JP2025511238A - Cleaning robot - Google Patents

Abstract

The present disclosure relates to the technical field of smart home, and provides a cleaning robot, the cleaning robot comprising a machine body, a driving system and a cleaning system, the driving system including a first driving wheel module and a second driving wheel module, the first driving wheel module and the second driving wheel module are arranged along a horizontal axis of the machine body, where the horizontal axis is perpendicular to the moving direction of the cleaning robot, the cleaning system is arranged on the machine body, and the cleaning system includes a cleaning head, where a predetermined included angle is formed between the cleaning head and the horizontal axis.

Description

Related Applications

This disclosure claims priority to a Chinese patent application filed on April 8, 2022, application number 202210368925.6, the entire contents of which are incorporated herein by reference.

This disclosure relates to the technical field of smart homes, and in particular to cleaning robots.

Most of the cleaning robots in the related art are floor cleaning robots, and the cleaning head of the cleaning robot realizes effective cleaning of the floor surface during the process of the cleaning robot performing the cleaning task.

The present disclosure provides a cleaning robot for improving the usage performance of the cleaning robot.
The present disclosure provides a cleaning robot,
The device body,
a drive system including a first drive wheel module and a second drive wheel module, the first drive wheel module and the second drive wheel module being disposed along a lateral axis of the machine body, the lateral axis being perpendicular to a moving direction of the cleaning robot;
a cleaning system mounted on the appliance body and including a cleaning head, wherein a predetermined included angle is formed between the cleaning head and the transverse axis.
In one embodiment of the present disclosure, the cleaning head comprises a wet cleaning head and the cleaning system comprises:
There is also a liquid supply for supplying cleaning liquid to the wet cleaning head.

In one embodiment of the present disclosure, the device body includes a fixed bracket, the cleaning head is disposed within the fixed bracket, a liquid supply passage is provided on the fixed bracket, and the liquid supply section supplies cleaning liquid to the wet cleaning head through the liquid supply passage.
In one embodiment of the present disclosure, the liquid supply passage has a liquid inlet and a liquid outlet, the liquid inlet communicating with the liquid supply and the liquid outlet being used to supply cleaning liquid to the wet cleaning head;
The liquid outlets are multiple and are spaced apart along a direction parallel to the wet cleaning head.
In one embodiment of the present disclosure, the cleaning robot comprises:
The device further includes a collection system provided on the device body, the collection portion including a collector for collecting residue on the cleaning head and/or the surface to be cleaned.

In one embodiment of the present disclosure, the recovery system comprises:
It further includes a scraper that contacts the cleaning head and removes residue on the cleaning head by interference with the cleaning head for collection by the collection portion.
In one embodiment of the present disclosure, the scraper is parallel to the cleaning head.
In one embodiment of the present disclosure, a water inlet is provided on the scraper, the water inlet communicating with the collection section.
In one embodiment of the present disclosure, the recovery system comprises:
A power section is further included in pneumatic communication with the collection section for collecting the residue in the collection section.

In one embodiment of the present disclosure, the collection section includes an inlet and an outlet, and the cleaning robot includes:
The device further comprises a sealing assembly disposed on the device body, at least a portion of which is adjustable in position to open and close the inlet and outlet.
In one embodiment of the present disclosure, the encapsulation assembly comprises:
Connecting rod,
a first sealing member provided on the connecting rod; and a second sealing member provided on the connecting rod;
The connecting rod is provided movably relative to the device body so that the first sealing member and the second sealing member open and close the inlet and the outlet, respectively.

In one embodiment of the present disclosure, the cleaning system comprises:
It further comprises an auxiliary cleaning head that partially overlaps the cleaning head.
In one embodiment of the present disclosure, the outer edge of the auxiliary cleaning head extends beyond the outer edge of the device body.
In one embodiment of the present disclosure, the auxiliary cleaning head comprises a wet auxiliary cleaning head, and the cleaning system comprises:
It further includes a liquid supply that supplies cleaning liquid to the wet auxiliary cleaning head.
In one embodiment of the present disclosure, the cleaning robot comprises:
The device further includes a detection system disposed on the device body and extending at least in part from an outer edge of the device body.
In one embodiment of the present disclosure, at least a portion of the detection system is movable relative to the device body.

Various objects, features and advantages of the present disclosure will become more apparent from the consideration of the following detailed description of preferred embodiments thereof in conjunction with the accompanying drawings, which are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale, in which like reference numerals indicate the same or similar parts.
FIG. 2 is a structural schematic diagram of a first viewing angle of a cleaning robot according to an exemplary embodiment; FIG. 13 is a structural schematic diagram of a second viewing angle of the cleaning robot according to an exemplary embodiment. FIG. 13 is a structural schematic diagram of a second viewing angle of the cleaning robot according to an exemplary embodiment. FIG. 2 is a structural schematic diagram of a liquid supply unit of a cleaning robot according to an exemplary embodiment; 1 is a structural schematic diagram of a collection unit of a cleaning robot according to an exemplary embodiment; FIG. FIG. 2 is a structural schematic diagram of a sealing assembly of a cleaning robot according to an exemplary embodiment. 1 is a structural schematic diagram of an inlet and an outlet of a cleaning robot collection unit according to an illustrative embodiment; FIG. 2 is a structural schematic diagram of one viewing angle of the fixing bracket of the cleaning robot according to an illustrative embodiment; FIG. 13 is a structural schematic diagram of another viewing angle of the fixing bracket of the cleaning robot according to an illustrative embodiment. FIG. 2 is a structural schematic diagram of one viewing angle of a scraper of a cleaning robot according to an illustrative embodiment; FIG. 13 is a structural schematic diagram of another viewing angle of the scraper of the cleaning robot according to an illustrative embodiment; 1 is a structural schematic diagram of a collection unit of a cleaning robot according to an exemplary embodiment; FIG. FIG. 2 is a structural schematic diagram of a sealing assembly of a cleaning robot according to an exemplary embodiment. FIG. 13 is a structural schematic diagram of a sealing assembly of a cleaning robot according to another exemplary embodiment. FIG. 13 is a schematic diagram of one viewing angle of a partial structure of a cleaning robot according to another exemplary embodiment. FIG. 13 is a schematic diagram of a partial structure of a cleaning robot according to another exemplary embodiment from another viewing angle. 1 is a schematic diagram illustrating the structure of a liquid supply and collection unit of a cleaning robot according to an exemplary embodiment.

10 Machine body 11 Fixing bracket 111 Liquid inlet 112 Liquid outlet 113 Storage chamber 114 Through hole 12 Front part 13 Rear part 20 Cleaning system 21 Cleaning head 22 Liquid supply part 221 Water inlet 23 Auxiliary cleaning head 231 Wet auxiliary cleaning head 232 Main body part 24 Water pump 30 Drive system 31 First drive wheel module 32 Second drive wheel module 33 Driven wheel 40 Recovery system 41 Collecting part 411 Inlet 412 Outlet 413 Drain 414 Main body 415 Extension part 42 Scraper 421 Water intake 43 Power part 50 Sealing assembly 51 Connecting rod 52 First sealing member 53 Second sealing member 54 Drive part 55 Top rod 56 Elastic member 57 Seal member 60 Detection system 70 Sensing system 71 Positioning device 72 Shock absorber 80 Control system 90 Energy System 100 Man-machine interactive system

Representative examples embodying the features and advantages of the present disclosure are described in detail in the following description. It should be understood that the present disclosure may be modified in various ways in different embodiments without departing from the scope of the present disclosure, and the description and accompanying drawings therein are intended to be illustrative in nature and are not intended to limit the present disclosure.

Different exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which form a part of the present disclosure and which exemplarily show different exemplary structures, systems and steps in multiple aspects by which the present disclosure can be realized. It should be understood that other specific solutions of members, structures, exemplary devices, systems and steps can be used, and structural and functional changes can be made without departing from the scope of the present disclosure. Furthermore, although terms such as "on," "between," and "within" are used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein for convenience, for example, according to the exemplary orientations in the accompanying drawings. Nothing in this specification should be understood as requiring a specific three-dimensional orientation of a structure to fall within the scope of the present disclosure.

As shown in FIGS. 1 to 17 , the cleaning robot includes a machine body 10 , a cleaning system 20 , a driving system 30 , a recovery system 40 , a sealing assembly 50 , a detection system 60 , a sensing system 70 , a control system 80 , an energy system 90 and a man-machine interactive system 100 .
As shown in FIG. 1, device body 10 includes a front portion 12 and a rear portion 13 and has a generally circular shape (wherein both the front and rear are circular), but may have other shapes, including, but not limited to, a generally D-shape where the front is square and the rear is circular, and a rectangular or square shape where both the front and rear are square.
1, the sensing system 70 includes a positioning device 71 on the device body 10, a collision sensor provided on a shock absorber 72 in the front part 12 of the device body 10, a short-distance sensor on the device body 10, a cliff sensor provided on the bottom of the device body, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 10, and is used to provide various position information and moving state information of the device to the control system 80. The positioning device 71 includes, but is not limited to, a camera and a laser distance sensor (LDS).

As shown in FIG. 1, a shock absorber 72 may be mounted on the front portion 12 of the device body 10. When the drive system 30 propels the cleaning robot to run on the floor surface during the cleaning process, the shock absorber 72 detects one or more events in the running path of the cleaning robot through a collision sensor provided thereon, and the cleaning robot can control the drive system 30 in response to the event detected by the shock absorber 72, e.g., an obstacle or a wall, so that the cleaning robot responds to the event and, for example, moves away from the obstacle.

The control system 80 is provided on the main circuit board in the device body 10 and includes computing processors such as a central processing unit and an application processor that communicate with a non-transitory memory, such as a hard disk, flash memory, or random access memory, and the application processor uses a positioning algorithm, such as Simultaneous Localization And Mapping (SLAM), to draw an instantaneous map of the environment where the cleaning robot is located based on the obstacle information fed back from the laser ranging device. In addition, in combination with distance information and speed information fed back from sensing devices such as sensors installed on the buffer 72, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, the current operating state, current position, and current posture of the cleaning robot, such as crossing a threshold, climbing onto a carpet, being on a cliff, being caught above or below, the dust box being full, being lifted, etc., are comprehensively determined, and specific next operating strategies are given according to different situations, so that the cleaning robot has better cleaning performance and user experience.

2 and 3, the drive system 30 controls the machine body 10 to run across the floor surface based on a drive command including distance and angle information (e.g., x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32. The first drive wheel module 31 and the second drive wheel module 32 are arranged along a horizontal axis defined by the machine body 10. In order for the cleaning robot to move more stably on the floor surface or have a higher moving ability, the cleaning robot may include one or more driven wheels 33, which include, but are not limited to, universal wheels. The drive wheel module includes a running wheel, a drive motor, and a control circuit for controlling the drive motor, and the drive wheel module may be connected to a circuit for measuring a drive current and an odometer. The drive wheel module is detachably connected on the machine body 10 for attachment/detachment and maintenance. The drive wheels may include an offset drop suspension system, being movably fixed, e.g., rotatably attached to the machine body 10, and receiving a spring offset that is offset downwardly away from the machine body 10. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant floor adhesion force, while the cleaning element of the cleaning robot also contacts the floor surface with a constant pressure.

The device body 10 defines a horizontal axis and a vertical axis, which are perpendicular to each other and may be understood as the horizontal and vertical centerlines of the device body 10, respectively.

The energy system 90 includes a rechargeable battery such as a nickel-metal hydride battery and a lithium battery. A charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage shortage monitoring circuit are connected to the rechargeable battery, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery voltage shortage monitoring circuit are connected to a one-chip microcomputer control circuit. The cleaning robot may be connected to a charging pile for charging via a charging electrode provided on the main body, for example, on the side, bottom, or top of the main body.

The man-machine interaction system 100 includes keys on a host panel, which are used by the user to select functions, a display and/or indicator lamps and/or a horn, which are used to indicate the current device status or function options to the user, and further includes a mobile phone client program. In the case of the path navigation automatic cleaning device 10, the mobile phone client can show the user a map of the device's environment and the device's location, providing the user with more abundant and user-friendly function options.

In the cleaning robot provided by the embodiment of the present disclosure, the cleaning system 20 is disposed on the device body 10, the cleaning system 20 includes a cleaning head 21, and the horizontal axis of the device body 10 forms a predetermined included angle with the cleaning head 21, which can reduce the probability that the cleaning head 21 is caught by the joint when the cleaning robot passes through a floor environment such as a tile joint during the forward movement of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot and improving the usage performance of the cleaning robot. The predetermined included angle between the horizontal axis and the cleaning head 21 may be an acute angle, and the predetermined included angle may range from 5 degrees to 70 degrees.

In the embodiment of the present disclosure, the cleaning system 20 may be a dry cleaning system, and the dry cleaning system may include a cleaning head 21, a dust box, a fan, an air outlet, etc. In the embodiment of the present disclosure, the cleaning head 21 may be a roller brush that can rotate around an axis parallel to the floor surface, and the roller brush having a certain interference with the floor surface sweeps up the dust on the floor surface and lifts it up in front of the dust suction port between the roller brush and the dust box, and then sucks it into the dust box through the suction gas generated by the fan and passing through the dust box. The dust removal ability of the cleaning robot is characterized by the dust pickup efficiency (DPU), and the cleaning efficiency DPU is affected by the roller brush structure and material, affected by the wind utilization rate of the air duct composed of the dust suction port, the dust box, the fan, the air outlet, and the connecting members between the four, and affected by the type and power of the fan.

