RU2695047C2 - Automatic machine for harvesting - Google Patents

Abstract

FIELD: household appliances.

SUBSTANCE: automatic cleaning machine comprises a high-speed reciprocating cleaning device, which enables to wipe rubbing the reciprocation of the floor at high speed, and vacuum device, suction dust in front of wiping cloth.

EFFECT: disclosed is an automatic harvesting machine.

18 cl, 10 dwg

Description

[001] This application claims the priority of application No. 105118692 filed in Taiwan (Republic of China) on June 15, 2016, and No. 105123054, filed in Taiwan (Republic of China) on July 21, 2016 according to 35 USC 119, the entire contents of which are incorporated herein by reference .

Background of the invention

Technical field

[002] the Present invention relates to an automatic machine for cleaning and, in particular, to an automatic machine for cleaning, containing a reciprocating cleaning mechanism.

Prior art

[003] The currently available sweeping cleaning robot is primarily designed to remove dust. It usually contains a side brush and a vacuum suction hole, and may additionally contain a central brush or wiping cloth for wiping. However, since the cleaning cloth is only pulled by the robot, the effect of cleaning traces of water stains, footprints and small particles is limited.

[004] In document US 20060190133 disclosed commercially available washing robot (such as iRobot Scooba), which sprays water (module 700 for applying fluid) on the floor and which cleans (brush 612 for rubbing) the floor with a central brush, and then reuses water through the rubber scraper. Its disadvantage is that the water will remain on the floor when the floor is uneven. A robot cannot be effectively applied if the floor has gaps.

[005] A commercially available wiping robot (such as Mint’s floor cleaner) has been developed that pulls the wipe cloth and moves back and forth to wipe the floor. Its disadvantage is that dust will accumulate in front of the wiping cloth and cannot be collected in the robot. Its cleaning effect is limited since the frequency of wiping is small.

[006] Development of an improved cleaning robot that can correct the above disadvantages of traditional robots is required.

Brief description of the invention

[007] The purpose of an embodiment of the present invention is to provide an automatic cleaning machine comprising a reciprocating cleaning mechanism for reciprocating a floor; the moving device for movement of the car; control system and a variety of sensors to detect obstacles and determine the distance from the environment to create a map for planning the route of cleaning. In one embodiment, the automatic cleaning machine further comprises a vacuum device used for suction of dust from the front of the wiping cloth on the floor. In one embodiment, the automatic cleaning machine further comprises a spray device used to spray water on the floor.

[008] According to an embodiment of the present invention, the automatic cleaning machine comprises a reciprocating cleaning mechanism, a moving device and a control system. The reciprocating cleaning mechanism comprises at least one cleaning device and at least one reciprocating moving device. At least one cleaning device is used for contact with the floor. At least one moving reciprocating device is connected to at least one cleaning device and allows at least one cleaning device to reciprocally clean the floor. The displacement device is used to ensure the movement of an automatic cleaning machine on the floor. The control system is associated with a reciprocating cleaning mechanism and a moving device and is used to control the reciprocating cleaning mechanism and moving device.

[009] In one embodiment, the at least one cleaning device comprises a first cleaning device and a second cleaning device. At least one reciprocating moving device is used to ensure the movement of the first cleaning device in the first direction and to ensure the movement of the second cleaning device in the second direction opposite to the first direction.

[0010] In one embodiment, the automatic cleaning machine further comprises a housing. The housing is used to house at least one reciprocating moving device, a reciprocating cleaning mechanism, a control system, and a moving device. At least one cleaning device comprises a brush plate, a roller, and a cleaning cloth. The brush plate is located below the base of the housing. The roller is located between the brush plate and the housing and rotates on the brush plate or base to reduce the frictional resistance to the relative movement of the brush plate and the base. The wiping cloth is placed on the brush plate and is used to contact the floor.

[0011] In one embodiment, the automatic cleaning machine further comprises a body and an elastic member. The housing is used to house at least one reciprocating moving device, a reciprocating cleaning mechanism, a control system, and a moving device. The elastic element is placed between the moving device and the housing, thus, the elastic element is configured to push the moving device away from the automatic cleaning machine.

