TWI745857B - Cleaning module and robot having cleaning module - Google Patents

Abstract

The present invention is directed to a robot that is designed to move on a surface. The robot includes a casing, a moving unit coupled to the casing and a suction disk coupled to the casing, where the casing, the suction disk and the surface are configured to form an air-tight space. The robot further includes an air extraction module disposed in the casing and connected to the air-tight space. The air extraction module is configured to generate a negative pressure in the air-tight space. The robot also includes a spray module coupled to the casing and configured to spray liquid to the surface.

Description

Spraying module and robot with spraying module

The present invention generally relates to robots and related cleaning devices.

It is known that the door and window cleaning method of the house is to open or remove the window to clean, and the building door and window are installed outside the building with a suspension frame by a cleaning company, and the suspension frame is controlled by a motor to lift and lower, and the exterior of the building is cleaned with a brush or water jet Doors and windows. However, the suspension frame is often susceptible to wind swing due to unstable center of gravity. In order to avoid excessive brushing of doors and windows, which may cause dangerous accidents such as slipping or falling of cleaning appliances and injury to people, the doors and windows are only flushed slightly to make it impossible to completely clean the doors and windows. Therefore, the invention of the cleaning robot improves the shortcomings of manual cleaning of doors and windows.

According to the cleaning robot disclosed in the prior art, if it encounters an obstacle attached to the door and window when it is traveling, the robot will tilt up or lift up completely, causing air leakage of the suction cup, making the robot unable to stably adsorb on the surface of the door and window. In addition, if the force ratio between the traveling wheel or the crawler and the suction cup is not appropriate, the robot will easily slip and cannot move forward, or the wiping force will be too small to effectively clean the surface of doors and windows.

In addition, the conventional cleaning robot only uses a brush or cloth to wipe doors and windows, and its cleaning effect is usually only significant for slight mud, sand and dust. However, if the dirt on the doors and windows If stains are not easy to remove, the wiping action of a general cleaning robot cannot effectively remove these stains. Therefore, it is necessary to improve the existing cleaning robot to improve its cleaning effect and efficiency.

The invention provides a cleaning robot to improve the cleaning effect of the existing cleaning machine.

An embodiment of the present invention provides a robot for moving on a surface, which includes a housing; a walking element coupled to the housing; a suction cup coupled to the housing, the housing, the The suction cup and the surface are configured to form a closed space; an air extraction module is located in the housing and communicates with the closed space, and is configured to generate a negative pressure in the closed space; and a spray module coupled to the The housing is configured to spray liquid onto the surface.

According to an embodiment of the present invention, the boundary of the suction cup defines a first area, the area formed by the suction cup abutting the housing is defined as the second area, and the area outside the second area of the first area is defined as The remaining area, and the force exerted by the negative pressure on the walking element and the suction cup is determined according to the area of the second area and the area of the remaining area.

According to an embodiment of the present invention, the spray module includes a water tank configured to contain liquid, and a water outlet configured to spray the liquid. The spraying module also includes a water pumping unit configured to generate thrust to push the liquid out of the water outlet.

According to an embodiment of the present invention, the water pumping unit includes an ultrasonic vibration element.

According to an embodiment of the present invention, the ultrasonic vibration element includes a substrate and a vibrating plate connected to the substrate. The water outlet is provided on the substrate and the vibrating plate surrounds the substrate. Outlet.

According to an embodiment of the present invention, the vibrating piece is made of piezoelectric material.

According to an embodiment of the present invention, the water pumping unit includes a pump, and the water outlet includes a nozzle.

According to an embodiment of the present invention, the water outlet is composed of an array formed by a plurality of water outlet units.

According to an embodiment of the present invention, the spray module further includes a water inlet located on the water tank, and a water tank cover for covering the water inlet, wherein the water tank cover includes a groove and a groove located on the groove Crack hole.

According to an embodiment of the present invention, the groove is located outside the water tank cover.

