning roller brush and the second cleaning roller brush are disposed at a bottom of the body, and are at least partially exposed from the body; the first cleaning roller brush and the second cleaning roller brush are configured to clean off garbage on the to-be-cleaned ground during rotation, to facilitate the suction
  • the power of the fan is greater than or equal to 65 W, and is less than 120 W.
  • a value range of the chassis height at the position of the fan is 8 mm to 12 mm; and a value range of the chassis height at the another position at which the fan is not disposed of the body is 12 mm to 18 mm.
  • rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r/min.
  • the first cleaning roller brush and the second cleaning roller brush are disposed in a traveling direction of the body, a rotation axis of the first cleaning roller brush and a rotation axis of the second cleaning roller brush are parallel to each other, and the rotation axis of the first cleaning roller brush and the rotation axis of the second cleaning roller brush are both perpendicular to a traveling direction of the cleaning robot, where a value range of a length of at least one of the first cleaning roller brush and the second cleaning roller brush in a direction of the rotation axis is 190 mm to 195 mm.
  • the first cleaning roller brush is a hard roller brush
  • the second cleaning roller brush is a bristle roller brush
  • the hard roller brush is a rubber roller brush
  • the bristle roller brush includes at least bristles.
  • a capacity of the battery ranges from 140 Wh to 200 Wh.
  • a ratio of a capacity of the battery to a power of the cleaning robot is greater than or equal to 2500 J/W.
  • a ratio of a capacity of the battery to a volume of the cleaning robot ranges from 0.017 Wh/cm 3 to 0.024 Wh/cm 3 ; or a ratio of a capacity of the battery to the height of the cleaning robot ranges from 1.2 Wh/mm to 2.1 Wh/mm.
  • a battery cycle count of the battery for a cleaning robot with a rated input power PE being greater than or equal to 100 W ranges from 640 to 960.
  • a proportion of a volume of the battery relative to a volume of the cleaning robot is at least 1/25.
  • the battery has a cylindrical shape, and the battery is disposed on the body in an assembly direction during installation, where the assembly direction is a direction that makes an axis of the battery perpendicular to a horizontal plane.
  • a percentage of the battery in a total weight of the cleaning robot is greater than or equal to 10%.
  • the cleaning robot further includes a driving motor configured to drive the movement mechanism to move, and a value range of a power of the driving motor is 4 W to 6 W.
  • the movement mechanism is configured to drive the cleaning robot to move at a preset movement speed, where a value range of the preset movement speed is 0.1 m/s to 0.2 m/s.
  • the movement mechanism is configured to: when the to-be-cleaned ground is a soft ground, drive the cleaning robot to move at a first movement speed; and when the to-be-cleaned ground is a hard ground, drive the cleaning robot to move at a second movement speed, where the first movement speed is less than the second movement speed.
  • a value range of the first movement speed is 0.24 m/s to 0.36 m/s; and a value range of the second movement speed is 0.12 m/s to 0.18 m/s.
  • an energy input per unit area of the cleaning robot is at least 4000 J/m 2 .
  • a ratio of an energy input per unit area of the cleaning robot to a height of the cleaning robot is greater than or equal to 11.7 Wh/m 3 ; or a ratio of an energy input per unit area of the cleaning robot to a volume of the cleaning robot is greater than or equal to 158.7 Wh/m 5 .
  • the movement mechanism is configured to drive the cleaning robot to move at a preset movement speed, where a ratio of a power of the cleaning robot to the preset movement speed is at least 50 J/m.
  • the movement mechanism is configured to drive the cleaning robot to move at a preset movement speed, where a proportion of a sum of the power of the fan and a power of a roller brush motor configured to drive the roller brush to rotate relative to the preset movement speed is at least 45 J/m.
  • the cleaning robot further includes a driving motor, disposed in the body, and configured to drive the movement mechanism to rotate, where a proportion of a sum of the power of the fan and a power of a roller brush motor configured to drive the roller brush to rotate relative to a power of the driving motor is at least 15.
  • a cleaning efficiency of the cleaning robot is greater than or equal to 80%.
  • a ratio of a power of the cleaning robot to a volume of the cleaning robot is at least 0.01 W/cm 3 .