In an embodiment of the present disclosure, the cleaning system 20 may be a wet cleaning system, the cleaning head 21 includes a wet cleaning head, and as shown in FIG. 4, the cleaning system 20 further includes a liquid supply unit 22, which supplies cleaning liquid to the wet cleaning head. The cleaning head 21 may be disposed below the liquid supply unit 22, and the cleaning liquid inside the liquid supply unit 22 is transported to the cleaning head 21 through a water supply mechanism, and the cleaning head 21 performs wet cleaning on the plane to be cleaned. In another embodiment of the present disclosure, the cleaning liquid inside the liquid supply unit 22 may be directly sprayed onto the plane to be cleaned, and the cleaning head 21 may evenly apply the cleaning liquid to achieve cleaning of the plane.

In an embodiment of the present disclosure, the cleaning head 21 is provided at the bottom of the device body 10, and for example, the cleaning head 21 may be a cleaning pad parallel to the surface to be cleaned. In this embodiment, the cleaning head 21 is used to clean the surface to be cleaned, and the driving system 30 drives the cleaning head 21 to move back and forth basically along the target surface, which is a part of the surface to be cleaned. The cleaning head 21 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the contact surface of the cleaning head 21 with the surface to be cleaned, and the back and forth movement generates high-frequency friction between the cleaning head 21 and the surface to be cleaned, thereby removing dirt on the surface to be cleaned.

The higher the friction frequency, the more the number of frictions per unit time, and the high-frequency reciprocating movement is also called reciprocating vibration, and the cleaning ability is much higher than ordinary reciprocating movements such as rotation, friction cleaning, and the like. Optionally, the friction frequency is close to sound waves, and the cleaning effect is much higher than the rotation friction cleaning of tens of revolutions per minute. On the other hand, the tufts on the surface of the cleaning head 21 spread neatly in the same direction under the vibration of high-frequency vibration without increasing the friction force only with downward pressure under the situation of low-frequency rotation, making the cleaning effect more uniform as a whole, improving the cleaning effect, and the tufts do not spread in almost the same direction only with downward pressure, in terms of effect, the water stains on the surface to be cleaned after cleaning by high-frequency vibration are more uniform, and no chaotic water stains are left behind. In other embodiments of the present disclosure, the cleaning head 21 may be a belt-like structure, etc. In the embodiments of the present disclosure, as shown in FIG. 16, the cleaning head 21 may be a roller brush that can rotate around an axis parallel to the surface to be cleaned. The device body 10 includes a fixed bracket 11, the cleaning head 21 is located within the fixed bracket 11, a liquid supply passage is provided on the fixed bracket 11, and the liquid supply unit 22 supplies cleaning liquid to the wet cleaning head through the liquid supply passage.

The liquid supply passage may be formed by a cavity formed inside the fixed bracket 11, for example by providing a portion of the fixed bracket 11 that is hollow to form a liquid supply passage through which the cleaning liquid flows. The liquid supply passage may be formed by a tube that supplies cleaning liquid in the liquid supply 22 onto the wet cleaning head, thereby enabling the cleaning head 21 to effectively clean the surface to be cleaned.

In an embodiment of the present disclosure, as shown in Figures 8 and 9, the liquid supply passage has a liquid inlet 111 and a liquid outlet 112, where the liquid inlet 111 is in communication with the liquid supply 22 and the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

In an embodiment of the present disclosure, as shown in Figures 8 and 9, a liquid inlet 111 and a liquid outlet 112 are provided on the fixed bracket 11, one end of the liquid inlet 111 is located on the outer surface of the fixed bracket 11, and the liquid outlet 112 is located on the inner surface of the fixed bracket 11, and a main body portion of a liquid supply passage is provided between the liquid inlet 111 and the liquid outlet 112, and the main body portion is simultaneously connected to multiple liquid outlets 112, so that the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

In an embodiment of the present disclosure, a storage chamber 113 is formed in the fixed bracket 11, and a liquid outlet 112 is provided on a hollow wall of the storage chamber 113, the liquid outlet 112 may be located at the top end of the storage chamber 113, or the liquid outlet 112 may be located at the side of the storage chamber 113, and the cleaning liquid delivered from the liquid outlet 112 is reliably supplied to the cleaning head 21.

In an embodiment of the present disclosure, the liquid outlets 112 may be multiple, and the multiple liquid outlets 112 are spaced apart along a direction parallel to the cleaning head 21 to ensure that cleaning liquid is uniformly supplied to each position of the wet cleaning head and that the wet cleaning head cleans the surface to be cleaned.

The liquid supply passage may have only one liquid inlet 111, and one liquid inlet 111 corresponds to all liquid outlets 112.

As an optional embodiment of the present disclosure, the liquid supply passage may have at least two liquid inlets 111, each corresponding to a plurality of liquid outlets 112, to ensure that the cleaning liquid is supplied onto the wet cleaning head. The liquid inlets 111 may be formed by a columnar structure so as to be connected to a tubular structure for supplying the cleaning liquid. The liquid outlets 112 may be rectangular, circular or other polygonal structures, and are not particularly limited here. The plurality of liquid outlets 112 are sequentially arranged along a direction parallel to the cleaning head 21.

In an embodiment of the present disclosure, as shown in Figures 5 and 6, the collection system 40 is provided on the device body 10, and the collection system 40 includes a collection section 41, which collects residues on the cleaning head 21 and/or the surface to be cleaned, thereby effectively cleaning the surface to be cleaned and ensuring the cleanliness of the surface to be cleaned.

During the movement process of the cleaning robot, the cleaning head 21 rotates to clean the surface to be cleaned, and during this process, residues on the surface to be cleaned are adsorbed onto the cleaning head 21, and the collection unit 41 collects these residues to ensure the cleanliness of the cleaning head 21, and the collection unit 41 also collects the residues on the surface to be cleaned, thereby working together with the cleaning head 21 to achieve reliable cleaning of the surface to be cleaned. The residues may be water, dirt, etc., but are not limited thereto here.

In an embodiment of the present disclosure, as shown in FIG. 3, the recovery system 40 further includes a scraper 42, which contacts the cleaning head 21, and the scraper 42 removes residues on the cleaning head 21 through interference with the cleaning head 21, which are collected by the collection section 41, to ensure the cleanliness of the cleaning head 21 and ensure effective cleaning of the surface to be cleaned.

Specifically, the scraper 42 may have a plate-like structure that interferes with the cleaning head 21, and during the rotation process of the cleaning head 21, the plate-like structure removes residues on the cleaning head 21 and collects them by the collecting unit 41, and the residues adsorbed on the surface to be cleaned are reliably collected by the collecting unit 41. The scraper 42 may be provided on the device body 10. The scraper 42 is provided removably on the device body 10.

In the embodiment of the present disclosure, the scraper 42 is parallel to the cleaning head 21, which ensures that the scraper 42 removes any residue on the cleaning head 21 and allows for easy installation of the structure.

Specifically, the length of the scraper 42 may be equal to the length of the cleaning head 21, and based on ensuring that the scraper 42 can fully interfere with the cleaning head 21, the scraper 42 can be prevented from occupying space in the longitudinal direction and the compactness of the structure can be ensured.

In an alternative embodiment of the present disclosure, the lateral axis of the device body 10 is parallel to the cleaning head 21 and the lateral axis of the device body 10 is parallel to the scraper 42.
In an embodiment of the present disclosure, as shown in Figures 10 and 11, a water inlet 421 is provided on the scraper 42, the water inlet 421 is connected to the collection section 41, and the recovery system 40 ensures that the wastewater is collected in the collection section 41 through the water inlet 421.

Specifically, the suction port 421 may face the cleaning head 21, and after the scraper 42 scrapes off the wastewater on the cleaning head 21, the wastewater flows along the scraper 42 toward the suction port 421, and the wastewater is sucked into the collection section 41 by the suction port 421 through the recovery system 40.

As an optional embodiment of the present disclosure, the water intake 421 may be provided on the side of the scraper 42 away from the cleaning head 21, with a portion of the scraper 42 collecting wastewater and the water intake 421 sucking the collected wastewater into the collection section 41.

In an embodiment of the present disclosure, as shown in FIG. 7, the recovery system 40 further includes a power unit 43, which is in pneumatic communication with the collection unit 41 and collects residue in the collection unit 41. Negative pressure is generated between the power unit 43 and the collection unit 41 to suck residue on the surface to be cleaned and residue on the cleaning head 21 into the collection unit 41. Specifically, the negative pressure generated between the power unit 43 and the collection unit 41 sucks wastewater into the collection unit 41 through the water intake 421. The power unit 43 may be a fan.

In an embodiment of the present disclosure, as shown in FIG. 9, a storage chamber 113 is formed in the fixed bracket 11, the cleaning head 21 is located in the storage chamber 113, and the collection section 41 is in communication with the storage chamber 113, so that the residue enters the collection section 41 after passing through the storage chamber 113.

Specifically, a through hole 114 is provided on the fixed bracket 11, the through hole 114 communicates with the collecting unit 41, and the through hole 114 communicates with the storage chamber 113, and the residue scraped off from the cleaning head 21 by the scraper 42 is located in the storage chamber 113 of the fixed bracket 11, and the residue in the storage chamber 113 is sucked into the collecting unit 41 through the through hole 114 due to the negative pressure generated between the power unit 43 and the collecting unit 41. As an optional embodiment of the present disclosure, the storage chamber 113 of the fixed bracket 11 forms a space that is relatively sealed with the surface to be cleaned, so that the residue on the surface to be cleaned is sucked into the collecting unit 41 through the through hole 114 due to the negative pressure generated between the power unit 43 and the collecting unit 41.

In the embodiment of the present disclosure, as shown in FIG. 7, the collecting section 41 has an inlet 411 and an outlet 412, the inlet 411 communicates with the storage chamber 113, the inlet 411 may communicate with the through hole 114, and the outlet 412 may communicate with the power unit 43, and the power unit 43 provides power through the outlet 412 of the collecting section 41 to suck the residue from the through hole 114 of the storage chamber 113 into the inlet 411 of the collecting section 41 and enter the collecting section 41. Here, when the airflow flows inside the collecting section 41, the wastewater, garbage, etc. carried by the airflow are retained in the collecting section 41 under the action of gravity, so that if the airflow path inside the collecting section 41 is relatively long, the wastewater, garbage, etc. can be separated from the airflow.

In an embodiment of the present disclosure, as shown in FIG. 12, the inlet 411 and outlet 412 of the collection section 41 may be provided on the same side of the collection section 41, for example, the inlet 411 and outlet 412 of the collection section 41 may both be located on the front side of the collection section 41, thereby effectively extending the airflow path within the collection section 41, so that wastewater, garbage, etc. can be more effectively separated from the airflow.

In an embodiment of the present disclosure, as shown in Figures 5 and 6, the sealing assembly 50 of the cleaning robot is provided on the device body 10, and the position of at least a part of the sealing assembly 50 is adjustable, so that the entrance 411 of the collecting section 41 and the exit 412 of the collecting section 41 can be opened and closed, and the garbage in the collecting section 41 can be prevented from pouring out from the entrance 411 or entering the power section 43 from the exit 412.

Specifically, the sealing assembly 50 can close the inlet 411 and outlet 412 of the collecting section 41 during the non-operation process of the cleaning robot, so that the problem of the residue being accidentally poured out due to the manual movement of the cleaning robot can be avoided. When the cleaning robot starts to operate, the sealing assembly 50 can open the inlet 411 and outlet 412 of the collecting section 41, and the residue is sucked into the collecting section 41 from the inlet 411.

In an embodiment of the present disclosure, the sealing assembly 50 may be controlled by an independent motor and may realize the closing control of the entrance 411 and the exit 412 of the collection section 41 at any time, for example, closing the cleaning robot under a non-operating condition. For example, the motor of the sealing assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the sealing assembly 50 may be controlled according to the movement state of the cleaning robot fed back from the control system 80. For example, when the control system 80 controls the cleaning robot to stop working, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the cleaning robot is in a tilted state, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the cleaning robot is in an idle state for a long time, for example, when the cleaning robot is stuck in a fixed position during the cleaning process and cannot continue moving forward, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the number of dust particles in the collecting section 41 reaches a certain height, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41.

Furthermore, the user may use the app to realize control of the sealing assembly 50, etc., and flexibly control the closure of the inlet 411 and outlet 412 of the collection section 41 to meet usage requirements.

In an embodiment of the present disclosure, as shown in FIG. 6 and FIG. 13, the sealing assembly 50 includes a connecting rod 51, a first sealing member 52 provided on the connecting rod 51, and a second sealing member 53 provided on the connecting rod 51, where the connecting rod 51 is movably provided with respect to the device body 10, and the first sealing member 52 and the second sealing member 53 can open and close the inlet 411 and the outlet 412, respectively, that is, the first sealing member 52 and the second sealing member 53 can synchronously open and close the inlet 411 and the outlet 412, thereby improving the operating performance of the cleaning robot and instantly sucking the residue into the collection section 41.