10, 60: cleaning machine

101: plate

110: shell

111, 112: walking components

114, 115: spray module

116: Suction Cup

117: Vent

119: intake device

120: drive module

126: Abutment

130: Air extraction module

140: control system

171: Cleaning cloth

172: Pivot shaft

190: Power Module

222: Through hole

302: water tank

303: Inlet

304: water tank cover

306: Water Level Window

307: Waterproof component

308, 404: water pumping unit

310: water outlet

311: Outlet unit

312: Substrate

313: Vibration Plate

314: Fastener

316: Cover

318: Wire

322: Water tank body

324: Waterproof component

326: side cover

320: cover

330: Groove

332: Embolism

340: Concave

350: Hole

400: Spray module

401: Water Pipe

402: filter

404: Water pumping unit

406: check valve

408: water outlet

414: Entrance

424: exit

502: Control System

504: drive signal generating unit

506: drive circuit

508: drive circuit

510: drive circuit

512: Outlet control module

522: Horizontal Angle Sensor

524: remote control receiver

526: Door and window edge sensor

528: Remote control transmitter

532: Central Processing Unit

534: Random Access Memory

536: read-only memory

Aa: The first area

Ac: remaining area

Aw: second area

D1, D2: section

F: Moving direction

G: Spacing

N: Normal direction

S: Confined space

Z1, Z2: spray profile

Fig. 1 shows a perspective view of a cleaning machine according to an embodiment of the present invention.

2A, 2B, and 2C show cross-sectional views of the cleaning machine of FIG. 1 along the section lines AA, BB, and CC, respectively.

Fig. 2D shows a bottom view of the cleaning machine of Fig. 1;

Fig. 3A is an exploded view of a spray module according to an embodiment of the present invention.

FIG. 3B is a schematic diagram of a water pumping module according to an embodiment of the present invention.

3C is a schematic diagram of a spray module according to an embodiment of the invention.

FIG. 3D is a schematic diagram of a spray module according to another embodiment of the invention.

3E and 3F are schematic diagrams of a water tank cover according to an embodiment of the present invention.

4 is a schematic diagram of a spray module according to an embodiment of the invention.

Fig. 5 is a system functional block diagram of a cleaning machine according to an embodiment of the present invention.

Fig. 6 shows a schematic diagram of a cleaning machine according to another embodiment of the present invention.

Although the present invention has been described and illustrated herein with reference to specific embodiments of the present invention, these descriptions and illustrations do not limit the present invention. Those familiar with the art should understand that various changes can be made and equivalents can be substituted without departing from the true spirit and scope of the present invention as defined by the scope of the attached patent application.

The present invention relates to a robot, which can be a toy, a remote control car, a cleaning machine, or a window cleaning machine. The robot can be adsorbed on an inclined surface or upright plane, and can move freely on the inclined surface or upright plane without being attracted by gravity and slipping off. In some embodiments, the robot has a cleaning function, and can clean the adsorbed surface during the movement, and completes the purpose of cleaning the surface by moving back and forth on the plane. Hereinafter, a cleaning machine or a window cleaning machine will be used as an example for description, but the present invention is not limited to a cleaning machine or a window cleaning machine.

FIG. 1 shows a perspective view of a cleaning machine 10 according to an embodiment of the present invention. As shown in FIG. 1, the cleaning machine 10 is suitable for being attached to a board 101 and moving on the board 101 to clean the dust or dirt on the surface of the board 101. The panel 101 may be a straight vertical window. The cleaning machine 10 includes a housing 110, a spray module 114 and a suction cup 116. 2A and 2B show that the cleaning machine 10 further includes walking elements 111 and 112 for moving the cleaning machine 10. The walking elements 111 and 112 may be pulleys, rollers, and other movable elements to drive the cleaning machine 10 to advance, retreat or turn on the surface of the plate 101. In the embodiment shown, the walking element 111 or 112 is tied to a wheel, including a crawler belt and two driving wheels to drive the crawler belt. In one embodiment, the bottom of the traveling elements 111 and 112 contacting the plate 101 is coplanar with the suction cup 116.