  • the cleaning robot has a hard ground cleaning mode and a soft ground cleaning mode, where a power of the cleaning robot in the hard ground cleaning mode is less than or equal to a power of the cleaning robot in the soft ground cleaning mode.
  • a ratio of the power of the cleaning robot in the soft ground cleaning mode to the power of the cleaning robot in the hard ground cleaning mode ranges from 1.55 to 1.75.
  • orientation or position relationships indicated by the terms such as “center”, “on”, “below”, “left”, “right”, “vertical”, “horizontal”, “inside”, and “outside” are based on orientation or position relationships shown in the accompanying drawings, and are used only for ease and brevity of illustration and description of the present invention, rather than indicating or implying that the mentioned apparatus or component must have a particular orientation or must be constructed and operated in a particular orientation. Therefore, such terms should not be construed as limiting of the present invention.
  • terms “first”, “second”, and “third” are only used to describe the objective and cannot be understood as indicating or implying relative importance.
  • a pile length of the full-piece carpet is approximately 12 mm.
  • a weighing device is used to associate a dust removal capability with a pre-cleaning degree of an experimental carpet.
  • a precision of the weighing device should be 0.01 g.
  • a cleaning region has a width of B-20 mm, where B denotes a width of a cleaning head. It is to be noted that a width of the experimental region may be set to the width of B mm of the cleaning head according to the National Standard GB/T20291.1-2014/IEC60312-1:2010, IDT.
  • the vacuum cleaner is provided with a driving apparatus, and may also operate at a specified running speed of 0.50 ⁇ 0.02 (a running speed of a handheld cleaner) m/s.
  • a carpet beater If a carpet beater is not used, a carpet should be placed on a hard gauze support, and is cleaned through manual beating or with a power cleaning head. After cleaning, a vacuum cleaner with a good dust cleaning capability is used to perform one cycle of residual dust cleaning. A surface of a carpet used for an experiment of a passive cleaning head can only be cleaned by using the passive cleaning head (the power cleaning head may be used to clean an opposite surface).
  • Experimental dust is uniformly distributed according to 125 ⁇ 0.1 g/m 2 , and covers the entire experimental region as uniformly as possible.
  • a dust amount is calculated according to a formula (B-20)/100 ⁇ 0.7 m ⁇ 125 g/m 2 .
  • B in the formula is the width of the cleaning head, and the length of the experimental region is 0.7 m. It is to be noted that if the width of the experimental region is set to the width of B mm of the cleaning head according to the National Standard GB/T20291.1-2014/IEC60312-1:2010, IDT, a dust amount is calculated according to the formula B/100 ⁇ 0.7 m ⁇ 125 g/m 2 .
  • a dust dispenser is recommended.
  • the dust dispenser is adjusted by observing a dust distribution status on a carpet.
  • an existing cleaning robot may perform cleaning work in a to-be-cleaned work region, to reduce the cleaning burden of a user to a certain extent.
  • a cleaning effect of a ground by the cleaning robot is ordinary, especially for carpet or mat cleaning.
  • a soft material such as a carpet (or a mat) usually has pile. Therefore, when the cleaning robot cleans a carpet, a cleaning effect is not adequate.
  • the user still needs to use a handheld cleaner (an upright) to perform deep cleaning on the carpet or mat every week or every two weeks.
  • the existing cleaning robot cannot free the user from manual cleaning for real.
  • the single beat length affects a size of the cleaning robot. That is, when the size of the designed cleaning robot is fixed, a restriction of the size of the cleaning robot needs to be considered for the single beat length.
  • the rotational speed of the roller brush is greater than or equal to 1200 r/min.
  • a range of the power of the roller brush of the present application is 25 W to 50 W.
  • the power of the roller brush is 30 W.
  • the soft ground and the hard ground have different cleaning difficulty.
  • the power of the roller brush when the to-be-cleaned ground is a hard ground or when the cleaning robot is in a hard ground cleaning mode of cleaning a hard ground, the power of the roller brush is a first power.
  • the power of the roller brush is a second power. The first power is less than or equal to the second power.