[0012] In one embodiment, the automatic cleaning machine further comprises a vacuum device. The vacuum device contains an inlet. Dust on the floor is sucked into the air inlet. At least one cleaning device comprises a first cleaning device. The inlet is located at the front of the first cleaning device within a predetermined distance from the first cleaning device, while no dust accumulates within a predetermined distance.

[0013] In one embodiment, the automatic cleaning machine further comprises a spray device used to spray water on the floor.

[0014] In one embodiment, the displacement device comprises a movable wheel module and a casing. The casing accommodates a movable wheel module and contains a sleeve. The housing includes a base, a locking rod, an annular stopper and a locking screw. The locking rod is placed on the base and protrudes from the base. The sleeve is connected to the outer annular surface of the fixing rod. The ring stopper is located on the upper side of the locking rod. The locking screw is screwed into the locking rod, so that the ring stopper is attached to the upper side of the locking rod. One end of the elastic element rests against the end of the ring stopper, and the other end of the elastic element rests against the end of the casing moving device.

[0015] In one embodiment, the at least one reciprocating moving device comprises an electric motor, a crankshaft, and at least one crank. The crankshaft is driven by an electric motor for rotation. One end of at least one crank is connected to the crankshaft, and the other end of at least one crank is connected to the brush plate of at least one cleaning device and therefore moves reciprocatingly as the crankshaft rotates.

[0016] In one embodiment, the inlet of the vacuum device is placed on the brush plate of the first cleaning device.

[0017] In one embodiment, the automatic cleaning machine further comprises an electric brush. The inlet of the vacuum device is located at the base of the housing. An electric brush is placed on the base and sweeps dust into the inlet.

[0018] In one embodiment, the automatic cleaning machine further comprises at least one sensor located on the front or bottom side of the housing and used to detect an obstacle or step.

[0019] In one embodiment, the automatic cleaning machine further comprises a buffer and a limit switch. the buffer is placed on the outside of the automatic cleaning machine. A limit switch is used to push the buffer after the buffer hits an obstacle.

[0020] In one embodiment, the automatic cleaning machine further comprises a distance measurement sensor used to measure the distance from the environment to create a map for planning the cleaning route.

[0021] Various embodiments of the present invention may achieve the following technical improvements. In one embodiment, the automatic cleaning machine includes a reciprocating cleaning mechanism. The frequency of cleaning the wiping cloth can be increased, so a highly efficient cleaning machine can be obtained. In one embodiment, the automatic cleaning machine comprises a vacuum device that is adapted to suck up dust and dirt accumulated in front of the wiping fabric. In one embodiment, the automatic cleaning machine comprises a spray device. The spray device correctly sprays water to keep the wipe cloth optimally hydrated, so a better cleaning effect can be achieved. In one embodiment, the automatic cleaning machine contains all of the above devices and is implemented using an artificial intelligence program to enable the machine to remove the floor of the entire room.

BRIEF DESCRIPTION OF GRAPHIC MATERIALS

[0022] The listed features, aspects and advantages of the present invention will now be described with reference to graphic materials of preferred embodiments, which are intended to illustrate and not limit the invention.

FIG. 1 shows a top view of an automatic cleaning machine according to an embodiment of the present invention.

FIG. 2 shows a bottom view of an automatic cleaning machine according to an embodiment of the present invention.

FIG. 3 shows a sectional view along section line A-A of FIG. 2

FIG. 4 shows a sectional view along section line B-B of FIG. 2

FIG. 5 shows a sectional view along section line C-C of FIG. 2

FIG. 6 shows a sectional view along section line K-K of FIG. 2

FIG. 7 shows a sectional view along a section line corresponding to line A-A in FIG. 2, in an automatic cleaning machine according to one embodiment of the present invention.

FIG. 8 shows a schematic view of a reciprocating cleaning mechanism according to another embodiment of the present invention.

FIG. 9 is a functional block diagram of a control system according to one embodiment of the present invention.

FIG. 10 shows a top view of an automatic cleaning machine according to another embodiment of the present invention.