1, the housing 110 of the cleaning machine 10 is provided with an accommodating space, and the spray module 114 is embedded in the accommodating space of the housing 110. In addition, the accommodating space may be located on the side of the cleaning machine 10 so that the spraying module 114 is placed on the side of the cleaning machine 10 so as to spray the cleaning liquid onto the surface of the plate 101. The spraying module 114 is detachable, which is convenient for the user to remove for cleaning or fill with cleaning liquid. In one embodiment, the cleaning liquid includes water purification or cleaning agent. As shown in FIG. 1, the spraying module 114 is embedded in the accommodating space of the housing 110, and the spraying module 114 has a fastener 314 buckled with the housing 110 to be fixed on the cleaning machine 10. In one embodiment, the spraying module 114 is not embedded in the cleaning machine 10, but is adsorbed or adhered to the housing 110 of the cleaning machine 10. In this case, the side of the housing 110 has a partial area containing magnets or metal and other components, and the spray module 114 also has a magnet or metal and other components to be attracted to the side of the housing 110 by magnetic force. In another embodiment, other adhesive components, such as removable tape or devil felt, can also be used to adhere the spray module 114 to the housing 110.

2A and 2B show cross-sectional views of the cleaning machine 10 of FIG. 1 along the section lines AA and BB, respectively. 2A and 2B, the cleaning machine 10 has an air extraction module 130 located in the housing 110, and there is a space between the housing 110 and the suction cup 116, and the space is communicated with the air extraction module 130 through an air intake device 119 , So that the air intake device 119 and the air extraction module 130 extract air from the space during operation. In one embodiment, the air intake device 119 is composed of an impeller. In one embodiment, the air extraction module 130 includes a pump. During operation, the cleaning machine 10 is placed on the plate 101. At this time, the plate 101, the housing 110, and the suction cup 116 jointly define a closed space S, and the air in the closed space S is drawn out by the air extraction module 130 to make A negative pressure is formed inside the enclosed space S, so that the cleaning machine 10 can be adsorbed on the working surface of the plate 101.

2C shows a cross-sectional view of the cleaning machine 10 of FIG. 1 along the section line CC, and FIG. 2D shows a bottom view of the cleaning machine 10 of FIG. 1. It can be seen from Figures 2C and 2D that the cleaning machine 10 also includes a plurality of pivots. The connecting shaft 172 is located near the corner of the suction cup 116 and is fixed on the suction cup 116 to extend in the direction of the housing 110. The housing 110 is movably connected to the suction cup 116 via a pivot shaft 172. 2A, 2B, and 2C, the suction cup 116 can move relative to the housing 110 by pivoting the shaft 172. More specifically, the housing 110 is provided with a plurality of through holes (not shown), and the pivot shaft 172 passes through the through holes. The length of the pivot shaft 172 is greater than the length of the corresponding through hole, so that the suction cup 116 can be pivotally connected to the housing 110 via the pivot shafts 172 and the suction cup 116 can move along the long axis of the pivot shafts 172. In this way, the suction cup 116 can move relative to the housing 110 through the pivot shaft 172 and can be driven by the housing 110. Preferably, the long axis of the pivot shaft 172 is substantially parallel to the normal direction N of the bottom surface of the vertical suction cup 116, so that the suction cup 116 can move along the normal direction N. In one embodiment, the long axis of the pivot shaft 172 is substantially parallel to the normal to the surface of the vertical plate 101, so that the suction cup 116 can move in the normal direction perpendicular to the surface of the plate 101.

According to the embodiment of the present invention, since the suction cup 116 is configured to move relative to the housing 110 and the walking elements 111 and 112, when the walking elements 111 and 112 encounter obstacles and press over them, the suction cup 116 can target the walking elements 111 and 112. The height of 112 is changed to move up and down adaptively, and is tightly attached to the plate 101, while maintaining the airtightness of the enclosed space S, so that the air leakage of the enclosed space S can be avoided. On the other hand, when the suction cup 116 encounters an obstacle and is pressed from above, the housing 110 of the cleaning machine 10 can also move up and down relative to the suction cup 116 by the pivot shaft 172 without lifting the suction cup with it, so it can maintain The airtightness of the airtight space S allows the suction cup 116 to maintain the suction force of the plate 101 by using the negative pressure in the airtight space S.