In an embodiment of the present disclosure, as shown in Figures 6 and 13, the sealing assembly 50 may include a drive unit 54, which may be a motor, and the drive unit 54 is drivingly connected to the connecting rod 51 and drives the connecting rod 51 to rotate, thereby rotating the first sealing member 52 and the second sealing member 53 to open and close the inlet 411 and the outlet 412.

As shown in FIG. 13, the first sealing member 52 and the second sealing member 53 are provided on the connecting rod 51 with a gap therebetween, the first sealing member 52 and the second sealing member 53 are located in the middle of the connecting rod 51, one end of the connecting rod 51 is connected to the driving unit 54, the other end of the connecting rod 51 is provided beyond the second sealing member 53, and the first sealing member 52 is located between the driving unit 54 and the second sealing member 53. The first sealing member 52 and the second sealing member 53 are each provided at a position close to the relative ends of the connecting rod 51. Both the first sealing member 52 and the second sealing member 53 are detachably provided on the connecting rod 51, or both the first sealing member 52 and the second sealing member 53 are integrally formed on the connecting rod 51.

As an optional embodiment of the present disclosure, the drive unit 54 may be a cylinder, an oil cylinder or a telescopic motor, the drive unit 54 is connected to the connecting rod 51 and performs telescopic movement via the telescopic rod of the drive unit 54, i.e., the connecting rod 51 can perform telescopic movement, the connecting rod 51 can move back and forth, and the first sealing member 52 and the second sealing member 53 can move back and forth, i.e., can move along a direction parallel to the plane where the inlet 411 and the outlet 412 of the collection unit 41 are located, thereby opening and closing the inlet 411 and the outlet 412 of the collection unit 41.

As an optional embodiment of the present disclosure, the drive unit 54 may be a cylinder, an oil cylinder or a telescopic motor, the drive unit 54 is connected to the connecting rod 51 and performs telescopic movement via the telescopic rod of the drive unit 54, i.e., the connecting rod 51 can perform telescopic movement, the connecting rod 51 can move up and down, the first sealing member 52 and the second sealing member 53 can move up and down, i.e., they can move along a direction perpendicular to the plane where the inlet 411 and the outlet 412 of the collection unit 41 are located, and the inlet 411 and the outlet 412 of the collection unit 41 can be opened and closed.

As an optional embodiment of the present disclosure, the first sealing member 52 and the second sealing member 53 of the sealing assembly 50 are independently provided on a first driving unit and a second driving unit, and the first driving unit and the second driving unit drive and move the first sealing member 52 and the second sealing member 53, respectively, to open and close the inlet 411 and the outlet 412. The first driving unit and the second driving unit operate synchronously, and the first sealing member 52 and the second sealing member 53 operate synchronously, so that the inlet 411 and the outlet 412 can be opened and closed synchronously. The first driving unit and the second driving unit may employ a power mechanism such as a motor, a cylinder, or an oil cylinder.

As an optional embodiment of the present disclosure, as shown in FIG. 14, the sealing assembly 50 may include a connecting rod 51, a first sealing member 52, a second sealing member 53, a drive unit 54 and a top rod 55, where the first sealing member 52 and the second sealing member 53 are connected on the connecting rod 51, the top rod 55 is connected to the first sealing member 52, and the drive unit 54 is drivingly connected to the top rod 55, so that the drive unit 54 drives the top rod 55 to move up and down, and the first sealing member 52 and the second sealing member 53 move up and down, or the connecting rod 51 drives and rotates the first sealing member 52 and the second sealing member 53, thereby opening and closing the inlet 411 and the outlet 412 synchronously.

Or, the sealing assembly 50 may further include an elastic member 56, and after the driving part 54 releases the power, the elastic member 56 drives the top rod 55 to return to its original position, and the first sealing member 52 and the second sealing member 53 move from the release position of the inlet 411 and the outlet 412 to the closed position of the inlet 411 and the outlet 412. The elastic member 56 may be a spring, for example, the spring may be sleeved on the connecting rod 51, one end of the spring may be abutted against the first sealing member 52, and the other end of the spring may be supported on another member of the cleaning robot, for example, the other end of the spring may be abutted against the device body 10, and when the top rod 55 moves upward, the spring is pressed hard, and after the top rod 55 loses power, the spring returns to its original position, thus driving the first sealing member 52 and the second sealing member 53 to move from the release position of the inlet 411 and the outlet 412 to the closed position of the inlet 411 and the outlet 412. There may be one spring, the spring being sleeved on one end of the connecting rod 51, and the other end of the connecting rod 51 may passively rotate, for example, the spring may be abutted against the first sealing member 52, or the spring may be abutted against the second sealing member 53. There may be at least two springs, two springs provided at both ends of the connecting rod 51, respectively, and the two springs abut against the first sealing member 52 and the second sealing member 53, respectively.

When the driving unit 54 drives the top rod 55 to move upward, the connecting rod 51 rotates along the first direction, and the first sealing member 52 and the second sealing member 53 can release the inlet 411 and the outlet 412. At this time, the elastic member 56 is strongly pressed, and after the driving unit 54 releases the power or operates in the reverse direction, for example, when the motor rotates forward, the top rod 55 moves upward, and when the motor rotates reversely, if the driving unit 54 is not fixedly connected to the top rod 55, the driving force of the elastic member 56 to return to its original state drives the connecting rod 51 to rotate along the second direction, thereby pressing the top rod 55 to move downward, and the first sealing member 52 and the second sealing member 53 can seal the inlet 411 and the outlet 412. The driving unit 54 may include a cam mechanism, and drives the top rod 55 to move upward through the cam mechanism, and at this time, the top rod 55 may be in contact with the cam mechanism without being fixed. Alternatively, the driving unit 54 may include an electric push rod, which may be merely insertably connected to the top rod 55 and may not form an axial fixation. In some embodiments, it is not excluded that the driving unit 54 is fixedly connected to the connecting rod 51, in which case the elastic member 56 may be omitted. The driving unit 54 drives the top rod 55 to move upward, and the driving unit 54 may include a cam mechanism, a gear mechanism, etc., but it is sufficient that the driving unit 54 can realize linear movement and push the top rod 55 to perform linear movement.

In an embodiment of the present disclosure, as shown in FIG. 14, the sealing assembly 50 may further include a sealing member 57, which may be provided on the collecting section 41, i.e., a through hole may be opened in the collecting section 41, the top rod 55 passes through the through hole and is connected to the driving section 54, the sealing member 57 is used to seal the gap between the hole wall of the through hole and the top rod 55 to prevent the flow of wastewater in the collecting section 41, and the top rod 55 moves up and down inside the sealing member 57. The sealing member 57 may be a sealing ring.

The collection section 41 includes at least two subchambers, the first subchamber is used to store wastewater, and the second subchamber is hollow under normal conditions. Wastewater flows into the second subchamber only after the water level in the first subchamber reaches a certain value. The top rod 55 penetrates the second subchamber, so that under normal conditions, there is no problem of liquid leakage into the second subchamber, and by providing a sealing member 57, liquid leakage can be effectively prevented when liquid is present in the second subchamber.

In an embodiment of the present disclosure, when the collecting portion 41 is attached to the device, the top rod 55 can bias the first sealing member 52 and the second sealing member 53 to open, and when the collecting portion 41 is removed, the first sealing member 52 and the second sealing member 53 lose the support of the top rod 55 and the first sealing member 52 and the second sealing member 53 close under the action of the spring force.
If the sensor detects a situation such as the user flipping or tilting the cleaning robot, the program controls the top rod 55 to move so that the top rod 55 can no longer support the first sealing member 52 and the second sealing member 53, and the first sealing member 52 and the second sealing member 53 are closed under the action of the spring force.

In an embodiment of the present disclosure, as shown in FIGS. 1 and 2, the cleaning system 20 may be provided in the front portion 12 of the device body 10, and at least a portion of the drive system 30 may be provided in the rear portion 13 of the device body 10, for example, the driven wheel 33 of the drive system 30 may be provided at an edge position of the rear portion 13. The front portion 12 may be approximately rectangular, and the rear portion 13 may be approximately semicircular.

In an embodiment of the present disclosure, as shown in Figures 2 and 3, the cleaning system 20 further includes an auxiliary cleaning head 23, which is disposed on the device body 10, and the auxiliary cleaning head 23 enables the cleaning robot to better clean areas such as wall edges and wall corners, thereby improving the cleaning effect of the cleaning system 20.

In an embodiment of the present disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is provided at a corner position of the device body 10, a part of the auxiliary cleaning head 23 is provided beyond the device body 10, and the part of the auxiliary cleaning head 23 that exceeds the device body 10 is smaller than the part of the auxiliary cleaning head 23 that is below the device body 10, so that the cleaning range of the cleaning head 23 is ensured and the auxiliary cleaning head 23 does not excessively increase the occupation area of the cleaning robot.

The device body 10 includes a front portion 12 and a rear portion 13, and the front portion 12 is approximately a rectangular parallelepiped, i.e., when ignoring manufacturing errors, installation errors, etc., the circumferential outer surface of the rectangular parallelepiped may include rounded corner regions, and the rectangular parallelepiped here merely emphasizes the general structure of the front portion 12. The auxiliary cleaning heads 23 are provided at the corner positions of the front portion 12.

In an embodiment of the present disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is provided at a position close to the front portion 12 of the device body 10, and even if a part of the auxiliary cleaning head 23 exceeds the mounted buffer 72 and the cleaning robot is blocked by an obstacle in front, the auxiliary cleaning head 23 can clean areas such as gaps in the front, thereby improving the cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, a predetermined included angle is formed between the horizontal axis of the device body 10 and the cleaning head 21, i.e., the cleaning head 21 is arranged at an angle, and the auxiliary cleaning head 23 is arranged on the rearwardly inclined side of the cleaning head 21 (e.g., the auxiliary cleaning head 23 on this side is farther away from the edge of the front part 12 of the device body 10 than the other side), thereby increasing the area of the auxiliary cleaning head 23, i.e., the area of the auxiliary cleaning head 23 can be relatively large without excessively increasing the portion of the auxiliary cleaning head 23 that protrudes from the device body 10, and the cleaning area of the cleaning system 20 can be sufficiently secured. The outer edge of the auxiliary cleaning head 23 is approximately circular, and by arranging the auxiliary cleaning head 23 on the rearwardly inclined side of the cleaning head 21, the auxiliary cleaning head 23 has a relatively large cleaning area, and a portion of the auxiliary cleaning head 23 can overlap with the cleaning head 21.

In the embodiment of the present disclosure, a portion of the auxiliary cleaning head 23 overlaps with the cleaning head 21, and the combination of the auxiliary cleaning head 23 and the cleaning head 21 can increase the cleaning area, thereby avoiding the problem of missing cleaning between the auxiliary cleaning head 23 and the cleaning head 21 and improving the cleaning effect of the cleaning system 20.

In an embodiment of the present disclosure, the outer edge of the auxiliary cleaning head 23 extends beyond the outer edge of the device body 10, i.e., the auxiliary cleaning head 23 can clean locations outside the device body 10, such as wall edges, wall corners, and other areas, thereby increasing the cleaning area of the cleaning system 20 and improving the cleaning performance of the cleaning robot.

In an embodiment of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231, and the liquid supply unit 22 supplies cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 may be provided below the liquid supply unit 22, and the cleaning liquid inside the liquid supply unit 22 is supplied to the auxiliary cleaning head 23 via a water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the plane to be cleaned.

Specifically, the cleaning system 20 further includes an auxiliary liquid supply passage, and the liquid supply unit 22 supplies the cleaning liquid to the wet auxiliary cleaning head 231 through the auxiliary liquid supply passage. The auxiliary liquid supply passage may be a space formed inside the auxiliary cleaning head 23, and supplies the cleaning liquid to the wet auxiliary cleaning head 231 through a liquid outlet. The auxiliary liquid supply passage may be a liquid supply tube for supplying the cleaning liquid to the wet auxiliary cleaning head 231.

In an embodiment of the present disclosure, as shown in Figures 15 and 16, the cleaning system 20 further includes a water pump 24, which is in communication with the liquid supply 22 to supply the cleaning liquid in the liquid supply 22 to at least one of the cleaning head 21 and the auxiliary cleaning head 23. The water pump 24 supplies the cleaning liquid in the liquid supply 22 to the cleaning head 21 via a liquid supply passage and/or supplies the cleaning liquid in the liquid supply 22 to the auxiliary cleaning head 23 via an auxiliary liquid supply passage.

Specifically, there may be one water pump 24, and the one water pump 24 is simultaneously connected to the liquid supply passage and the auxiliary liquid supply passage. There may be two water pumps 24, and the two water pumps 24 are each connected to the liquid supply passage and the auxiliary liquid supply passage. The water pump 24 may be a gear pump, a vane pump, a piston pump, a peristaltic pump, etc. The output/flow rate of the water pump 24 is adjustable. The water pump 24 can realize liquid supply control of the cleaning liquid from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23 by cooperating with a device such as a valve.

In an embodiment of the present disclosure, the cleaning head 21 is rotatably mounted around a first axis, and the auxiliary cleaning head 23 is rotatably mounted around a second axis, forming a certain included angle between the first axis and the second axis. The cleaning head 21 may be a mopping roller brush. The auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply 22 is uniformly distributed on the auxiliary cleaning head 23 through the penetration of the cloth or wool and centrifugal force. The auxiliary cleaning head 23 may float to some extent in the vertical direction.