Detailed Description of the Invention

[0023] These and other embodiments of the present invention will also become apparent to those skilled in the art from the following detailed description of preferred embodiments with reference to the attached figures; however, the invention is not limited to any particular embodiment (s) disclosed herein. Accordingly, the scope of the present invention is intended to define only by reference to the attached claims.

[0024] In accordance with the conventional robot, the floor is cleaned with a wiping cloth pulled by a robot that moves back and forth, so the number of times the robot passes over the floor is the number of times the floor is cleaned. In accordance with other traditional robots, the robot only sweeps the floor without spraying water. Accordingly, traditional robots cannot effectively remove traces of water stains, footprints and small particles. According to one embodiment of the present invention, an automatic cleaning machine is proposed that includes a reciprocating cleaning mechanism, a reciprocating cleaning floor at high speed; and a pair of moving wheels to move the car. In one embodiment, the machine further comprises a spray device used to spray water on the floor. In one embodiment, the machine may further comprise a microprocessor control system and a number of sensors that detect obstacles and the outlines of the environment and plan the cleaning route. The specific design will be described in detail below.

[0025] FIG. 1 shows a top view of an automatic cleaning machine according to one embodiment of the present invention. FIG. 2 shows a bottom view of an automatic cleaning machine according to one embodiment of the present invention. FIG. 3 shows a sectional view along section line A-A of FIG. 2. In FIG. 4 shows a sectional view along section line B-B of FIG. 2. In FIG. 5 shows a sectional view along section line C-C of FIG. 2. In FIG. 6 shows a sectional view along section line K-K of FIG. 2

[0026] Consider a reciprocating cleaning mechanism. As shown in FIG. 2-6, a reciprocating cleaning mechanism according to one embodiment of the present invention comprises an electric motor 110, a pulley device 120, a crankshaft 130, at least one crank, and at least one cleaning device. In one embodiment, at least one crank contains two cranks 140 and 150, and wherein two cleaning devices are located on cranks 140 and 150, respectively. As shown in FIG. 4, the operation of the electric motor 110 causes the crankshaft 130 to rotate by means of the bolt of the pulley device 120, to reduce the speed of rotation of the crankshaft 130. As shown in FIG. 3, at least one crank converts the rotation of the crankshaft 130 to a linear reciprocating motion of at least one crank. In this embodiment, the rotation of the crankshaft 130 controls the linear reciprocating movements of the cranks 140 and 150. Preferably, the phase angle between the cranks 140 and 150 is 180 °, so the cleaning devices placed at the free ends of the cranks 140 and 150 are linear and reciprocating move in opposite directions, respectively.

[0027] Referring to FIG. 3. The front cleaning device comprises a tripod 210, a front brush plate 220 and a cleaning cloth 230. The tripod 210 is connected between the free end of the crank 140 and the front brush plate 220. The wiping cloth 230 is placed on or attached to the surface of the underside of the front disc 220 of the brush. The free end of the crank 140 pushes the tripod 210, thereby pushing the front brush plate 220, so the front wiping cloth 230 attached to the front brush plate 220 moves back and forth back and forth on the floor. The rear cleaning device comprises a tripod 240, a back brush plate 250 and a cleaning cloth 260. A tripod 240 is connected between the free end of the crank 150 and the back brush plate 250. The wiping cloth 260 is placed on the surface of the underside of the back of the brush disk 250 or attached to it. The free end of the crank 150 pushes the tripod 240, thereby pushing the back plate 250 of the brush, thus the rear wiping cloth 260 attached to the back plate 250 of the brush moves back and forth back and forth on the floor.

[0028] The front and rear plates 220 and 250 of the brushes are moving in opposite directions, so the reactive forces can compensate each other, and therefore, the automatic cleaning machine 100 can work stably. Referring to FIG. 2 and 4. The front cleaner further comprises at least one roller 270, and the front brush plate 220 has two guides. The automatic cleaning machine 100 has a housing 320. The rollers 270 are attached to the front plate 220 of the brush and are located between the upper surface of the front plate 220 of the brush and the bottom surface of the base 310 of the housing 320. As shown in FIG. 4, when the front plate 220 of the brush moves back and forth back and forth, the roller 270 rotates on the surface of the base 310 or front plate 220 of the brush in order to reduce the frictional resistance to the relative movement of the front plate 220 of the brush and the base 310. In one embodiment, the groove 271 made on the upper side of the base 310, and a portion of the front plate 220 of the brush is placed in the groove 271. Accordingly, the front plate 220 of the brush will not fall, since it is held by the groove 271 located above it.