2A, 2B and 2D again, in operation, the suction cup 116 is parallel and faces the plate 101. The boundary of the suction cup 116 defines a first area Aa. The suction cup 116 has a plurality of vent holes 117 in the central part. The area around the vent holes is protruded toward the housing by the abutment 126 and surrounds the area where the vent holes 117 are located. The abutting part of the sucker 116 and the housing 110 The formed area is defined as the second area Aw. When the air extraction module 130 is pumping air, the suction cup 116 and the housing 110 together form an enclosing member above the enclosed space S, and the abutment 126 abuts the housing 110, and the two together with the surface of the plate 101 below form an airtight Space S, and the air is drawn out of the enclosed space S through the vent 117. It can be seen from FIG. 2D that the area of the first area Aa is larger than the area of the second area Aw, and the area of the first area Aa minus the area of the second area Aw is equal to the area of the remaining area Ac. That is, the remaining area Ac is the area outside the second area Aw in the first area Aa, or the area enclosed by the boundary of the suction cup 116 minus the area enclosed by the abutting member 126. The negative pressure generated by the enclosed space S will be substantially uniformly applied to the surface defining the enclosed space S, that is, the plate 101, the suction cup 116 and the housing 110. For the remaining area Ac, the pressure exerted by atmospheric pressure is applied to the suction cup 116 through negative pressure. For the part of the second area Aw, the pressure exerted by the atmospheric pressure is applied to the walking elements 111 and 112 through the negative pressure. Therefore, the pressure or adsorption force caused by the negative pressure of the entire enclosed space S will be distributed on the walking elements 111 and 112 and the suction cup 116 according to the ratio of the area of the second area Aw and the area of the remaining area Ac.

According to the design of this embodiment, since the first force acting on the walking elements 111 and 112 is determined by the magnitude of the negative pressure and the area of the second area Aw, the second force on the suction cup 116 is determined by the magnitude of the negative pressure and The area of the remaining area Ac is determined. Therefore, by determining the force-receiving area of the second area Aw and the remaining area Ac, the first force applied to the walking elements 111 and 112 and the second force on the suction cup 116 can be determined. And the ratio of the first force to the second force is maintained in the ideal range. When the walking elements 111 and 112 are pressed against the obstacle, the second force acting on the suction cup 116 can still be maintained within the required value range to hold the suction cup 116 on the surface of the plate 101 to avoid leakage of the enclosed space S In order to prevent the cleaning machine 10 from slipping off.

The walking element and the suction cup designed by the cleaning robot of the prior art are an integral structure. The walking element is enclosed in the enclosed space formed by the suction cup and the plate, so the force of the walking element is through the enclosed space of the suction cup. The negative pressure is obtained, so this design method cannot distribute different proportions of the negative pressure force on the suction cup and the walking element. When the negative pressure cannot be controlled properly, inappropriate force may be generated on the walking element or the suction cup, and it may not be able to move smoothly or clean. For example, if the negative pressure generated by the shared enclosed space exerts too much force on the walking element, the force on the relative suction cup may be too small, resulting in insufficient wiping force. If the force of the suction cup is too small, the cleaning robot cannot be firmly attached to the vertical surface, causing the cleaning robot to fall. On the other hand, if the cleaning robot presses over an obstacle, the robot will easily detach from the cleaning surface and lift up, causing air leakage in the enclosed space and causing the cleaning robot to fall. In another situation, if the force generated by the negative pressure on the walking element is too small, the force on the suction cup is relatively too large, causing the walking element to slip and the cleaning robot cannot move smoothly. In one embodiment, when about 80% of the force caused by the negative pressure in the enclosed space acts on the suction cup, the walking element is very likely to slip, making the cleaning robot unable to move smoothly.

In addition, in the conventional cleaning robot, its walking elements such as rollers or pulleys are not elastic and have no relative mobility with the suction cup, and it needs to rely on the elasticity of the suction cup itself to stick to the plate to successfully block the air and maintain the airtightness. The airtightness of the space. However, the disadvantage of this approach is that when the walking element encounters an obstacle, the walking element lacks flexibility and has no room for expansion and contraction. When the walking element is pressed against the obstacle, the suction cup will tilt as the walking element is lifted. As a result, air leakage in the confined space prevents the robot from successfully attaching to the operating surface.