  • the two cleaning roller brushes may perform beating in one same direction, for example, both perform beating in the first direction, where the first direction is a direction facing a dust suction port of the dust suction mechanism, to facilitate the suction of the dust suction mechanism.
  • the dust suction port is located between the first cleaning roller brush and the second cleaning roller brush, a rotation direction of the first cleaning roller brush is the first direction, and a rotation direction of the second cleaning roller brush is the second direction, where the first direction is opposite to the second direction, and the first direction and the second direction both face the dust suction port of the dust suction mechanism.
  • a degree of interference of a hard roller brush is less than a degree of interference of a bristle roller brush, where to-be-cleaned grounds are of the same type.
  • a width (that is, a length of contacting the to-be-cleaned ground by a single beat) of the cleaning roller brush may be improved, where the width of the cleaning roller brush is a length of the brush head or the brush body in a direction of the rotation axis of the cleaning roller brush.
  • the power of the fan is greater than or equal to 65 W and less than 120 W.
  • a value range of a flow rate at an inlet of the fan when the fan is fully open is 0.7 m 3 /min to 0.9 m 3 /min, and a static pressure at the inlet of the fan when the fan is fully blocked ranges from 6.5 Kpa to 12 Kpa.
  • a fan power is related to a degree of vacuum and a flow rate.
  • W (fan power) P (degree of vacuum) ⁇ Q (flow rate).
  • a required fan power may be obtained in consideration of the two aspects of the degree of vacuum and the flow rate. That is, for a same fan power, a fan with a high degree of vacuum and a low flow rate may be selected, or a fan with a high flow rate and a low degree of vacuum may be chosen.
  • the cleaning efficiency can be improved by controlling a ratio of a sum of a power of the dust suction mechanism (for example, the fan) and a power of the dust agitation mechanism (for example, the roller brush) of the cleaning robot relative to the movement speed.
  • a power of the dust suction mechanism for example, the fan
  • a power of the dust agitation mechanism for example, the roller brush
  • a value range of the power of the dust suction mechanism is 65 W to 150 W; and further, the value range of the power of the dust suction mechanism (for example, the fan) is 80 W to 120 W.
  • a value range of the power of the dust agitation mechanism (for example, the roller brush) is 25 W to 45 W. Further, the value range of the power of the dust agitation mechanism (for example, the roller brush) is 30 W to 40 W.
  • the cleaning efficiency can be improved by controlling a ratio of a power of the cleaning robot relative to the movement speed.
  • a value range of the power of the cleaning robot is 100 W to 160 W; and further, the value range of the power of the cleaning robot is 120 W to 135 W.
  • a value range of the movement speed is 0.12 m/s to 0.18 m/s.
  • the movement speed is related to a power of a driving motor of the movement mechanism, therefore, the power of the driving motor is adjusted to make the cleaning robot move at a movement speed that meets requirements.
  • a value range of the power of the driving motor is 4 W to 6 W.
  • the value range of the power of the cleaning robot is 105 W to 220 W.
  • the value range of the power of the cleaning robot is 130 W to 200 W.
  • the ratio of the power of the cleaning robot to the power of the driving motor is at least 17, or the ratio of the sum of the power of the dust suction mechanism (for example, the fan) and the power of the dust agitation mechanism (for example, the roller brush) to the power of the driving motor is greater than or equal to 15.
  • the movement speed of the cleaning robot may be controlled to be different.
  • the cleaning robot has a first movement speed in the hard ground cleaning mode and the cleaning robot has a second movement speed in the soft ground cleaning mode, where the first movement speed is greater than or equal to the second movement speed.
  • a value range of the first movement speed is 0.24 m/s to 0.36 m/s; a value range of the second movement speed is 0.12 m/s to 0.18 m/s; and the first movement speed is 0.3 m/s.
  • the second movement speed is 0.15 m/s.
  • a single-time cleaning efficiency of the cleaning robot is equivalent to a single-time cleaning efficiency of the handheld cleaner.
  • the cleaning robot uses a single-time cleaning strategy, that is, a working manner in which the cleaning robot cleans the entire region of the to-be-cleaned ground once, to directly make the cleaning effect of the cleaning robot equivalent to one-time cleaning effect of a handheld cleaner.