[0029] The rear cleaner further comprises at least one roller 280, and the back brush plate 250 has two guides. The automatic cleaning machine 100 has a housing 320. The rollers 280 are attached to the back plate 250 of the brush and are located between the upper surface of the back plate 250 of the brush and the bottom surface of the base 310 of the housing 320. When the back plate 250 of the brush moves back and forth back and forth, the roller 280 rotates on the surface of the base 310 or the back plate 250 of the brush in order to reduce the frictional resistance to the relative movement of the back plate 250 of the brush and the base 310. In one embodiment, the groove 281 is formed on the upper side on the base of the base 310, and a portion of the back plate 250 of the brush is placed in the groove 281. Accordingly, the back plate 250 of the brush will not fall, since it is held by the groove 281 located above it.

[0030] The rotational speed of the motor 110 may determine the cleaning rate of the wiping cloth 230 and 260 moving back and forth. Preferably, their cleaning rate ranges from 100 to 2000 times per minute, which is a high-performance cleaning mechanism.

[0031] As described above, although the reciprocating cleaning mechanism is described in detail in one embodiment. However, the present invention is not limited to the above construction. The reciprocating cleaning mechanism can be of any design, provided that the structure can convert the rotational movement into a linear motion. For example, a reciprocating cleaning mechanism in one embodiment may include a cam and a lever (not shown). The lever is adjacent to the cam. The cam is made with a non-circular cross section that can be elliptical; or contains one end having a semi-elliptical cross section, and the other end having a semicircular cross section. When the cam rotates, the lever can move reciprocatingly and linearly. FIG. 8 shows a schematic view of a reciprocating cleaning mechanism according to another embodiment of the present invention as another example. As shown in FIG. 8, in one embodiment, the reciprocating cleaning mechanism comprises a rotating wheel 131, a thrust 141, and a cleaning device 231. The cleaning cloth 230 is placed on the underside of the cleaning device 231. When the rotating wheel 131 rotates, it pulls and moves the end of the thrust 141, thus the cleaning device 231 attached at the other end of the thrust 141 moves reciprocatingly and linearly. As a result, the wiping fabric 230 can clean the floor in a reciprocating manner.

[0032] Consider a vacuum device. Although the floor can be cleaned by linear reciprocating movements of the front and rear plates 220 and 250 of the brush, dust will accumulate in front of the wiping fabric 230, that is, in a place close to the movable inlet 611 of the vacuum device of FIG. 2. In one embodiment, the automatic cleaning machine 100 further comprises a vacuum device. The vacuum unit comprises a vacuum pump motor 640, a paddle wheel 630, and an air duct. The air duct contains a movable inlet 611, a tube 612, a filter module (610 and 620), a dust collector 600 and an outlet 613. The impeller 630 is rotated by an electric motor 640 of a vacuum pump to create air flow. The air flow sequentially passes through the air flow routes 20a — 20f in the air duct.

[0033] The movable inlet 611 of the vacuum device is located at the front of the front edge of the front wiping cloth 230. During operation of the automatic cleaning machine 100, its moving device moves forward. The vacuum unit pre-sucks the dust particles, and then the front cleaning cloth 230 cleans the part of the floor where the dust particles were located. The movable inlet 611 is located at the front of the front edge of the front wiping fabric 230 within a predetermined distance. With this in mind, the vacuum device is configured to suck up dust and dirt accumulated in front of the wiping fabric 230 through the use of air flow 20a, so dust and dirt cannot accumulate at the front of the wiping fabric 230. To achieve the goal of no dust accumulation and mud, a person with ordinary skill in the art can select the above-mentioned specific distance based on experiments conducted under various conditions, such as varying vacuum efficiency. devices and various sizes of the movable inlet 611. A certain distance depends on the power of the vacuum device and the size of the movable inlet 611. The higher the power of the vacuum device, the greater the certain distance. As shown in FIG. 1 and 3, the air flow 20a enters the inlet 611 near the front edge of the brush plate 220; the air flow 20b passes through the tube 612. As shown in FIG. 1, the tube 612 is in communication with the dust collector 600; the air flow 20c passes through the filter module primary filter 610; the air stream 20d passes through a filter module 620 high level filter. When the air flow 20d enters the air flow 20e, most of the dirt is filtered. Then, the air flow 20e enters the air flow 20f, which is then discharged from the outlet 613. As a result, dust on the floor can be sucked by a vacuum device. In one embodiment, the high level filter 620 is a high efficiency particulate air filter (HEPA filter).