2A again, in one embodiment, the suction cup 116 may further include a cleaning cloth 171 attached to the bottom surface of the suction cup 116. In one embodiment, the cleaning cloth 171 has elasticity and can be composed of materials such as plant fiber, animal fiber, or man-made fiber. When a negative pressure is generated in the closed space, and atmospheric pressure generates a force on the cleaning machine 10, the cleaning machine 10 can be tightly pressed on the plate 101, and the airtightness of the closed space S can be maintained through the cleaning cloth 171.

FIG. 3A is an exploded view of the spray module 114 according to an embodiment of the invention. The spray module 114 includes a water tank 302, a water tank cover 304, a water pumping unit 308, and a protective cover 316. The water tank 302 is used to contain the cleaning liquid, and is used to spray the cleaning liquid on the surface of the plate 101, and cooperate with the cleaning cloth 171 of the cleaning machine 10 to perform the cleaning action. The water tank 302 has a water inlet 303, a water level window 306, a waterproof member 307, a water outlet 310, a water tank body 322, a waterproof member 324, a side cover 326 and a protective cover 316. The water holding space of the water tank 302 is formed by tightly connecting the water tank body 322, the waterproof member 324 and the side cover 326. The water tank body 322 and the side cover 326 determine the volume and main configuration of the water holding space. The waterproof member 324 is used to maintain the water tightness between the water tank body 322 and the side cover 326. In one embodiment, the water tank body 322 and the side cover 326 are made of hard plastic, and the waterproof member 324 is made of elastic material. In one embodiment, the waterproof member 324 is made of silicone. The water inlet 303 is provided on the upper surface of the water tank body 322, and the water level window 306, the waterproof member 307 and the water pumping unit 308 are located on a recess provided on the side of the water tank body 322. The waterproof member 307 is used to fill the gap between the water pumping unit 308 and the water tank body 322. In an embodiment, the waterproof member 307 surrounds the water pumping unit 308. In one embodiment, the waterproof member 307 is made of silicone. In one embodiment, the water outlet 310 is provided on the water pumping unit 308. The protective cover 316 is used to fasten the water pumping unit 308 together with the waterproof member 307 on the side of the water tank body 322 to enhance the water tightness of the water tank 302 around the waterproof member 307. In one embodiment, the fastener 314 extends from the side of the water tank body 322 and is provided with a joint The hole can be used to fasten the water tank body 322 to the housing 110 of the cleaning machine 10 by a joining member (such as a screw) (see FIG. 1).

The water tank cover 304 is used to cover the water inlet 303. When the water tank cover 304 is opened, the cleaning liquid is poured into the water tank 302 through the water inlet 303. Under the normal operation of the cleaning machine 10, the water tank cover 304 can prevent the cleaning liquid from leaking from the water inlet 303. In one embodiment, the water level window 306 is transparent or semi-transparent to facilitate the user to observe the remaining water level in the water tank 302 and decide to supplement or stop the injection of cleaning liquid. In one embodiment, the water level window 306 is composed of resin or glass.