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

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

As an optional embodiment of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disc brush, a roller brush, etc.

As shown in FIG. 4, the auxiliary cleaning head 23 may further include a body part 232, the wet auxiliary cleaning head 231 is connected on the body part 232, and the body part 232 is provided on the device body 10. The body part 232 may include a driving motor, and the driving motor may drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 may include cloth or wool, and the body part 232 may include a support structure, which may be a conical soft rubber support, which transmits larger torque and allows the wet auxiliary cleaning head 231 to float up and down to a certain extent, improving the cleaning ability.

In the embodiment of the present disclosure, the liquid supply section 22 and the collection section 41 are stacked, thereby improving the space utilization rate of the cleaning robot and avoiding the problem of the cleaning robot becoming larger.

In an embodiment of the present disclosure, as shown in Figs. 15 and 16, the liquid supply unit 22 is located above the collection unit 41. The liquid supply unit 22 may be a clean water tank and the collection unit 41 may be a dirty water tank, with the clean water tank located at the top to facilitate liquid supply to the cleaning head 21 and the auxiliary cleaning head 23. The dirty water tank located at the bottom to facilitate collection of residue.

The clean water tank and the dirty water tank may be stacked one above the other, that is, as shown in Figures 15 and 16, the liquid supply unit 22 and the collection unit 41 may be stacked one above the other, and the clean water tank may be located above the dirty water tank. By positioning the clean water tank at the top, it is possible to easily supply liquid to the cleaning head 21 and the auxiliary cleaning head 23, and by positioning the dirty water tank at the bottom, it is possible to easily collect residues. By stacking the clean water tank and the dirty water tank, the center of gravity of the cleaning robot does not change much in the horizontal direction, so that the stability of the cleaning robot is ensured and large shaking during the cleaning process is avoided.

The collection unit 41 may be located at an intermediate position of the device body 10, i.e., the collection unit 41 may be located away from the mounted buffer 72 of the cleaning system 20, so that even if the amount of water in the collection unit 41 changes, the center of gravity of the cleaning robot does not change significantly, allowing the cleaning robot to stably clean the surface to be cleaned and avoiding the problem of the center of gravity becoming unstable during use.

In the embodiment of the present disclosure, as shown in FIG. 17, the liquid supply unit 22 and the collection unit 41 are stacked up and down, a water inlet 221 is provided on the liquid supply unit 22, and a drain port 413 is provided on the collection unit 41. The water inlet 221 on the liquid supply unit 22 is used to inject clean water into the liquid supply unit 22, and the drain port 413 on the collection unit 41 is used to drain the dirty water in the collection unit 41 from the collection unit 41. The water inlet 221 may be provided on the side of the liquid supply unit 22, and the drain port 413 may be provided on the side of the collection unit 41. For example, two interfaces may be provided on the bottom or side of the device body 10, and the two interfaces can facilitate the connection of the clean water injection structure and the dirty water discharge structure, and the two interfaces need to be in a sealed state to avoid water leakage during normal use of the cleaning robot. Alternatively, the water inlet 221 and the drain 413 may be sealed with a sealing member, and the liquid supply unit 22 and the collection unit 41 can be simultaneously removed from the device body 10 when pouring or draining water. Because the liquid supply unit 22 is connected to the collection unit 41, the liquid supply unit 22 and the collection unit 41 can be synchronously removed from the device body 10.

The liquid supply unit 22 and the collection unit 41 can be detached from the device body 10, so that the liquid supply unit 22 can inject liquid and the collection unit 41 can discharge wastewater. As shown in FIG. 17, the collection unit 41 may have an irregular structure, and the collection unit 41 may include a main body 414 and an extension unit 415 connected to the main body 414, and the main body 414 and the extension unit 415 form a chamber for collecting wastewater, the main body 414 is approximately a rectangular parallelepiped, and the extension unit 415 has an irregular irregular structure, for example, the extension unit 415 may be divided into a triangle and a rectangle, or a semicircle and a rectangle, etc., and is not particularly limited here, and the wastewater storage space of the extension unit 415 is smaller than the wastewater storage space of the main body 414. By providing a drain port 413 in the extension unit 415, the wastewater can be concentrated in the extension unit 415 by tilting the collection unit 41 when discharging wastewater, ensuring smooth discharge of wastewater and avoiding the accumulation of wastewater that cannot be discharged in the collection unit 41.

In the embodiment of the present disclosure, multiple cliff sensors may be provided on the device body 10, the multiple cliff sensors are provided around the edge positions of the device body 10, the auxiliary cleaning head 23 is provided at the corner positions of the device body 10, a cliff sensor may be provided at a position close to the auxiliary cleaning head 23 on the device body 10, at least two cliff sensors may be provided at a position close to the auxiliary cleaning head 23 on the device body 10, the cliff sensor can identify the surface to be cleaned and determine the physical properties of the surface to be cleaned, such as the surface material, cleaning degree, etc., the control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification result of the cliff sensor to ensure the cleaning function of the auxiliary cleaning head 23, for example, when the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect, or when the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease the humidity to avoid wetting the carpet.

In an embodiment of the present disclosure, as shown in FIG. 1, the detection system 60 of the cleaning robot is provided on the device body 10, and at least a part of the detection system 60 can extend from the outer edge of the device body 10, thereby expanding the detection range of the detection system 60 and improving the flexible adjustment ability of the cleaning robot. The detection system 60 may be a sensor such as an ultrasonic sensor or an infrared sensor, and is used to detect changes in the material of the surface to be cleaned, horizontal changes on the surface to be cleaned, or dirt detection, etc.

In the embodiment of the present disclosure, at least a part of the detection system 60 is movable relative to the device body 10, so that the position of the detection system 60 can be reliably adjusted, and thus it can be adapted to different application environments. The detection system 60 may be driven by a driving mechanism to achieve the position adjustment, or the detection system 60 may include a flexible mechanism, and the position adjustment may be achieved by deforming the flexible mechanism.

Specifically, the detection system 60 is extendably provided on the device body 10, and the detection system 60 has an extended state and a retracted state. When the detection system 60 extends to the front of the cleaning robot, it can detect the floor surface condition in front of the cleaning robot. For example, if the cleaning robot is D-shaped, the detection system 60 may be provided near the corner of the cleaning robot, and the detection system 60 can easily detect the floor surface condition in front or to the side when in the extended state. If the cleaning robot is circular, the detection system 60 may be provided at the front of the cleaning robot.

In an embodiment of the present disclosure, at least a portion of the detection system 60 can extend from the outer edge of the device body 10, the detection system 60 has a stored state in which it is stored in the device body 10 and an extended state in which it extends from the device body 10, and the control system 80 can control the detection system 60 to move between the stored state and the extended state, so that the detection system 60 can be adjusted in real time according to the operating state or operating path of the cleaning robot, and the detection system 60 can accurately determine the condition of the surface to be cleaned.

Specifically, the drive system 30 can drive the cleaning robot to operate on the work surface, and at this time, the control system 80 can drive the detection system 60 to move from a stored state to an extended state, and the detection system 60 can monitor the state of the work surface in real time. Furthermore, since the detection system 60 has a detection viewing angle facing the work surface, it can accurately detect the state of the work surface, for example, a change in the material of the work surface, a change in the horizontality of the work surface, or dirt detection.

In an embodiment of the present disclosure, as shown in FIGS. 1 to 3, the detection system 60 may be connected to a corner position of the device body 10, and the auxiliary cleaning head 23 is provided at a position close to the detection system 60 of the device body 10, and the detection system 60 can identify the surface to be cleaned early and determine the physical characteristics of the surface to be cleaned, such as the surface material, cleaning degree, etc., and the control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification result of the detection system 60 to ensure the cleaning function of the auxiliary cleaning head 23. For example, if the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase humidity to ensure the cleaning effect, or if the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease humidity to avoid wetting the carpet.

In the embodiment of the present disclosure, the detection system 60 is telescopically mounted on the front part 12 of the device body 10, and the detection system 60 can determine the state of the surface to be cleaned early and feed back to the control system 80, and the control system 80 can adjust the travel route and cleaning mode of the cleaning robot based on the information fed back from the detection system 60. The detection system 60 is mounted at a corner position of the front part 12, and the detection system 60 can be rationally arranged to avoid the detection system 60 occupying a relatively large area, and the detection system 60 can reliably monitor the state of the working surface at the corner of the device body 10, so that the cleaning robot can clean the working surface more efficiently.

In an embodiment of the present disclosure, as shown in Figures 1 and 4, at least one detection system 60 is provided adjacent to the auxiliary cleaning head 23, and at least a portion of the detection system 60 is disposed directly above the auxiliary cleaning head 23, thereby preventing the detection system 60 from interfering with the auxiliary cleaning head 23, making better use of the corner positions of the device body 10, and allowing the mounting positions of the detection system 60 and the auxiliary cleaning head 23 to be rationally positioned.

In an embodiment of the present disclosure, the control system 80 may be connected to the detection system 60, and the control system 80 may control the extension/retraction state of the detection system 60, for example, when the cleaning robot operates, the control system 80 may control the detection system 60 to move from the storage state to the extended state, or when the cleaning robot stops operating, the control system 80 may control the detection system 60 to move from the extended state to the storage state. Or, when the detection system 60 detects that the work surface has a recess or the work surface material changes, the control system 80 controls the cleaning system 20 or controls the drive system 30 to change the operating state, and the work surface is the surface to be cleaned. For example, when the detection system 60 detects that the work surface has a recess, the control system 80 may control the drive system 30 to decelerate, and the control system 80 may control the cleaning system 20 to decelerate and rotate. For example, if the detection system 60 detects a change in the work surface material, such as from carpet to tile, the control system 80 may control the drive system 30 to accelerate, and the control system 80 may control the cleaning system 20 to accelerate and rotate.

The detection system 60 is used to detect changes in the material of the surface to be cleaned, horizontal changes in the surface to be cleaned, or dirt detection, and can feed back to the control system 80 to control the operating state of the cleaning robot. For example, if the detection system 60 detects that the surface to be cleaned is relatively dirty, the control system 80 controls the cleaning robot to slow down, so that the cleaning system 20 can clean the surface to be cleaned well. Or, if the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 controls the water pump 24 to increase the flow rate of the cleaning liquid supplied from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23, so as to ensure the cleaning of the floor. Or, the control system 80 can adjust the travel route and cleaning mode of the cleaning robot based on the information fed back from the detection system 60. For example, the detection system 60 extends When in the exit state, the detection system 60 may be disposed in front of the device body 10, and the detection system 60 may determine the state of the surface to be cleaned early and provide feedback to the control system 80, and the control system 80 may adjust the travel path and cleaning mode of the cleaning robot based on the information fed back from the detection system 60; the detection system 60 may detect changes in the floor surface material early, for example, when the floor surface changes from a floor to a carpet, the detection system 60 may provide relevant information to the control system 80 in real time, and the control system 80 may instantly control the travel direction or cleaning mode of the cleaning robot, for example, when the floor changes to a carpet, the cleaning robot may be controlled to slow down, or when the floor changes to a carpet, the cleaning robot may be controlled to reduce the amount of liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23.

In the embodiment of the present disclosure, the detection system 60 may be multiple, which can effectively expand the detection range of the detection system 60 and accurately assist the operating state of the cleaning system 20 or the driving system 30. The detection system 60 may be two, and as shown in FIG. 1, the two detection systems 60 are respectively provided at two corner positions of the front portion 12.

Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure. This disclosure is intended to cover any modifications, uses, or adaptations of the present disclosure in accordance with the general principles of the present disclosure, including those within the general general knowledge or customary technical means in the art that are not disclosed herein. It is intended that the specification and example embodiments are considered to be exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

It should be understood that the present disclosure is not limited to the exact structure described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be defined solely by the appended claims.

Related Applications

This disclosure claims priority to a Chinese patent application filed on April 8, 2022, application number 202210368925.6, the entire contents of which are incorporated herein by reference.

This disclosure relates to the technical field of smart homes, and in particular to cleaning robots.

Most of the cleaning robots in the related art are floor cleaning robots, and the cleaning head of the cleaning robot realizes effective cleaning of the floor surface during the process of the cleaning robot performing the cleaning task.

The present disclosure provides a cleaning robot for improving the usage performance of the cleaning robot.
The present disclosure provides a cleaning robot,
The device body,
a drive system including a first drive wheel module and a second drive wheel module, the first drive wheel module and the second drive wheel module being disposed along a lateral axis of the machine body, the lateral axis being perpendicular to a moving direction of the cleaning robot;
a cleaning system mounted on the appliance body and including a cleaning head, wherein a predetermined included angle is formed between the cleaning head and the transverse axis.

In one embodiment of the present disclosure, the cleaning head comprises a wet cleaning head and the cleaning system comprises:
There is also a liquid supply for supplying cleaning liquid to the wet cleaning head.

In one embodiment of the present disclosure, the device body includes a fixed bracket, the cleaning head is provided within the fixed bracket, a liquid supply passage is provided on the fixed bracket, and the liquid supply unit supplies cleaning liquid to the wet cleaning head through the liquid supply passage.

In one embodiment of the present disclosure, the liquid supply passage has a liquid inlet and a liquid outlet, the liquid inlet communicating with the liquid supply and the liquid outlet being used to supply cleaning liquid to the wet cleaning head;
The liquid outlets are multiple and are spaced apart along a direction parallel to the wet cleaning head.