[0034] Consider a moving device. Referring to FIG. 2 and 5. In one embodiment of the present invention, the automatic cleaning machine 100 comprises two moving devices, each of which contains a movable wheel module 400 and a case 402. The case 402 is used to accommodate the movable wheel module 400. The movable wheel modules 400 may be a crawler wheel which includes an electric motor 430, at least one wheel 410 and a track belt 420. In one embodiment, the movable wheel modules 400 may comprise a wheel and an electric motor for driving to wheel action. The electric motor 430 includes a gearbox, which is connected to the wheel 410. The electric motor 430 drives the wheel 410, and the wheel 410 drives the track belt 420, so the automatic cleaning machine 100 can move along the floor. As shown in FIG. 10, the control system 500 comprises a control circuit connected to two electric motors 430. The control system 500 further comprises a program for controlling two electric motors 430, so that the automatic cleaning machine 100 can move left, right, forward and back. The program may be an artificial intelligence program that can operate an automatic cleaning machine 100 for cleaning the entire floor (details are described below).

[0035] Consider a pressure control design for a track wheel. The automatic cleaning machine 100 has two parts that are in contact with the floor, one is the wiper 230 and the other is the track 420. When the pressure applied to the two parts above is not the same, the automatic cleaning machine 100 cannot work normally. If the pressure applied to the cleaning cloths 230 and 260 is too high, the pressure applied to the track 420 is insufficient and, as a result, the track 420 will slip and will not be able to move the machine. On the other hand, if the pressure applied to the track 420 is too large, the pressure applied to the cleaning cloths 230 and 260 is insufficient and, as a result, the floor cannot be well removed. As a result, a pressure control design is required that can provide pressure distribution having fixed or predetermined proportions, so the device can move correctly and clean the floor completely.

[0036] As shown in FIG. 5, based on the pressure control structure according to one embodiment of the present invention, the automatic cleaning machine 100 further comprises a spring 440. A spring 440 is placed between the moving device and the housing 320 of the automatic cleaning machine 100, thus the spring 440 can push the moving device in the direction of from the automatic cleaning machine 100, i.e., the spring 440 applies downward pressure to the displacement device. In particular, in this embodiment, the spring 440 is placed between the movable wheel modules 400 and the base 310, thus it applies downward pressure on the movable wheel modules 400. Accordingly, a constant or predetermined pressure can be applied by selecting the spring constant 440 to distribute the pressure applied to the track 35 and the wiping fabrics 230 and 260. The pressure control design for the track will be described in detail below. The casing 402 of the transfer device includes a sleeve 401, which is located at one end of the casing 402. The housing 320 further comprises a locking rod 443, an annular stopper 441 and a locking screw 442. The sleeve 401 is located at the protruding end of the casing 402 of the movable wheel module 400. Referring again to FIG. 5. The locking rod 443 is placed on the base 310 and protrudes from the base 310, and the sleeve 401 is inserted on the outer annular surface of the locking rod 443. The annular stopper 441 is placed in the upper part of the locking rod 443. The locking screw 442 is screwed into the locking rod 443, thus ring stopper 441 is attached to the top of the locking rod 443.