  • a value range of single-time CE of the cleaning robot is greater than or equal to 80%; further, the value range of the single-time CE is 80% to 95%; and preferably, the value range of the single-time CE is 85% to 90%.
  • a value range of single-time CE is greater than or equal to 25%; further, the value range of the single-time CE is 35% to 70%; and preferably, the value range of the single-time cleaning efficiency CE is 50% to 60%.
  • the single-time cleaning efficiency of the cleaning robot can achieve an extent equivalent to that of the handheld cleaner.
  • a same cleaning robot has different cleaning effects for different carpets. For example, when a cleaning efficiency of a nonstandard test carpet by a same cleaning robot is 25%, and a cleaning efficiency of a standard test carpet by the cleaning robot may reach 80%; or certainly may be a cleaning efficiency determined with a carpet (for example, a nonstandard test carpet) that is difficult to clean as a reference, and a cleaning efficiency of another carpet (for example, a standard test carpet) is better.
  • the cleaning robot designed by the applicant, while the cleaning efficiency is improved, the passability also needs to be ensured.
  • the cleaning robot can perform cleaning below furniture.
  • a value range of a height of the cleaning robot is 95 mm to 115 mm. Further, the value range of the height of the cleaning robot is 105 mm to 110 mm.
  • a value range of a volume of the cleaning robot is 7000 cm 3 to 11000 cm 3 . Further, the value range of the volume of the cleaning robot is 8000 cm 3 to 10000 cm 3 .
  • the ratio of the cleaning efficiency CE of the cleaning robot to the height of the cleaning robot is greater than or equal to 2.2/m, or the ratio of the cleaning efficiency of the cleaning robot to the volume of the cleaning robot is greater than 22.7/m3.
  • the value range of the power of the cleaning robot is 100 W to 200 W. Further, the value range of the power of the cleaning robot is 120 W to 180 W.
  • the energy input EI per unit area is energy inputted by the cleaning robot in every unit of cleaning area.
  • the inputted energy is related to a power P0 of the cleaning robot and a time t of cleaning.
  • the power P0 of the cleaning robot is related to a power p1 of the dust suction mechanism (for example, the fan), a power p2 of the beating mechanism (for example, the roller brush), a power p3 of the movement mechanism (for example, the driving motor), a power p4 of another member, and the like.
  • a cleaning area S is related to a movement speed v of the cleaning robot, the time t of cleaning, a length (for example, a width of the roller brush) B of contacting a to-be-cleaned ground by a single beat of the beating mechanism.
  • the rotational speed of the roller brush is greater than or equal to 1200 r/min. Further, a value range of the rotational speed of the roller brush is 1200 r/min to 1900 r/min.
  • a range of the quantity of brush heads is 3 to 8.
  • a beating direction of the cleaning roller brush may be improved.
  • a dust suction port at a bottom of the body is provided between the two cleaning roller brushes.
  • a rotation direction of one cleaning roller brush is the first direction
  • a rotation direction of the other cleaning roller brush is a direction opposite to the first direction.
  • the first direction and the second direction both face the dust suction port.
  • a value range of a degree of interference of the hard roller brush is -2 mm to 4 mm.
  • a value range of a degree of interference of the bristle roller brush is 0 to 6 mm.
  • the value range of a degree of interference of the hard roller brush is -2 mm to -0.5 mm.
  • a value range of a degree of interference of the bristle roller brush is 0.5 mm to 1.5 mm.
  • the value range of a degree of interference of the hard roller brush is 1.5 mm to 2.5 mm.
  • a value range of a degree of interference of the bristle roller brush is 3 mm to 5 mm.
  • degrees of interference are also different.
  • cleaning roller brushes of a same type are used as an example.
  • a degree of interference of the cleaning roller brush on the to-be-cleaned ground being a hard ground is less than a degree of interference of the cleaning roller brush on the to-be-cleaned ground being a soft ground.
  • a degree of interference of the hard roller brush on the to-be-cleaned ground being a hard ground (for example, a floor) is -2 mm
  • a degree of interference of the hard roller brush on the to-be-cleaned ground being a soft ground (for example, a carpet) is 4 mm.