The water pumping unit 308 is used to push the cleaning liquid out of the water tank 302 through the water outlet 310 for spraying. In one embodiment, the water pumping unit 308 is a vibrating element that generates a pushing effect through its own vibration to spray the cleaning liquid out of the water tank 302 through the water outlet 310. In one embodiment, the water pumping unit 308 may be composed of ultrasonic vibration elements. FIG. 3B is a schematic diagram of the water pumping module 308 according to an embodiment of the present invention. The water pumping module 308 may be an ultrasonic vibration element, which includes a substrate 312 and a vibrating plate 313, and the vibrating plate 313 is attached to the substrate 312. In one embodiment, the substrate 312 is made of stainless steel. The vibrating plate 313 is electrically connected to a power source (not shown) via a wire 318 and is configured to convert electrical energy into mechanical energy. In one embodiment, the vibrating plate 313 is made of piezoelectric material, and its thickness is between 0.05 and 0.2 cm. In one embodiment, the water outlet 310 is made by a laser drilling method, or is made by etching. As shown in FIG. 3B, the vibrating plate 313 has a ring shape, and the water outlet 310 penetrates the substrate 312 and is located in the area surrounded by the vibrating plate 313. In one embodiment, the aperture of each water outlet unit 311 of the water outlet 310 is about 0.005 cm to 0.1 cm. When the ultrasonic vibrating element 308 operates, the vibrating plate 313 is configured to vibrate back and forth when energized, and its displacement direction is perpendicular to the plane of the vibrating plate 313. 1, 3A and 3B, when the water tank 302 is filled with cleaning liquid, because the aperture of the water outlet unit 311 is extremely small, even if no other cover is used The plug will not leak. Furthermore, the vibration source is generated by the vibrating plate 313, and the substrate 312 is pushed toward the water tank, so that the cleaning liquid is squeezed out of the water port 310 and sprayed outward. In one embodiment, the ultrasonic vibration element 308 can emit a single frequency vibration wave through the vibrating plate 313, and the frequency exceeds at least 5K Hz. In one embodiment, the ultrasonic waves emitted by the ultrasonic vibration element 308 may cover multiple frequencies, for example, are composed of a plurality of single-frequency ultrasonic waves. With the thin ultrasonic vibrating plate 313 for pushing the water, the ultrasonic vibrating element 308 can generate the required spraying distance (for example, at least 3 cm away) in a relatively small volume, so it is very suitable for use as a spraying module of a cleaning robot.

In the embodiment shown in FIG. 3B, the water outlet 310 has a plurality of water outlet units 311, and the shape of each water outlet unit 311 is circular. In other embodiments, the shape of the individual water outlet unit 311 may be semicircular, rectangular or other polygonal. The water outlet unit 311 sprays the cleaning liquid in a rectangular array arrangement. The shape of the water outlet 310 array shown in FIG. 3B is only an example, and other arrays may also be used, such as circular arrays, arc-shaped arrays, polygonal arrays, circular arrays, multi-row arrays, and so on. The design parameters of the array water outlet include at least the number of water outlet units 311, the size of the aperture, the distribution position and the spacing. Generally speaking, the spray profile formed on the plate 101 is closely related to the structure and shape of the water outlet 310, and the water outlet 310 structure composed of multiple water outlet units 311 instead of a single water outlet with a large aperture can increase the water output. , And can prevent water leakage when the spraying module is not working. Furthermore, the advantages of using the array type water outlets also include that the arrangement of the array and the aperture and shape of the water outlet units can be determined according to the spraying profile and the amount of water required by the spraying module 114. In this way, the spraying range can be wider, the position is more precise, and the spraying amount is more uniform, thereby reducing the amount of spraying used, but you can get a better spraying effect.

3C shows a schematic diagram of the spray module 114 according to an embodiment, in which the water tank There are two water level windows 306 on the side of 302, and the water pumping unit 308 is located near the center on the side of the water tank, that is, between the two water level windows 306. In one embodiment, the cleaning machine 10 is set to perform the cleaning action in the wet mode, and the water outlet 310 is selected to be located at the side of the cleaning machine 10 close to the center. When the cleaning machine 10 travels, it can move in the direction F (for example, a zigzag shape, where there is a gap G between adjacent parallel paths), and the area in front of the water tank 302 will be sprayed and wet, and then the cleaning machine 10 will pass through The wetted plate 101 can be wiped off. This wet mode can more effectively remove oily or adhered stains, so it can provide a better cleaning effect than the dry mode. In the wet mode, most areas of the cleaning cloth 171 will inevitably be wetted by the cleaning liquid on the plate 101 during the wiping process.