[0037] The upper end of the spring 440 rests against the ring stopper 441. The lower end of the spring 440 rests against the end of the casing 402 of the movement device. In particular, as shown in FIG. 5, it rests against the underside of the sleeve 401 of the casing 402. Thus, the spring 440 may apply downward pressure to the movable wheel modules 400. In one embodiment, there is no spring to apply downward pressure to the cleaning device, thus, the front and rear plates 220 and 250 of the brush of the cleaning device can smoothly perform linear reciprocating motion.

[0038] Consider a spray device. In accordance with the prior art, as the robot performs dry cleaning of the floor, it cannot effectively remove traces of water stains, footprints and small particles. According to one embodiment of the present invention, the automatic cleaning machine 100 further comprises a spray device used to spray water, so that marks from stains can be easily cleaned. As shown in FIG. 1 and 6, the spray device includes a water tank 700, a water tube 710, a water pump 720, a water tube 730, a left nozzle 740, and a right nozzle 750. As shown in FIG. 9, the control system 500 may control the water pump 720 to apply pressure to the water. As shown in FIG. 1, the cleaning water stored in the water tank 700 passes through the water tube 710 and then reaches the water pump 720. As shown in FIG. 1 and 6, the cleaning water is pumped by the water pump 720, and then the left nozzle 740 and the right nozzle 750 shown in FIG. 6, water is discharged, after which the water passes through the water tube 730. Reference numeral 741 denotes the spraying range of the left nozzle 740, and reference numeral 751 denotes the spraying range of the right nozzle 750. The control system 500 controls the water pump 720 based on the speed of the machine moving to determine the spraying time and the amount of water so that wiping fabrics 230 and 260 do not were too wet or too dry. Accordingly, the automatic cleaning machine 100 because of this may have a better cleaning effect.

[0039] Consider a control system. FIG. 9 is a functional block diagram of a control system according to one embodiment of the present invention. As shown in FIG. 9, the control system 500 includes a processor 510 (CPU), a memory 511 (RAM), a flash memory 512, a pulse width modulation (PWM) device 520, at least one power amplifier 521, and a remote control receiver 910. Processor 510, memory 511, and flash memory 512 are basic modules for computing and storing data. System software is stored in flash memory 512, and system software manages a pulse width modulation device 520 to output power signals to a power amplifier 521, thereby driving electric motors 430, 110, 640, and 720, respectively. The first and second electric motors 430 are used to move the automatic cleaning machine 100. The motor 110 is used to implement the process of reciprocating cleaning of the moving reciprocating cleaning mechanism. The electric motor 640 of the vacuum pump is used for air intake, while the electric motor 640 for water is used for spraying water.

[0040] As shown in FIG. 1, the automatic cleaning machine 100 further comprises at least a front proximity sensor 810 for proximity, which is located at the front end of the automatic cleaning machine 100 and is configured to detect an obstacle in front to avoid hitting the obstacle in front. As shown in FIG. 2, the automatic cleaning machine 100 further comprises at least a proximity proximity sensor 820 that is located on the underside of the housing 320, preferably placed on the bottom surface of the housing 320. The proximity proximity sensor 820 may determine whether there is a front automatic cleaning machine 100 cleaning step to protect the automatic cleaning machine 100 from rolling over. Non-contact proximity sensors 810 and 820 may be an infrared sensor, a laser distance measurement sensor or an ultrasonic sensor, and other sensors currently available or developed in the future.

[0041] As shown in FIG. 5, in one embodiment, the automatic cleaning machine 100 further comprises a buffer 330 and a limit switch 830. A buffer 330 may be provided at the front of the automatic cleaning machine 100. When the buffer 330 encounters an obstacle and then presses the limit switch 830, the microcomputer or processor 510 knows that an obstacle has been detected and performs other relevant operations or movements.

[0042] In one embodiment, the automatic cleaning machine 100 further comprises a distance sensor 840. Accordingly, it may have the function of using a laser to measure the distance between it and the obstacle or the distance between it and the environment for mapping to plan the cleaning route.

[0043] A program embedded in processor 510 of control system 500 can automatically control all electric motors, perform obstacle detection, or plan a cleaning route to clean the entire room.