  • a degree of interference of the bristle roller brush on the to-be-cleaned ground being the hard ground (for example, a floor) is 0 mm
  • a degree of interference of the cleaning roller brush on the to-be-cleaned ground being a soft ground for example, a carpet
  • the dust suction mechanism includes a fan. Therefore, the dust suction effect can be improved by improving the power of the fan.
  • the power of the fan is greater than or equal to 65 W.
  • a volume of the mixed flow fan is approximately 75 cm 3 .
  • the cleaning robot may use a high-power fan.
  • the high-power fan is a fan with a power greater than or equal to 100 W.
  • the power of the movement mechanism affects the dust agitation effect and/or the dust suction effect.
  • the dust agitation effect and/or the dust suction effect is related to parameters such as a rotational speed of the driving motor of the movement mechanism, and the rotational speed of the driving motor determines different movement speed. Therefore, the dust agitation effect and/or the dust suction effect can be improved in consideration of the aspects that the movement speed or the like affects the power of the movement mechanism. That is, the power of the movement mechanism is added to the aspects such as the movement speed.
  • a movement distance within a unit time or a cleaning area within a unit time may be controlled by controlling the movement speed of the cleaning robot.
  • the to-be-cleaned ground is cleaned at a low movement speed, for example, a movement speed of 0.1 m/s to 0.2 m/s, especially a movement speed of the cleaning robot on a soft ground such as a carpet is reduced, thereby improving the dust agitation effect and/or the dust suction effect.
  • the value range of the power of the fan is 65 W to 120 W. Further, the range of the power of the fan is 80 W to 100 W.
  • the energy input per unit area can be improved by controlling a ratio of the sum of the powers of the fan and the roller brush of the cleaning robot relative to the movement speed.
  • the ratio of the sum of the powers of the fan and the roller brush of the cleaning robot relative to the movement speed is at least 45 J/m.
  • the cleaning efficiency can be improved by controlling a ratio of a power of the cleaning robot relative to the movement speed.
  • the ratio of the sum of the powers of the fan and the roller brush of the cleaning robot relative to the movement speed is at least 50 J/m.
  • the movement speed is related to a power of a driving motor of the movement mechanism, therefore, the power of the driving motor is adjusted to make the cleaning robot move at a movement speed that meets requirements.
  • the value range of the power of the cleaning robot is 100 W to 250 W.
  • the value range of the power of the cleaning robot is 100 W to 200 W.
  • a value range of the power of the roller brush is 25 W to 50 W; and further, the power of the fan ranges from 30 W to 35 W.
  • the value range of the sum of the power of the fan and the power of the roller brush is 130 W to 155 W.
  • a value range of the movement speed of the cleaning robot in the hard ground cleaning mode is 0.2 m/s to 0.4 m/s
  • a value range of the movement speed of the cleaning robot in the soft ground cleaning mode is 0.1 m/s to 0.2 m/s.
  • the movement speed of the cleaning robot in the soft ground cleaning mode is 0.15 m/s.
  • the cleaning effect is improved by using at least one improvement measure in the foregoing, to make the cleaning effect of the cleaning robot better than the cleaning effect of a conventional cleaning robot, so that the cleaning effect of the cleaning robot is equivalent to the cleaning effect of a handheld cleaner.
  • a combination of the foregoing improvement measures has a better improvement effect than only using a single measure, for example, using a fan.
  • the cleaning effect of the cleaning robot is closely associated with members such as the fan, the roller brush, and the movement mechanism. Therefore, when the power of the fan increases or the rotational speed of the roller brush increases (it indicates that the power of the roller brush increases). This raises higher requirements for the power supply mechanism of the cleaning robot.
  • the movement speed of the cleaning robot is reduced, a cleaning time is increased compared with cleaning of a same to-be-cleaned area at a high speed. This also raises higher requirements for the power supply mechanism.
  • a requirement is raised for a capacity of the battery.
  • the battery can support cleaning of a to-be-cleaned ground with an area not less than a large area (for example, not less than 60 m 2 ) once by the cleaning robot. Therefore, the battery needs to be improved.