In one embodiment of the present disclosure, the cleaning robot comprises:
The device further includes a collection system provided on the device body, the collection portion including a collector for collecting residue on the cleaning head and/or the surface to be cleaned.

In one embodiment of the present disclosure, the recovery system comprises:
It further includes a scraper that contacts the cleaning head and removes residue on the cleaning head by interference with the cleaning head for collection by the collection portion.

In one embodiment of the present disclosure, the scraper is parallel to the cleaning head.
In one embodiment of the present disclosure, a water inlet is provided on the scraper, the water inlet communicating with the collection section.

In one embodiment of the present disclosure, the recovery system comprises:
A power section is further included in pneumatic communication with the collection section for collecting the residue in the collection section.
In one embodiment of the present disclosure, the collection section includes an inlet and an outlet, and the cleaning robot includes:
The device further comprises a sealing assembly disposed on the device body, at least a portion of which is adjustable in position to open and close the inlet and outlet.

In one embodiment of the present disclosure, the encapsulation assembly comprises:
Connecting rod,
a first sealing member provided on the connecting rod; and a second sealing member provided on the connecting rod;
The connecting rod is provided movably relative to the device body so that the first sealing member and the second sealing member open and close the inlet and the outlet, respectively.

In one embodiment of the present disclosure, the cleaning system comprises:
It further comprises an auxiliary cleaning head that partially overlaps the cleaning head.

In one embodiment of the present disclosure, the outer edge of the auxiliary cleaning head extends beyond the outer edge of the device body.
In one embodiment of the present disclosure, the auxiliary cleaning head comprises a wet auxiliary cleaning head, and the cleaning system comprises:
It further includes a liquid supply that supplies cleaning liquid to the wet auxiliary cleaning head.

In one embodiment of the present disclosure, the cleaning robot comprises:
The device further includes a detection system disposed on the device body and extending at least in part from an outer edge of the device body.

In one embodiment of the present disclosure, at least a portion of the detection system is movable relative to the device body.

Various objects, features and advantages of the present disclosure will become more apparent from the consideration of the following detailed description of preferred embodiments thereof in conjunction with the accompanying drawings, which are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale, in which like reference numerals indicate the same or similar parts.
FIG. 2 is a structural schematic diagram of a first viewing angle of a cleaning robot according to an exemplary embodiment; FIG. 13 is a structural schematic diagram of a second viewing angle of the cleaning robot according to an exemplary embodiment. FIG. 13 is a structural schematic diagram of a second viewing angle of the cleaning robot according to an exemplary embodiment. FIG. 2 is a structural schematic diagram of a liquid supply unit of a cleaning robot according to an exemplary embodiment; 1 is a structural schematic diagram of a collection unit of a cleaning robot according to an exemplary embodiment; FIG. FIG. 2 is a structural schematic diagram of a sealing assembly of a cleaning robot according to an exemplary embodiment. 1 is a structural schematic diagram of an inlet and an outlet of a cleaning robot collection unit according to an illustrative embodiment; FIG. 2 is a structural schematic diagram of one viewing angle of the fixing bracket of the cleaning robot according to an illustrative embodiment; FIG. 13 is a structural schematic diagram of another viewing angle of the fixing bracket of the cleaning robot according to an illustrative embodiment. FIG. 2 is a structural schematic diagram of one viewing angle of a scraper of a cleaning robot according to an illustrative embodiment; FIG. 13 is a structural schematic diagram of another viewing angle of the scraper of the cleaning robot according to an illustrative embodiment; 1 is a structural schematic diagram of a collection unit of a cleaning robot according to an exemplary embodiment; FIG. FIG. 2 is a structural schematic diagram of a sealing assembly of a cleaning robot according to an exemplary embodiment. FIG. 13 is a structural schematic diagram of a sealing assembly of a cleaning robot according to another exemplary embodiment. FIG. 13 is a schematic diagram of one viewing angle of a partial structure of a cleaning robot according to another exemplary embodiment. FIG. 13 is a schematic diagram of a partial structure of a cleaning robot according to another exemplary embodiment from another viewing angle. 1 is a schematic diagram illustrating the structure of a liquid supply and collection unit of a cleaning robot according to an exemplary embodiment.

10 Machine body 11 Fixing bracket 111 Liquid inlet 112 Liquid outlet 113 Storage chamber 114 Through hole 12 Front part 13 Rear part 20 Cleaning system 21 Cleaning head 22 Liquid supply part 221 Water inlet 23 Auxiliary cleaning head 231 Wet auxiliary cleaning head 232 Main body part 24 Water pump 30 Drive system 31 First drive wheel module 32 Second drive wheel module 33 Driven wheel 40 Recovery system 41 Collecting part 411 Inlet 412 Outlet 413 Drain 414 Main body 415 Extension part 42 Scraper 421 Water intake 43 Power part 50 Sealing assembly 51 Connecting rod 52 First sealing member 53 Second sealing member 54 Drive part 55 Top rod 56 Elastic member 57 Seal member 60 Detection system 70 Sensing system 71 Positioning device 72 Shock absorber 80 Control system 90 Energy System 100 Man-machine interactive system

Representative examples embodying the features and advantages of the present disclosure are described in detail in the following description. It should be understood that the present disclosure may be modified in various ways in different embodiments without departing from the scope of the present disclosure, and the description and accompanying drawings therein are intended to be illustrative in nature and are not intended to limit the present disclosure.

Different exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which form a part of the present disclosure and which exemplarily show different exemplary structures, systems and steps in multiple aspects by which the present disclosure can be realized. It should be understood that other specific solutions of members, structures, exemplary devices, systems and steps can be used, and structural and functional changes can be made without departing from the scope of the present disclosure. Furthermore, although terms such as "on," "between," and "within" are used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein for convenience, for example, according to the exemplary orientations in the accompanying drawings. Nothing in this specification should be understood as requiring a specific three-dimensional orientation of a structure to fall within the scope of the present disclosure.

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

As shown in FIG. 1, the device body 10 includes a front portion 12 and a rear portion 13 and has a generally circular shape (wherein both the front and rear are circular), but may have other shapes, including, but not limited to, a generally D-shaped shape with a square front and a circular rear, and a rectangular or square shape with both the front and rear being square.

As shown in FIG. 1, the sensing system 70 includes a positioning device 71 on the device body 10, a collision sensor provided on a shock absorber 72 in the front portion 12 of the device body 10, a short-distance sensor on the device body 10, a cliff sensor provided on the bottom of the device body, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 10, and is used to provide various position information and moving state information of the device to the control system 80. The positioning device 71 includes, but is not limited to, a camera and a laser distance sensor (LDS).

As shown in FIG. 1, a shock absorber 72 may be mounted on the front portion 12 of the device body 10. When the drive system 30 propels the cleaning robot to run on the floor surface during the cleaning process, the shock absorber 72 detects one or more events in the running path of the cleaning robot through a collision sensor provided thereon, and the cleaning robot can control the drive system 30 in response to the event detected by the shock absorber 72, e.g., an obstacle or a wall, so that the cleaning robot responds to the event and, for example, moves away from the obstacle.

The control system 80 is provided on the main circuit board in the device body 10 and includes computing processors such as a central processing unit and an application processor that communicate with a non-transitory memory, such as a hard disk, flash memory, or random access memory, and the application processor uses a positioning algorithm, such as Simultaneous Localization And Mapping (SLAM), to draw an instantaneous map of the environment where the cleaning robot is located based on the obstacle information fed back from the laser ranging device. In addition, in combination with distance information and speed information fed back from sensing devices such as sensors installed on the buffer 72, cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, the current operating state, current position, and current posture of the cleaning robot, such as crossing a threshold, climbing onto a carpet, being on a cliff, being caught above or below, the dust box being full, being lifted, etc., are comprehensively determined, and specific next operating strategies are given according to different situations, so that the cleaning robot has better cleaning performance and user experience.

2 and 3, the drive system 30 controls the machine body 10 to run across the floor surface based on a drive command including distance and angle information (e.g., x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32. The first drive wheel module 31 and the second drive wheel module 32 are arranged along a horizontal axis defined by the machine body 10. In order for the cleaning robot to move more stably on the floor surface or have a higher moving ability, the cleaning robot may include one or more driven wheels 33, which include, but are not limited to, universal wheels. The drive wheel module includes a running wheel, a drive motor, and a control circuit for controlling the drive motor, and the drive wheel module may be connected to a circuit for measuring a drive current and an odometer. The drive wheel module is detachably connected on the machine body 10 for attachment/detachment and maintenance. The drive wheels may include an offset drop suspension system, being movably fixed, e.g., rotatably attached to the machine body 10, and receiving a spring offset that is offset downwardly away from the machine body 10. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant floor adhesion force, while the cleaning element of the cleaning robot also contacts the floor surface with a constant pressure.

The device body 10 defines a lateral axis and a longitudinal axis, which are perpendicular to each other and which may be understood as the lateral and longitudinal centerlines of the device body 10, respectively.
The energy system 90 includes a rechargeable battery such as a nickel-metal hydride battery and a lithium battery. A charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage shortage monitoring circuit are connected to the rechargeable battery, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery voltage shortage monitoring circuit are connected to a one-chip microcomputer control circuit. The cleaning robot may be connected to a charging pile for charging via a charging electrode provided on the main body, for example, on the side, bottom, or top of the main body.

The man-machine interaction system 100 includes keys on a host panel, which are used by the user to select functions, a display and/or indicator lamps and/or a horn, which are used to indicate the current device status or function options to the user, and further includes a mobile phone client program. In the case of the path navigation automatic cleaning device 10, the mobile phone client can show the user a map of the device's environment and the device's location, providing the user with more abundant and user-friendly function options.

In the cleaning robot provided by the embodiment of the present disclosure, the cleaning system 20 is disposed on the device body 10, the cleaning system 20 includes a cleaning head 21, and the horizontal axis of the device body 10 forms a predetermined included angle with the cleaning head 21, which can reduce the probability that the cleaning head 21 is caught by the joint when the cleaning robot passes through a floor environment such as a tile joint during the forward movement of the cleaning robot, thereby improving the cleaning efficiency of the cleaning robot and improving the usage performance of the cleaning robot. The predetermined included angle between the horizontal axis and the cleaning head 21 may be an acute angle, and the predetermined included angle may range from 5 degrees to 70 degrees.

In the embodiment of the present disclosure, the cleaning system 20 may be a dry cleaning system, and the dry cleaning system may include a cleaning head 21, a dust box, a fan, an air outlet, etc. In the embodiment of the present disclosure, the cleaning head 21 may be a roller brush that can rotate around an axis parallel to the floor surface, and the roller brush having a certain interference with the floor surface sweeps up the dust on the floor surface and lifts it up in front of the dust suction port between the roller brush and the dust box, and then sucks it into the dust box through the suction gas generated by the fan and passing through the dust box. The dust removal ability of the cleaning robot is characterized by the dust pickup efficiency (DPU), and the cleaning efficiency DPU is affected by the roller brush structure and material, affected by the wind utilization rate of the air duct composed of the dust suction port, the dust box, the fan, the air outlet, and the connecting members between the four, and affected by the type and power of the fan.

In an embodiment of the present disclosure, the cleaning system 20 may be a wet cleaning system, the cleaning head 21 includes a wet cleaning head, and as shown in FIG. 4, the cleaning system 20 further includes a liquid supply unit 22, which supplies cleaning liquid to the wet cleaning head. The cleaning head 21 may be disposed below the liquid supply unit 22, and the cleaning liquid inside the liquid supply unit 22 is transported to the cleaning head 21 through a water supply mechanism, and the cleaning head 21 performs wet cleaning on the plane to be cleaned. In another embodiment of the present disclosure, the cleaning liquid inside the liquid supply unit 22 may be directly sprayed onto the plane to be cleaned, and the cleaning head 21 may evenly apply the cleaning liquid to achieve cleaning of the plane.

In an embodiment of the present disclosure, the cleaning head 21 is provided at the bottom of the device body 10, and for example, the cleaning head 21 may be a cleaning pad parallel to the surface to be cleaned. In this embodiment, the cleaning head 21 is used to clean the surface to be cleaned, and the driving system 30 drives the cleaning head 21 to move back and forth basically along the target surface, which is a part of the surface to be cleaned. The cleaning head 21 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the contact surface of the cleaning head 21 with the surface to be cleaned, and the back and forth movement generates high-frequency friction between the cleaning head 21 and the surface to be cleaned, thereby removing dirt on the surface to be cleaned.

The higher the friction frequency, the more the number of frictions per unit time, and the high-frequency reciprocating movement is also called reciprocating vibration, and the cleaning ability is much higher than ordinary reciprocating movements such as rotation, friction cleaning, and the like. Optionally, the friction frequency is close to sound waves, and the cleaning effect is much higher than the rotation friction cleaning of tens of revolutions per minute. On the other hand, the tufts on the surface of the cleaning head 21 spread neatly in the same direction under the vibration of high-frequency vibration without increasing the friction force only with downward pressure under the situation of low-frequency rotation, making the cleaning effect more uniform as a whole, improving the cleaning effect, and the tufts do not spread in almost the same direction only with downward pressure, in terms of effect, the water stains on the surface to be cleaned after cleaning by high-frequency vibration are more uniform, and no chaotic water stains are left behind. In other embodiments of the present disclosure, the cleaning head 21 may be a belt-like structure, etc. In the embodiments of the present disclosure, as shown in FIG. 16, the cleaning head 21 may be a roller brush that can rotate around an axis parallel to the surface to be cleaned. The device body 10 includes a fixed bracket 11, the cleaning head 21 is located within the fixed bracket 11, a liquid supply passage is provided on the fixed bracket 11, and the liquid supply unit 22 supplies cleaning liquid to the wet cleaning head through the liquid supply passage.