[0044] The control system 500 includes a remote control receiver 910 and a remote control transmitter 900 that can transmit signals through the use of wireless technology, such as infrared radiation (IR) or WIFI, or may be other receivers and transmitters currently available or designed in future.

[0045] FIG. 7 shows a sectional view along a section line corresponding to line A-A in FIG. 2, in an automatic cleaning machine according to one embodiment of the present invention. The embodiment of FIG. 7 is similar to the embodiment of FIG. 2 and 3, and thus the elements in FIG. 7, having the same functions as the elements in FIG. 2 and 3 are denoted by the same reference numerals, and unnecessary explanations are omitted herein. The differences will be described below. The section line A1-A1 in FIG. 7 corresponds to section line A-A in FIG. 2. As shown in FIG. 7, the movable inlet 611 of the front plate 220 of the brush is replaced by a fixed inlet 619. The electric brush 690 near the fixed inlet 619 is attached to the base 310. The circular body of the electric brush 690 has spiral bristles 910, which are located near the fixed inlet 619. The electric brush 690 can clean the floor. Dust, hair and debris, swept away by the bristles 910, are sucked into the fixed inlet 619 by air flow 20a and then reach the dust collector 600. Accordingly, the cleaning efficiency of the automatic cleaning machine 100 can be increased.

[0046] It should be understood that the invention is not limited in the form of an automatic cleaning machine 100. FIG. 10 shows a top view of an automatic cleaning machine according to another embodiment of the present invention. The embodiment of FIG. 10 is similar to the embodiment of FIG. 1, and thus the elements in FIG. 10, having the same functions as the elements in FIG. 1, are denoted by the same reference numerals, and unnecessary explanations are omitted herein. The differences will be described below. As shown in FIG. 10, the shape of the automatic cleaning machine 100 is circular. In one embodiment, its shape may be triangular (not shown).

[0047] According to one embodiment of the present invention, the automatic cleaning machine 100 includes a high-speed reciprocating cleaning mechanism. The frequency of cleaning the wiping cloth 230 can be more than 200 times per minute, so a highly efficient cleaning machine can be obtained. In one embodiment, the automatic cleaning machine 100 includes a vacuum device that is configured to suck up dust and dirt accumulated in front of the wiping fabric 230. In one embodiment, the automatic cleaning machine 100 includes a spray device. The spray device properly sprays water to keep the wiping fabric 230 optimally hydrated, so that a better cleaning effect can be achieved. According to one embodiment of the present invention, the automatic cleaning machine 100 comprises all of the above devices and is implemented using an artificial intelligence program to enable the machine to remove the floor of the entire room.

[0048] These and other embodiments of the present invention also become apparent to those skilled in the art from the detailed description of the preferred embodiments above with reference to the accompanying figures; however, the invention is not limited to any particular embodiment (s) disclosed herein. These and other modifications of the present invention, which would be obvious to those skilled in the art, are included in the scope of the present invention and the following claims.

Claims (18)