  • a battery with a higher capacity is used to supply power to the cleaning robot, thereby improving a range capability of the cleaning robot and reducing a charge count.
  • the value range of the power of the cleaning robot is 100 W to 200 W.
  • a value range of a volume of the cleaning robot is 7000 cm 3 to 10000 cm 3 .
  • a value range of a weight of the cleaning robot is 4 kg to 6 kg.
  • the capacity of the battery is not less than 140 Wh, or a ratio of the capacity of the battery to the power of the cleaning robot is not less than 2500 J/W.
  • the weight of the battery is greater than or equal to 640 g, or a ratio of the weight of the battery to the weight of the cleaning robot is greater than or equal to 0.10.
  • the volume of the battery is greater than or equal to 400 cm 3 , or a ratio of the volume of the battery to the volume of the cleaning robot is greater than or equal to 0.04.
  • the capacity of the battery is not greater than 200 Wh, or a ratio of the capacity of the battery to the power of the cleaning robot is not greater than 7200 J/W.
  • the weight of the battery is less than or equal to 960 g, or a ratio of the weight of the battery to the weight of the cleaning robot is less than or equal to 0.24.
  • the volume of the battery is less than or equal to 600 cm 3 , or a ratio of the volume of the battery to the volume of the cleaning robot is greater than or equal to 0.086.
  • the capacity of the battery ranges from 140 Wh to 200 Wh. Further, the capacity of the battery ranges from 160 Wh to 180 Wh. Specifically, the capacity of the battery is 170 Wh.
  • the volume of the battery ranges from 400 cm 3 to 600 cm 3 ; and further, the volume of the battery is 500 cm 3 .
  • the volume of the cleaning robot ranges from 7000 cm 3 to 10000 cm 3 ; and further, the volume of the cleaning robot ranges from 7500 cm 3 to 8000 cm 3 .
  • the height of the cleaning robot ranges from 95 mm to 115 mm; and further, the height of the cleaning robot ranges from 105 mm to 110 mm.
  • a range of the ratio of the volume of the battery to the volume of the cleaning robot is approximately 1/25 to 1/15.
  • a range of the ratio of the capacity of the battery to the volume of the cleaning robot is approximately 0.017 Wh/cm 3 to 0.024 Wh/cm 3 .
  • a range of a proportion of the capacity of the battery in the weight of the cleaning robot is 33 to 35.
  • a proportion of the weight of the battery relative to the weight of the cleaning robot ranges from 0.10 to 0.24.
  • the volume (or weight) of the cleaning robot is associated with members of the cleaning robot, is especially affected by volumes (or weights) of a dust suction apparatus (for example, a fan), a beating apparatus (for example, a roller brush), and other power members that are associated with the cleaning effect, and is further affected by a volume (or a weight) of an energy apparatus (for example, the battery) that supports cleaning work of the cleaning robot. Therefore, to ensure the cleaning effect of the cleaning robot, the cleaning robot cannot be made excessively small.
  • a dust suction apparatus for example, a fan
  • a beating apparatus for example, a roller brush
  • an energy apparatus for example, the battery
  • the range of the power of the fan is greater than or equal to 65 W, and preferably, the range of the power of the fan is 65 W to 150 W.
  • the power of the cleaning robot ranges from 100 W to 200 W, and the power of the fan accounts for 65% to 75% of the overall power.
  • the volume of the cleaning robot is further affected by some sensor mechanisms, for example, a laser radar (Laser Direct Structuring, LDS) for distance detection, and mounting positions of the sensor mechanisms.
  • a laser radar Laser Direct Structuring, LDS
  • a value range of a height of the cleaning robot is 95 mm to 115 mm.
  • the value range of the height of the cleaning robot is 105 mm to 110 mm.
  • a width of furniture for example, an ordinary chair or table
  • a door, a corridor, or the like is approximately 500 mm. Therefore, in an embodiment, a body width of the cleaning robot is less than or equal to 500 mm. In consideration of some special furniture (for example, a couch, or a bed stand) with a small width, further, the body width of the cleaning robot is less than or equal to 350 mm.