The liquid supply passage may be formed by a cavity formed inside the fixed bracket 11, for example by providing a portion of the fixed bracket 11 that is hollow to form a liquid supply passage through which the cleaning liquid flows. The liquid supply passage may be formed by a tube that supplies cleaning liquid in the liquid supply 22 onto the wet cleaning head, thereby enabling the cleaning head 21 to effectively clean the surface to be cleaned.

In an embodiment of the present disclosure, as shown in Figures 8 and 9, the liquid supply passage has a liquid inlet 111 and a liquid outlet 112, where the liquid inlet 111 is in communication with the liquid supply 22 and the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

In an embodiment of the present disclosure, as shown in Figures 8 and 9, a liquid inlet 111 and a liquid outlet 112 are provided on the fixed bracket 11, one end of the liquid inlet 111 is located on the outer surface of the fixed bracket 11, and the liquid outlet 112 is located on the inner surface of the fixed bracket 11, and a main body portion of a liquid supply passage is provided between the liquid inlet 111 and the liquid outlet 112, and the main body portion is simultaneously connected to multiple liquid outlets 112, so that the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

In an embodiment of the present disclosure, a storage chamber 113 is formed in the fixed bracket 11, and a liquid outlet 112 is provided on a hollow wall of the storage chamber 113, the liquid outlet 112 may be located at the top end of the storage chamber 113, or the liquid outlet 112 may be located at the side of the storage chamber 113, and the cleaning liquid delivered from the liquid outlet 112 is reliably supplied to the cleaning head 21.

In an embodiment of the present disclosure, the liquid outlets 112 may be multiple, and the multiple liquid outlets 112 are spaced apart along a direction parallel to the cleaning head 21, so that cleaning liquid is uniformly supplied to each position of the wet cleaning head, and the wet cleaning head can reliably clean the surface to be cleaned.
The liquid supply passage may have one liquid inlet 111 , and the one liquid inlet 111 corresponds to all the liquid outlets 112 .

As an optional embodiment of the present disclosure, the liquid supply passage may have at least two liquid inlets 111, each corresponding to a plurality of liquid outlets 112, to ensure that the cleaning liquid is supplied onto the wet cleaning head. The liquid inlets 111 may be formed by a columnar structure so as to be connected to a tubular structure for supplying the cleaning liquid. The liquid outlets 112 may be rectangular, circular or other polygonal structures, and are not particularly limited here. The plurality of liquid outlets 112 are sequentially arranged along a direction parallel to the cleaning head 21.

In an embodiment of the present disclosure, as shown in Figures 5 and 6, the collection system 40 is provided on the device body 10, and the collection system 40 includes a collection section 41, which collects residues on the cleaning head 21 and/or the surface to be cleaned, thereby effectively cleaning the surface to be cleaned and ensuring the cleanliness of the surface to be cleaned.

During the movement process of the cleaning robot, the cleaning head 21 rotates to clean the surface to be cleaned, and during this process, residues on the surface to be cleaned are adsorbed onto the cleaning head 21, and the collection unit 41 collects these residues to ensure the cleanliness of the cleaning head 21, and the collection unit 41 also collects the residues on the surface to be cleaned, thereby working together with the cleaning head 21 to achieve reliable cleaning of the surface to be cleaned. The residues may be water, dirt, etc., but are not limited thereto here.

In an embodiment of the present disclosure, as shown in FIG. 3, the recovery system 40 further includes a scraper 42, which contacts the cleaning head 21, and the scraper 42 removes residues on the cleaning head 21 through interference with the cleaning head 21, which are collected by the collection section 41, to ensure the cleanliness of the cleaning head 21 and ensure effective cleaning of the surface to be cleaned.

Specifically, the scraper 42 may have a plate-like structure that interferes with the cleaning head 21, and during the rotation process of the cleaning head 21, the plate-like structure removes residues on the cleaning head 21 and collects them by the collecting unit 41, and the residues adsorbed on the surface to be cleaned are reliably collected by the collecting unit 41. The scraper 42 may be provided on the device body 10. The scraper 42 is provided removably on the device body 10.

In the embodiment of the present disclosure, the scraper 42 is parallel to the cleaning head 21, which ensures that the scraper 42 removes any residue on the cleaning head 21 and allows for easy installation of the structure.

Specifically, the length of the scraper 42 may be equal to the length of the cleaning head 21, and based on ensuring that the scraper 42 can fully interfere with the cleaning head 21, the scraper 42 can be prevented from occupying space in the longitudinal direction and the compactness of the structure can be ensured.

In an optional embodiment of the present disclosure, the horizontal axis of the device body 10 is parallel to the cleaning head 21, and the horizontal axis of the device body 10 is parallel to the scraper 42.

In an embodiment of the present disclosure, as shown in Figures 10 and 11, a water inlet 421 is provided on the scraper 42, the water inlet 421 is connected to the collection section 41, and the recovery system 40 ensures that wastewater is collected in the collection section 41 via the water inlet 421.

Specifically, the suction port 421 may face the cleaning head 21, and after the scraper 42 scrapes off the wastewater on the cleaning head 21, the wastewater flows along the scraper 42 toward the suction port 421, and the wastewater is sucked into the collection section 41 by the suction port 421 through the recovery system 40.

As an optional embodiment of the present disclosure, the water intake 421 may be provided on the side of the scraper 42 away from the cleaning head 21, with a portion of the scraper 42 collecting wastewater and the water intake 421 sucking the collected wastewater into the collection section 41.

In an embodiment of the present disclosure, as shown in FIG. 7, the recovery system 40 further includes a power unit 43, which is in pneumatic communication with the collection unit 41 and collects residue in the collection unit 41. Negative pressure is generated between the power unit 43 and the collection unit 41 to suck residue on the surface to be cleaned and residue on the cleaning head 21 into the collection unit 41. Specifically, the negative pressure generated between the power unit 43 and the collection unit 41 sucks wastewater into the collection unit 41 through the water intake 421. The power unit 43 may be a fan.

In an embodiment of the present disclosure, as shown in FIG. 9, a storage chamber 113 is formed in the fixed bracket 11, the cleaning head 21 is located in the storage chamber 113, and the collection section 41 is in communication with the storage chamber 113, so that the residue enters the collection section 41 after passing through the storage chamber 113.

Specifically, a through hole 114 is provided on the fixed bracket 11, the through hole 114 communicates with the collecting unit 41, and the through hole 114 communicates with the storage chamber 113, and the residue scraped off from the cleaning head 21 by the scraper 42 is located in the storage chamber 113 of the fixed bracket 11, and the residue in the storage chamber 113 is sucked into the collecting unit 41 through the through hole 114 due to the negative pressure generated between the power unit 43 and the collecting unit 41. As an optional embodiment of the present disclosure, the storage chamber 113 of the fixed bracket 11 forms a space that is relatively sealed with the surface to be cleaned, so that the residue on the surface to be cleaned is sucked into the collecting unit 41 through the through hole 114 due to the negative pressure generated between the power unit 43 and the collecting unit 41.

In the embodiment of the present disclosure, as shown in FIG. 7, the collecting section 41 has an inlet 411 and an outlet 412, the inlet 411 communicates with the storage chamber 113, the inlet 411 may communicate with the through hole 114, and the outlet 412 may communicate with the power unit 43, and the power unit 43 provides power through the outlet 412 of the collecting section 41 to suck the residue from the through hole 114 of the storage chamber 113 into the inlet 411 of the collecting section 41 and enter the collecting section 41. Here, when the airflow flows inside the collecting section 41, the wastewater, garbage, etc. carried by the airflow are retained in the collecting section 41 under the action of gravity, so that if the airflow path inside the collecting section 41 is relatively long, the wastewater, garbage, etc. can be separated from the airflow.

In an embodiment of the present disclosure, as shown in FIG. 12, the inlet 411 and outlet 412 of the collection section 41 may be provided on the same side of the collection section 41, for example, the inlet 411 and outlet 412 of the collection section 41 may both be located on the front side of the collection section 41, thereby effectively extending the airflow path within the collection section 41, so that wastewater, garbage, etc. can be more effectively separated from the airflow.

In an embodiment of the present disclosure, as shown in Figures 5 and 6, the sealing assembly 50 of the cleaning robot is provided on the device body 10, and the position of at least a part of the sealing assembly 50 is adjustable, so that the entrance 411 of the collecting section 41 and the exit 412 of the collecting section 41 can be opened and closed, and the garbage in the collecting section 41 can be prevented from pouring out from the entrance 411 or entering the power section 43 from the exit 412.

Specifically, the sealing assembly 50 can close the inlet 411 and outlet 412 of the collecting section 41 during the non-operation process of the cleaning robot, so that the problem of the residue being accidentally poured out due to the manual movement of the cleaning robot can be avoided. When the cleaning robot starts to operate, the sealing assembly 50 can open the inlet 411 and outlet 412 of the collecting section 41, and the residue is sucked into the collecting section 41 from the inlet 411.

In an embodiment of the present disclosure, the sealing assembly 50 may be controlled by an independent motor and may realize the closing control of the entrance 411 and the exit 412 of the collection section 41 at any time, for example, closing the cleaning robot under a non-operating condition. For example, the motor of the sealing assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the sealing assembly 50 may be controlled according to the movement state of the cleaning robot fed back from the control system 80. For example, when the control system 80 controls the cleaning robot to stop working, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the cleaning robot is in a tilted state, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the cleaning robot is in an idle state for a long time, for example, when the cleaning robot is stuck in a fixed position during the cleaning process and cannot continue moving forward, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the number of dust particles in the collecting section 41 reaches a certain height, the control system 80 may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41.

Furthermore, the user may use the app to realize control of the sealing assembly 50, etc., and flexibly control the closure of the inlet 411 and outlet 412 of the collection section 41 to meet usage requirements.

In an embodiment of the present disclosure, as shown in FIG. 6 and FIG. 13, the sealing assembly 50 includes a connecting rod 51, a first sealing member 52 provided on the connecting rod 51, and a second sealing member 53 provided on the connecting rod 51, where the connecting rod 51 is movably provided with respect to the device body 10, and the first sealing member 52 and the second sealing member 53 can open and close the inlet 411 and the outlet 412, respectively, that is, the first sealing member 52 and the second sealing member 53 can synchronously open and close the inlet 411 and the outlet 412, thereby improving the operating performance of the cleaning robot and instantly sucking the residue into the collection section 41.

In an embodiment of the present disclosure, as shown in Figures 6 and 13, the sealing assembly 50 may include a drive unit 54, which may be a motor, and the drive unit 54 is drivingly connected to the connecting rod 51 and drives the connecting rod 51 to rotate, thereby rotating the first sealing member 52 and the second sealing member 53 to open and close the inlet 411 and the outlet 412.

As shown in FIG. 13, the first sealing member 52 and the second sealing member 53 are provided on the connecting rod 51 with a gap therebetween, the first sealing member 52 and the second sealing member 53 are located in the middle of the connecting rod 51, one end of the connecting rod 51 is connected to the driving unit 54, the other end of the connecting rod 51 is provided beyond the second sealing member 53, and the first sealing member 52 is located between the driving unit 54 and the second sealing member 53. The first sealing member 52 and the second sealing member 53 are each provided at a position close to the relative ends of the connecting rod 51. Both the first sealing member 52 and the second sealing member 53 are detachably provided on the connecting rod 51, or both the first sealing member 52 and the second sealing member 53 are integrally formed on the connecting rod 51.

As an optional embodiment of the present disclosure, the drive unit 54 may be a cylinder, an oil cylinder or a telescopic motor, the drive unit 54 is connected to the connecting rod 51 and performs telescopic movement via the telescopic rod of the drive unit 54, i.e., the connecting rod 51 can perform telescopic movement, the connecting rod 51 can move back and forth, and the first sealing member 52 and the second sealing member 53 can move back and forth, i.e., can move along a direction parallel to the plane where the inlet 411 and the outlet 412 of the collection unit 41 are located, thereby opening and closing the inlet 411 and the outlet 412 of the collection unit 41.

As an optional embodiment of the present disclosure, the drive unit 54 may be a cylinder, an oil cylinder or a telescopic motor, the drive unit 54 is connected to the connecting rod 51 and performs telescopic movement via the telescopic rod of the drive unit 54, i.e., the connecting rod 51 can perform telescopic movement, the connecting rod 51 can move up and down, the first sealing member 52 and the second sealing member 53 can move up and down, i.e., they can move along a direction perpendicular to the plane where the inlet 411 and the outlet 412 of the collection unit 41 are located, and the inlet 411 and the outlet 412 of the collection unit 41 can be opened and closed.