1. An automatic cleaning machine, comprising: a reciprocating cleaning mechanism, comprising: at least one cleaning device used to come into contact with the floor; and at least one reciprocating moving device connected to at least one cleaning device and allowing the at least one cleaning device to reciprocally clean the floor; and a transfer device used to move the automatic floor cleaning machine; a control system associated with a reciprocating cleaning mechanism and a moving device and used to control the reciprocating cleaning mechanism and a moving device; and a vacuum device containing a movable inlet, the dust on the floor being sucked into the movable inlet by the air flow, at least one cleaning device comprising a first cleaning device having a brush plate, and at least one moving reciprocating device provides the possibility for the first cleaning device to reciprocally clean the floor, and the movable inlet opening is located in front of the front edge of the brush plate of the first cleaning device, ensure the ability to reciprocate the floor. 2. The automatic cleaning machine according to claim 1, characterized in that at least one cleaning device comprises a first cleaning device and a second cleaning device and at least one reciprocating moving device is used to ensure the movement of the first cleaning device in the first direction and ensure the movement of the second device for cleaning in the second direction opposite to the first direction. 3. The automatic cleaning machine according to claim 1, characterized in that it further comprises a body and an elastic element, wherein the body is used to accommodate at least one reciprocating moving device of a reciprocating cleaning mechanism, a control system and a moving device, and the elastic element is placed between the moving device and the housing, thus, the elastic element is configured to push the moving device away from the automatic cleaning machine. 4. Automatic cleaning machine according to claim. 1, characterized in that it further comprises a spray device used for spraying water on the floor. 5. Automatic cleaning machine according to claim. 3, characterized in that the moving device comprises a movable wheel module and a casing accommodating the movable wheel module and containing a sleeve, wherein the housing comprises: a base; a locking rod located on the base and protruding from the base, while the sleeve is inserted on the outer annular surface of the locking rod; an annular stopper located on the upper side of the fixing rod; and a locking screw screwed into the locking rod, thus, the ring stopper is attached on the upper side of the locking rod, and one end of the elastic element rests against the ring stopper with the end, and the other end of the elastic element rests against the part of the casing of the displacing device. 6. The automatic cleaning machine according to claim 3, characterized in that at least one reciprocating moving device comprises: an electric motor; crankshaft driven by an electric motor for rotation; at least one crank, wherein one end of at least one crank is connected to the crankshaft and the other end of at least one crank is connected to the brush plate of at least one cleaning device and therefore moves reciprocatingly upon rotation of the crankshaft. 7. Automatic cleaning machine according to claim. 1, characterized in that it additionally contains an electric brush, wherein the electric brush is placed on the base and sweeps the dust into the inlet. 8. Automatic cleaning machine according to claim. 1, characterized in that it additionally contains at least one sensor located on the front or the bottom of the housing and used to detect an obstacle or step. 9. The automatic cleaning machine according to claim 1, characterized in that it further comprises: a buffer placed on the outside of the automatic cleaning machine; and a limit switch used to push the buffer after a buffer collides with an obstacle. 10. Automatic cleaning machine according to claim. 1, characterized in that it further comprises a distance measurement sensor used to measure the distance from the environment to create a map for planning the cleaning route. 11. An automatic cleaning machine, comprising: a reciprocating cleaning mechanism, comprising: at least one cleaning device used to come into contact with the floor; and at least one reciprocating moving device connected to at least one cleaning device and allowing the at least one cleaning device to reciprocally clean the floor; and a transfer device used to move the automatic floor cleaning machine; a control system associated with a reciprocating cleaning mechanism and a moving device and used to control the reciprocating cleaning mechanism and a moving device; and a housing, wherein the housing is used to house at least one reciprocating moving device, a reciprocating cleaning mechanism, a control system and a moving device, and wherein the at least one cleaning device comprises: a brush plate disposed below the housing base; a roller located between the brush plate and the housing and configured to rotate on the brush plate or the base to reduce the frictional resistance to the relative movement of the brush plate and the base; and a cleaning cloth placed on the brush plate and used to come into contact with the floor. 12. The automatic cleaning machine of claim 11, characterized in that it further comprises a vacuum device, wherein the vacuum device comprises an inlet, dust on the floor being sucked into the inlet by the air flow, at least one cleaning device comprises a first device for harvesting, and the inlet is placed in front of the first cleaning device within a predetermined distance from the first cleaning device. 13. Automatic cleaning machine according to claim 11, characterized in that it further comprises a spray device used to spray water on the floor. 14. The automatic cleaning machine according to claim 11, characterized in that the inlet of the vacuum device is placed on the brush plate of the first cleaning device. 15. The automatic cleaning machine according to claim 11, characterized in that it further comprises an electric brush, wherein the inlet of the vacuum device is located at the base of the housing, and the electric brush is placed on the base and sweeps the dust into the inlet. 16. Automatic cleaning machine according to claim. 11, characterized in that it further comprises at least one sensor located on the front or the bottom of the housing and used to detect an obstacle or step. 17. The automatic cleaning machine according to claim 11, characterized in that it further comprises: a buffer disposed on the outside of the automatic cleaning machine; and a limit switch used to push the buffer after a buffer collides with an obstacle. 18. The automatic cleaning machine according to claim 11, characterized in that it further comprises a distance measurement sensor used to measure the distance from the environment to create a map for planning the cleaning route.

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