  • a width of the cleaning robot also cannot be excessively small.
  • a value range of the cleaning robot in the width direction is greater than or equal to 270 mm. It is considered that some other functional requirements, for example, an edge brush, and an anti-collision board, exist in the width direction, and a certain width is occupied. Therefore, preferably, the value range of the cleaning robot in the width direction is greater than or equal to 290 mm.
  • the value range of the cleaning robot in the length direction is 310 mm to 350 mm; and preferably, a value range of the length of the cleaning robot is 330 mm to 340 mm.
  • the volume of the cleaning robot is 8000 cm 3
  • the overall power of the cleaning robot ranges from 120 W to 200 W
  • a value range of a power-to-volume ratio is 120/8000 to 200/8000 (W/cm 3 ).
  • the cleaning robot 100 further includes a control module, to perform targeted control when the cleaning robot 100 is in different working states.
  • the cleaning robot 100 in which two cleaning roller brushes are disposed has a better cleaning efficiency on a carpet.
  • rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1200 r/min.
  • Rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r/min.
  • rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r/min, and less than or equal to 1900 r/min.
  • a ratio of a capacity of the battery to a volume of the cleaning robot ranges from 0.017 Wh/cm 3 to 0.024 Wh/cm 3 ; or a ratio of a capacity of the battery to the height of the cleaning robot ranges from 1.2 Wh/mm to 2.1 Wh/mm.
  • the ratio of the power of the cleaning robot to the preset movement speed is at least 50 J/m.
  • the cleaning robot further includes a driving motor, disposed in the body, and configured to drive the movement mechanism to rotate, where a proportion of a sum of the power of the fan and a power of a roller brush motor configured to drive the roller brush to rotate relative to a power of the driving motor is at least 15.
  • an energy input per unit area of the cleaning robot is at least 4000 J/m 2 .
  • a cleaning efficiency of the cleaning robot is greater than or equal to 80%; and for a nonstandard test carpet, the cleaning efficiency of the cleaning robot is greater than or equal to 25%.
  • the power of the cleaning robot in the soft ground cleaning mode ranges from 105 W to 155 W; and the power of the cleaning robot in the hard ground cleaning mode ranges from 60 W to 100 W.
  • a ratio of the power of the cleaning robot in the soft ground cleaning mode to the power of the cleaning robot in the hard ground cleaning mode ranges from 1.55 to 1.75.
  • the cleaning robot further includes a ground detection mechanism, detecting a ground type of the to-be-cleaned ground.
  • controller is configured to control the cleaning robot according to the ground type of the to-be-cleaned ground to switch to a corresponding ground cleaning mode.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
EP22860663.8A 2021-08-27 2022-08-27 Cleaning robot Pending EP4393367A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN202111000353 2021-08-27
CN202210551234 2022-05-20
PCT/CN2022/115335 WO2023025317A1 (zh) 2021-08-27 2022-08-27 清洁机器人

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EP4393367A1 true EP4393367A1 (en) 2024-07-03

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WO (1) WO2023025317A1 (zh)

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JP4155864B2 (ja) * 2003-04-28 2008-09-24 シャープ株式会社 自走式掃除機
KR20080087596A (ko) * 2007-03-27 2008-10-01 삼성전자주식회사 로봇청소기
CN107019467B (zh) * 2011-04-29 2019-08-23 艾罗伯特公司 机器人真空吸尘器
US9993129B2 (en) * 2015-02-13 2018-06-12 Irobot Corporation Mobile floor-cleaning robot with floor-type detection
CN108403007B (zh) * 2018-02-28 2020-10-30 深圳市银星智能科技股份有限公司 清洁机器人以及控制清洁机器人的方法
CN211212972U (zh) * 2019-08-27 2020-08-11 小狗电器互联网科技（北京）股份有限公司 扫地机器人的集尘组件及风道结构
CN211582928U (zh) * 2019-10-14 2020-09-29 广东格兰仕集团有限公司 一种具有双滚刷结构的扫地机器人
CN112022024B (zh) * 2020-07-16 2022-10-04 美智纵横科技有限责任公司 自移动清洁装置及自移动清洁装置控制方法

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