As an optional embodiment of the present disclosure, the first sealing member 52 and the second sealing member 53 of the sealing assembly 50 are independently provided on a first driving unit and a second driving unit, and the first driving unit and the second driving unit drive and move the first sealing member 52 and the second sealing member 53, respectively, to open and close the inlet 411 and the outlet 412. The first driving unit and the second driving unit operate synchronously, and the first sealing member 52 and the second sealing member 53 operate synchronously, so that the inlet 411 and the outlet 412 can be opened and closed synchronously. The first driving unit and the second driving unit may employ a power mechanism such as a motor, a cylinder, or an oil cylinder.

As an optional embodiment of the present disclosure, as shown in FIG. 14, the sealing assembly 50 may include a connecting rod 51, a first sealing member 52, a second sealing member 53, a drive unit 54 and a top rod 55, where the first sealing member 52 and the second sealing member 53 are connected on the connecting rod 51, the top rod 55 is connected to the first sealing member 52, and the drive unit 54 is drivingly connected to the top rod 55, so that the drive unit 54 drives the top rod 55 to move up and down, and the first sealing member 52 and the second sealing member 53 move up and down, or the connecting rod 51 drives and rotates the first sealing member 52 and the second sealing member 53, thereby opening and closing the inlet 411 and the outlet 412 synchronously.

Or, the sealing assembly 50 may further include an elastic member 56, and after the driving part 54 releases the power, the elastic member 56 drives the top rod 55 to return to its original position, and the first sealing member 52 and the second sealing member 53 move from the release position of the inlet 411 and the outlet 412 to the closed position of the inlet 411 and the outlet 412. The elastic member 56 may be a spring, for example, the spring may be sleeved on the connecting rod 51, one end of the spring may be abutted against the first sealing member 52, and the other end of the spring may be supported on another member of the cleaning robot, for example, the other end of the spring may be abutted against the device body 10, and when the top rod 55 moves upward, the spring is pressed hard, and after the top rod 55 loses power, the spring returns to its original position, thus driving the first sealing member 52 and the second sealing member 53 to move from the release position of the inlet 411 and the outlet 412 to the closed position of the inlet 411 and the outlet 412. There may be one spring, the spring being sleeved on one end of the connecting rod 51, and the other end of the connecting rod 51 may passively rotate, for example, the spring may be abutted against the first sealing member 52, or the spring may be abutted against the second sealing member 53. There may be at least two springs, two springs provided at both ends of the connecting rod 51, respectively, and the two springs abut against the first sealing member 52 and the second sealing member 53, respectively.

When the driving unit 54 drives the top rod 55 to move upward, the connecting rod 51 rotates along the first direction, and the first sealing member 52 and the second sealing member 53 can release the inlet 411 and the outlet 412. At this time, the elastic member 56 is strongly pressed, and after the driving unit 54 releases the power or operates in the reverse direction, for example, when the motor rotates forward, the top rod 55 moves upward, and when the motor rotates reversely, if the driving unit 54 is not fixedly connected to the top rod 55, the driving force of the elastic member 56 to return to its original state drives the connecting rod 51 to rotate along the second direction, thereby pressing the top rod 55 to move downward, and the first sealing member 52 and the second sealing member 53 can seal the inlet 411 and the outlet 412. The driving unit 54 may include a cam mechanism, and drives the top rod 55 to move upward through the cam mechanism, and at this time, the top rod 55 may be in contact with the cam mechanism without being fixed. Alternatively, the driving unit 54 may include an electric push rod, which may be merely insertably connected to the top rod 55 and may not form an axial fixation. In some embodiments, it is not excluded that the driving unit 54 is fixedly connected to the connecting rod 51, in which case the elastic member 56 may be omitted. The driving unit 54 drives the top rod 55 to move upward, and the driving unit 54 may include a cam mechanism, a gear mechanism, etc., but it is sufficient that the driving unit 54 can realize linear movement and push the top rod 55 to perform linear movement.

In an embodiment of the present disclosure, as shown in FIG. 14, the sealing assembly 50 may further include a sealing member 57, which may be provided on the collecting section 41, i.e., a through hole may be opened in the collecting section 41, the top rod 55 passes through the through hole and is connected to the driving section 54, the sealing member 57 is used to seal the gap between the hole wall of the through hole and the top rod 55 to prevent the flow of wastewater in the collecting section 41, and the top rod 55 moves up and down inside the sealing member 57. The sealing member 57 may be a sealing ring.

The collection section 41 includes at least two subchambers, the first subchamber is used to store wastewater, and the second subchamber is hollow under normal conditions. Wastewater flows into the second subchamber only after the water level in the first subchamber reaches a certain value. The top rod 55 penetrates the second subchamber, so that under normal conditions, there is no problem of liquid leakage into the second subchamber, and by providing a sealing member 57, liquid leakage can be effectively prevented when liquid is present in the second subchamber.

In an embodiment of the present disclosure, when the collecting portion 41 is attached to the device, the top rod 55 can bias the first sealing member 52 and the second sealing member 53 to open, and when the collecting portion 41 is removed, the first sealing member 52 and the second sealing member 53 lose the support of the top rod 55 and the first sealing member 52 and the second sealing member 53 close under the action of the spring force.
If the sensor detects a situation such as the user flipping or tilting the cleaning robot, the program controls the top rod 55 to move so that the top rod 55 can no longer support the first sealing member 52 and the second sealing member 53, and the first sealing member 52 and the second sealing member 53 are closed under the action of the spring force.

In an embodiment of the present disclosure, as shown in FIGS. 1 and 2, the cleaning system 20 may be provided in the front portion 12 of the device body 10, and at least a portion of the drive system 30 may be provided in the rear portion 13 of the device body 10, for example, the driven wheel 33 of the drive system 30 may be provided at an edge position of the rear portion 13. The front portion 12 may be approximately rectangular, and the rear portion 13 may be approximately semicircular.

In an embodiment of the present disclosure, as shown in Figures 2 and 3, the cleaning system 20 further includes an auxiliary cleaning head 23, which is disposed on the device body 10, and the auxiliary cleaning head 23 enables the cleaning robot to better clean areas such as wall edges and wall corners, thereby improving the cleaning effect of the cleaning system 20.

In an embodiment of the present disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is provided at a corner position of the device body 10, a part of the auxiliary cleaning head 23 is provided beyond the device body 10, and the part of the auxiliary cleaning head 23 that exceeds the device body 10 is smaller than the part of the auxiliary cleaning head 23 that is below the device body 10, so that the cleaning range of the cleaning head 23 is ensured and the auxiliary cleaning head 23 does not excessively increase the occupation area of the cleaning robot.

The device body 10 includes a front portion 12 and a rear portion 13, and the front portion 12 is approximately a rectangular parallelepiped, i.e., when ignoring manufacturing errors, installation errors, etc., the circumferential outer surface of the rectangular parallelepiped may include rounded corner regions, and the rectangular parallelepiped here merely emphasizes the general structure of the front portion 12. The auxiliary cleaning heads 23 are provided at the corner positions of the front portion 12.

In an embodiment of the present disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is provided at a position close to the front portion 12 of the device body 10, and even if a part of the auxiliary cleaning head 23 exceeds the mounted buffer 72 and the cleaning robot is blocked by an obstacle in front, the auxiliary cleaning head 23 can clean areas such as gaps in the front, thereby improving the cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, a predetermined included angle is formed between the horizontal axis of the device body 10 and the cleaning head 21, i.e., the cleaning head 21 is arranged at an angle, and the auxiliary cleaning head 23 is arranged on the rearwardly inclined side of the cleaning head 21 (e.g., the auxiliary cleaning head 23 on this side is farther away from the edge of the front part 12 of the device body 10 than the other side), thereby increasing the area of the auxiliary cleaning head 23, i.e., the area of the auxiliary cleaning head 23 can be relatively large without excessively increasing the portion of the auxiliary cleaning head 23 that protrudes from the device body 10, and the cleaning area of the cleaning system 20 can be sufficiently secured. The outer edge of the auxiliary cleaning head 23 is approximately circular, and by arranging the auxiliary cleaning head 23 on the rearwardly inclined side of the cleaning head 21, the auxiliary cleaning head 23 has a relatively large cleaning area, and a portion of the auxiliary cleaning head 23 can overlap with the cleaning head 21.

In the embodiment of the present disclosure, a portion of the auxiliary cleaning head 23 overlaps with the cleaning head 21, and the combination of the auxiliary cleaning head 23 and the cleaning head 21 can increase the cleaning area, thereby avoiding the problem of missing cleaning between the auxiliary cleaning head 23 and the cleaning head 21 and improving the cleaning effect of the cleaning system 20.

In an embodiment of the present disclosure, the outer edge of the auxiliary cleaning head 23 extends beyond the outer edge of the device body 10, i.e., the auxiliary cleaning head 23 can clean locations outside the device body 10, such as wall edges, wall corners, and other areas, thereby increasing the cleaning area of the cleaning system 20 and improving the cleaning performance of the cleaning robot.

In an embodiment of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231, and the liquid supply unit 22 supplies cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 may be provided below the liquid supply unit 22, and the cleaning liquid inside the liquid supply unit 22 is supplied to the auxiliary cleaning head 23 via a water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the plane to be cleaned.

Specifically, the cleaning system 20 further includes an auxiliary liquid supply passage, and the liquid supply unit 22 supplies the cleaning liquid to the wet auxiliary cleaning head 231 through the auxiliary liquid supply passage. The auxiliary liquid supply passage may be a space formed inside the auxiliary cleaning head 23, and supplies the cleaning liquid to the wet auxiliary cleaning head 231 through a liquid outlet. The auxiliary liquid supply passage may be a liquid supply tube for supplying the cleaning liquid to the wet auxiliary cleaning head 231.

In an embodiment of the present disclosure, as shown in Figures 15 and 16, the cleaning system 20 further includes a water pump 24, which is in communication with the liquid supply 22 to supply the cleaning liquid in the liquid supply 22 to at least one of the cleaning head 21 and the auxiliary cleaning head 23. The water pump 24 supplies the cleaning liquid in the liquid supply 22 to the cleaning head 21 via a liquid supply passage and/or supplies the cleaning liquid in the liquid supply 22 to the auxiliary cleaning head 23 via an auxiliary liquid supply passage.

Specifically, there may be one water pump 24, and the one water pump 24 is simultaneously connected to the liquid supply passage and the auxiliary liquid supply passage. There may be two water pumps 24, and the two water pumps 24 are each connected to the liquid supply passage and the auxiliary liquid supply passage. The water pump 24 may be a gear pump, a vane pump, a piston pump, a peristaltic pump, etc. The output/flow rate of the water pump 24 is adjustable. The water pump 24 can realize liquid supply control of the cleaning liquid from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23 by cooperating with a device such as a valve.

In an embodiment of the present disclosure, the cleaning head 21 is rotatably mounted around a first axis, and the auxiliary cleaning head 23 is rotatably mounted around a second axis, forming a certain included angle between the first axis and the second axis. The cleaning head 21 may be a mopping roller brush. The auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply 22 is uniformly distributed on the auxiliary cleaning head 23 through the penetration of the cloth or wool and centrifugal force. The auxiliary cleaning head 23 may float to some extent in the vertical direction.

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

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

As an optional embodiment of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disc brush, a roller brush, etc.

As shown in FIG. 4, the auxiliary cleaning head 23 may further include a body part 232, the wet auxiliary cleaning head 231 is connected on the body part 232, and the body part 232 is provided on the device body 10. The body part 232 may include a driving motor, and the driving motor may drive the wet auxiliary cleaning head 231 to rotate. The wet auxiliary cleaning head 231 may include cloth or wool, and the body part 232 may include a support structure, which may be a conical soft rubber support, which transmits larger torque and allows the wet auxiliary cleaning head 231 to float up and down to a certain extent, improving the cleaning ability.

In the embodiment of the present disclosure, the liquid supply section 22 and the collection section 41 are stacked, thereby improving the space utilization rate of the cleaning robot and avoiding the problem of the cleaning robot becoming larger.

In an embodiment of the present disclosure, as shown in Figs. 15 and 16, the liquid supply unit 22 is located above the collection unit 41. The liquid supply unit 22 may be a clean water tank and the collection unit 41 may be a dirty water tank, with the clean water tank located at the top to facilitate liquid supply to the cleaning head 21 and the auxiliary cleaning head 23. The dirty water tank located at the bottom to facilitate collection of residue.

The clean water tank and the dirty water tank may be stacked one above the other, that is, as shown in Figures 15 and 16, the liquid supply unit 22 and the collection unit 41 may be stacked one above the other, and the clean water tank may be located above the dirty water tank. By positioning the clean water tank at the top, it is possible to easily supply liquid to the cleaning head 21 and the auxiliary cleaning head 23, and by positioning the dirty water tank at the bottom, it is possible to easily collect residues. By stacking the clean water tank and the dirty water tank, the center of gravity of the cleaning robot does not change much in the horizontal direction, so that the stability of the cleaning robot is ensured and large shaking during the cleaning process is avoided.

The collection unit 41 may be located at an intermediate position of the device body 10, i.e., the collection unit 41 may be located away from the mounted buffer 72 of the cleaning system 20, so that even if the amount of water in the collection unit 41 changes, the center of gravity of the cleaning robot does not change significantly, allowing the cleaning robot to stably clean the surface to be cleaned and avoiding the problem of the center of gravity becoming unstable during use.

In the embodiment of the present disclosure, as shown in FIG. 17, the liquid supply unit 22 and the collection unit 41 are stacked up and down, a water inlet 221 is provided on the liquid supply unit 22, and a drain port 413 is provided on the collection unit 41. The water inlet 221 on the liquid supply unit 22 is used to inject clean water into the liquid supply unit 22, and the drain port 413 on the collection unit 41 is used to drain the dirty water in the collection unit 41 from the collection unit 41. The water inlet 221 may be provided on the side of the liquid supply unit 22, and the drain port 413 may be provided on the side of the collection unit 41. For example, two interfaces may be provided on the bottom or side of the device body 10, and the two interfaces can facilitate the connection of the clean water injection structure and the dirty water discharge structure, and the two interfaces need to be in a sealed state to avoid water leakage during normal use of the cleaning robot. Alternatively, the water inlet 221 and the drain 413 may be sealed with a sealing member, and the liquid supply unit 22 and the collection unit 41 can be simultaneously removed from the device body 10 when pouring or draining water. Because the liquid supply unit 22 is connected to the collection unit 41, the liquid supply unit 22 and the collection unit 41 can be synchronously removed from the device body 10.

The liquid supply unit 22 and the collection unit 41 can be detached from the device body 10, so that the liquid supply unit 22 can inject liquid and the collection unit 41 can discharge wastewater. As shown in FIG. 17, the collection unit 41 may have an irregular structure, and the collection unit 41 may include a main body 414 and an extension unit 415 connected to the main body 414, and the main body 414 and the extension unit 415 form a chamber for collecting wastewater, the main body 414 is approximately a rectangular parallelepiped, and the extension unit 415 has an irregular irregular structure, for example, the extension unit 415 may be divided into a triangle and a rectangle, or a semicircle and a rectangle, etc., and is not particularly limited here, and the wastewater storage space of the extension unit 415 is smaller than the wastewater storage space of the main body 414. By providing a drain port 413 in the extension unit 415, the wastewater can be concentrated in the extension unit 415 by tilting the collection unit 41 when discharging wastewater, ensuring smooth discharge of wastewater and avoiding the accumulation of wastewater that cannot be discharged in the collection unit 41.

In the embodiment of the present disclosure, multiple cliff sensors may be provided on the device body 10, the multiple cliff sensors are provided around the edge positions of the device body 10, the auxiliary cleaning head 23 is provided at the corner positions of the device body 10, a cliff sensor may be provided at a position close to the auxiliary cleaning head 23 on the device body 10, at least two cliff sensors may be provided at a position close to the auxiliary cleaning head 23 on the device body 10, the cliff sensor can identify the surface to be cleaned and determine the physical properties of the surface to be cleaned, such as the surface material, cleaning degree, etc., the control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification result of the cliff sensor to ensure the cleaning function of the auxiliary cleaning head 23, for example, when the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect, or when the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease the humidity to avoid wetting the carpet.

In an embodiment of the present disclosure, as shown in FIG. 1, the detection system 60 of the cleaning robot is provided on the device body 10, and at least a part of the detection system 60 can extend from the outer edge of the device body 10, thereby expanding the detection range of the detection system 60 and improving the flexible adjustment ability of the cleaning robot. The detection system 60 may be a sensor such as an ultrasonic sensor or an infrared sensor, and is used to detect changes in the material of the surface to be cleaned, horizontal changes on the surface to be cleaned, or dirt detection, etc.

In the embodiment of the present disclosure, at least a part of the detection system 60 is movable relative to the device body 10, so that the position of the detection system 60 can be reliably adjusted, and thus it can be adapted to different application environments. The detection system 60 may be driven by a driving mechanism to achieve the position adjustment, or the detection system 60 may include a flexible mechanism, and the position adjustment may be achieved by deforming the flexible mechanism.

Specifically, the detection system 60 is extendably provided on the device body 10, and the detection system 60 has an extended state and a retracted state. When the detection system 60 extends to the front of the cleaning robot, it can detect the floor surface condition in front of the cleaning robot. For example, if the cleaning robot is D-shaped, the detection system 60 may be provided near the corner of the cleaning robot, and the detection system 60 can easily detect the floor surface condition in front or to the side when in the extended state. If the cleaning robot is circular, the detection system 60 may be provided at the front of the cleaning robot.

In an embodiment of the present disclosure, at least a portion of the detection system 60 can extend from the outer edge of the device body 10, the detection system 60 has a stored state in which it is stored in the device body 10 and an extended state in which it extends from the device body 10, and the control system 80 can control the detection system 60 to move between the stored state and the extended state, so that the detection system 60 can be adjusted in real time according to the operating state or operating path of the cleaning robot, and the detection system 60 can accurately determine the condition of the surface to be cleaned.

Specifically, the drive system 30 can drive the cleaning robot to operate on the work surface, and at this time, the control system 80 can drive the detection system 60 to move from a stored state to an extended state, and the detection system 60 can monitor the state of the work surface in real time. Furthermore, since the detection system 60 has a detection viewing angle facing the work surface, it can accurately detect the state of the work surface, for example, a change in the material of the work surface, a change in the horizontality of the work surface, or dirt detection.

In an embodiment of the present disclosure, as shown in FIGS. 1 to 3, the detection system 60 may be connected to a corner position of the device body 10, and the auxiliary cleaning head 23 is provided at a position close to the detection system 60 of the device body 10, and the detection system 60 can identify the surface to be cleaned early and determine the physical characteristics of the surface to be cleaned, such as the surface material, cleaning degree, etc., and the control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification result of the detection system 60 to ensure the cleaning function of the auxiliary cleaning head 23. For example, if the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase humidity to ensure the cleaning effect, or if the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease humidity to avoid wetting the carpet.

In the embodiment of the present disclosure, the detection system 60 is telescopically mounted on the front part 12 of the device body 10, and the detection system 60 can determine the state of the surface to be cleaned early and feed back to the control system 80, and the control system 80 can adjust the travel route and cleaning mode of the cleaning robot based on the information fed back from the detection system 60. The detection system 60 is mounted at a corner position of the front part 12, and the detection system 60 can be rationally arranged to avoid the detection system 60 occupying a relatively large area, and the detection system 60 can reliably monitor the state of the working surface at the corner of the device body 10, so that the cleaning robot can clean the working surface more efficiently.

In an embodiment of the present disclosure, as shown in Figures 1 and 4, at least one detection system 60 is provided adjacent to the auxiliary cleaning head 23, and at least a portion of the detection system 60 is disposed directly above the auxiliary cleaning head 23, thereby preventing the detection system 60 from interfering with the auxiliary cleaning head 23, making better use of the corner positions of the device body 10, and allowing the mounting positions of the detection system 60 and the auxiliary cleaning head 23 to be rationally positioned.

In an embodiment of the present disclosure, the control system 80 may be connected to the detection system 60, and the control system 80 may control the extension/retraction state of the detection system 60, for example, when the cleaning robot operates, the control system 80 may control the detection system 60 to move from the storage state to the extended state, or when the cleaning robot stops operating, the control system 80 may control the detection system 60 to move from the extended state to the storage state. Or, when the detection system 60 detects that the work surface has a recess or the work surface material changes, the control system 80 controls the cleaning system 20 or controls the drive system 30 to change the operating state, and the work surface is the surface to be cleaned. For example, when the detection system 60 detects that the work surface has a recess, the control system 80 may control the drive system 30 to decelerate, and the control system 80 may control the cleaning system 20 to decelerate and rotate. For example, if the detection system 60 detects a change in the work surface material, such as from carpet to tile, the control system 80 may control the drive system 30 to accelerate, and the control system 80 may control the cleaning system 20 to accelerate and rotate.

The detection system 60 is used to detect changes in the material of the surface to be cleaned, horizontal changes in the surface to be cleaned, or dirt detection, and can feed back to the control system 80 to control the operating state of the cleaning robot. For example, if the detection system 60 detects that the surface to be cleaned is relatively dirty, the control system 80 controls the cleaning robot to slow down, so that the cleaning system 20 can clean the surface to be cleaned well. Or, if the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 controls the water pump 24 to increase the flow rate of the cleaning liquid supplied from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23, so as to ensure the cleaning of the floor. Or, the control system 80 can adjust the travel route and cleaning mode of the cleaning robot based on the information fed back from the detection system 60. For example, the detection system 60 extends When in the exit state, the detection system 60 may be disposed in front of the device body 10, and the detection system 60 may determine the state of the surface to be cleaned early and provide feedback to the control system 80, and the control system 80 may adjust the travel path and cleaning mode of the cleaning robot based on the information fed back from the detection system 60; the detection system 60 may detect changes in the floor surface material early, for example, when the floor surface changes from a floor to a carpet, the detection system 60 may provide relevant information to the control system 80 in real time, and the control system 80 may instantly control the travel direction or cleaning mode of the cleaning robot, for example, when the floor changes to a carpet, the cleaning robot may be controlled to slow down, or when the floor changes to a carpet, the cleaning robot may be controlled to reduce the amount of liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23.

In the embodiment of the present disclosure, the detection system 60 may be multiple, which can effectively expand the detection range of the detection system 60 and accurately assist the operating state of the cleaning system 20 or the driving system 30. The detection system 60 may be two, and as shown in FIG. 1, the two detection systems 60 are respectively provided at two corner positions of the front portion 12.

Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure. This disclosure is intended to cover any modifications, uses, or adaptations of the present disclosure in accordance with the general principles of the present disclosure, including those within the general general knowledge or customary technical means in the art that are not disclosed herein. It is intended that the specification and example embodiments are considered to be exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

It should be understood that the present disclosure is not limited to the exact structure described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is to be defined solely by the appended claims.

Claims (16)

A device body (10),
a drive system (30) including a first drive wheel module (31) and a second drive wheel module (32), the first drive wheel module (31) and the second drive wheel module (32) being arranged along a lateral axis of the device body (10), the lateral axis being perpendicular to a moving direction of the cleaning robot;
A cleaning system (20) is provided on the device body (10), includes a cleaning head (21), and a predetermined included angle is formed between the cleaning head (21) and the horizontal axis. The cleaning head (21) comprises a wet cleaning head;
The cleaning robot of claim 1 , wherein the cleaning system (20) further comprises a liquid supply (22) that supplies a cleaning liquid to the wet cleaning head. The cleaning robot according to claim 2, wherein the device body (10) includes a fixed bracket (11), the cleaning head (21) is disposed within the fixed bracket (11), a liquid supply passage is provided on the fixed bracket (11), and the liquid supply unit (22) supplies cleaning liquid to the wet cleaning head through the liquid supply passage. the liquid supply passage has a liquid inlet (111) and a liquid outlet (112), the liquid inlet (111) communicating with the liquid supply (22) and the liquid outlet (112) being used to supply cleaning liquid to the wet cleaning head;
The cleaning robot of claim 3 , wherein the liquid outlet (112) is a plurality of outlets, the plurality of liquid outlets (112) being spaced apart along a direction parallel to the wet cleaning head. The cleaning robot includes:
The cleaning robot according to any one of claims 1 to 4, further comprising a collection system (40) provided on the device body (10) and including a collection section (41) for collecting residues on the cleaning head (21) and/or the surface to be cleaned. The recovery system (40) comprises:
6. The cleaning robot of claim 5, further comprising a scraper (42) that contacts the cleaning head (21) and removes residue on the cleaning head (21) by interference with the cleaning head (21) to be collected by the collecting portion (41). The cleaning robot of claim 6, wherein the scraper (42) is parallel to the cleaning head (21). The cleaning robot according to claim 6 or 7, wherein a water inlet (421) communicating with the collection section (41) is provided on the scraper (42). The recovery system (40) comprises:
The cleaning robot according to any one of claims 5 to 8, further comprising a power unit (43) in pneumatic communication with the collecting unit (41) for collecting residues in the collecting unit (41). The collection section (41) has an inlet (411) and an outlet (412);
The cleaning robot includes:
The cleaning robot according to any one of claims 5 to 9, further comprising a sealing assembly (50) provided on the device body (10), at least a portion of whose position is adjustable to open and close the entrance (411) and the exit (412). The sealing assembly (50) comprises:
Connecting rod (51),
A first sealing member (52) provided on the connecting rod (51);
A second sealing member (53) provided on the connecting rod (51),
The cleaning robot according to claim 10, wherein the connecting rod (51) is movably provided with respect to the equipment body (10) such that the first sealing member (52) and the second sealing member (53) open and close the inlet (411) and the outlet (412), respectively. The cleaning system (20) comprises:
The cleaning robot according to any one of claims 1 to 11, further comprising an auxiliary cleaning head (23) partially overlapping the cleaning head (21). The cleaning robot of claim 12, wherein the outer edge of the auxiliary cleaning head (23) exceeds the outer edge of the device body (10). The auxiliary cleaning head (23) includes a wet auxiliary cleaning head;
The cleaning system (20) comprises:
The cleaning robot of claim 12 or 13, further comprising a liquid supply (22) for supplying cleaning liquid to the wet auxiliary cleaning head. The cleaning robot includes:
The cleaning robot according to any one of claims 1 to 14, further comprising a detection system (60) provided on the device body (10) and at least a portion of which extends beyond an outer edge of the device body (10). The cleaning robot according to claim 15, wherein at least a portion of the detection system (60) is movable relative to the device body (10).

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