In another embodiment, the cleaning machine 10 is set to perform a wet first and then dry cleaning mode, which can improve the cleaning effect of the full wet mode or the full dry cleaning mode. First, as shown in FIG. 3D, the side of the water tank 302 of the spray module 114 has a single water level window 306 and a water pumping unit 308, and the water pumping unit 308 is located on the side of the water tank near the corner, that is, deviated from the center line of the water tank 302. In the wet first and then dry cleaning mode, the area of the plate 101 to be cleaned by the cleaning machine 10 is divided into different sections, such as at least a first section D1 and a second section D2. The first section D1 can be regarded as a spraying section, and the second section D2 can be regarded as a drying section. At this time, the water outlet 310 of the spraying module 114 is located in the area facing the spraying section D1. When the cleaning machine 10 moves along the traveling direction F (for example, a zigzag), the distance G between adjacent parallel paths can be reduced, so that when the cleaning machine 10 passes through adjacent paths, the wiping range of the cleaning machine 10 will overlap in some areas, so the same section will be It is wiped at least twice by the cleaning machine 10. In addition, the array of water outlets 310 is close to the corners, and it is easier to maintain the sprayed liquid within the spraying section D1, so that the spraying section D1 is wet, while the dry section D2 is not sprayed. Relatively dry state. In this way, when the cleaning machine 10 cleans the spraying section D1 for the first time, the The mode belongs to the wet mode, and the cleaning liquid on the spraying section D1 is substantially removed by the corresponding wetted area on the cleaning cloth 171. At this time, the drying area of the cleaning cloth 171 corresponding to the drying zone D2 is substantially not wetted. Then, when the cleaning machine 10 passes through the spraying section D1 for the second time, the dry area of the cleaning cloth 171 can be dry wiped. The above-mentioned at least two wiping processes can clean the stains in a wet state when the wet area of the cleaning cloth 171 passes, and remove water marks and remaining stains in a dry state when the dry area of the cleaning cloth 171 passes. Wipe clean completely, and achieve a better cleaning effect.

FIG. 3E shows a schematic diagram of a water tank cover 304 according to an embodiment of the present invention. The water tank cover 304 includes a cover 320 and a plug 332. The cover 320 substantially has a flat plate shape for sealing the water inlet 303, and the plug 332 is connected to the cover 320 and buckles the cover 332 to the water tank 302. In one embodiment, the cover 320 and the plug 332 are made of elastic material (such as silicone), so that the water tank cover 304 can have better sealing performance, and can also be opened by bending the cover 320. Therefore, when the water tank cover 304 is not opened, the cleaning liquid will not leak from the water inlet 303. The cover 320 also has a groove 330 at a position aligned with the water inlet 303, which is located on the upper surface of the outer side of the water tank cover. The groove 330 has a concave surface 340 and a split hole 350, and the split hole 350 may be located in the central area of the concave surface 340. In an embodiment, the slit 350 may have a slit shape, a cross shape, or other shapes. The slit 350 passes through the cover 320, and the gap therebetween is extremely small, and the cleaning liquid cannot pass through. Therefore, the cleaning liquid will not leak from the slit 305.

FIG. 3F shows a cross-sectional view of the water tank cover 304 along the section line DD according to an embodiment of the present invention. FIG. 3F is used to illustrate the process in which the water tank cover 304 balances the internal pressure of the water tank 302 through the crack hole 350. Figure (a) shows the shape of the groove 330 when the water tank 302 is close to the full water level. At this time, since the inside of the water tank is almost filled with the cleaning liquid, the water outlet 310 can discharge water through the water pumping unit 308. Since the pressure inside and outside the water tank 302 is balanced, the split hole 350 is in a closed state. picture (b) Shows the shape of the groove 330 when the water level of the water tank 302 drops. When the cleaning machine 10 continues to operate and spray cleaning liquid, the water level of the water tank 302 continues to drop. However, because the water tank cover 304 seals the water inlet 303, the extra container space in the water tank 302 presents an approximate vacuum state, thus generating negative pressure. If the negative pressure cannot be released, the water pumping unit 308 cannot smoothly push the remaining cleaning liquid out of the water outlet 310. With the design of the groove 330 being thinner than other positions of the cover 320, and the slit 350 is located at the thinnest position in the center of the concave surface 340, when the water tank 302 generates negative pressure, the atmospheric pressure naturally moves the groove 330 down the water tank 302 At the position of the crack hole 350, the water tank cover 304 is opened. At this time, air is introduced into the water tank 302 homeopathically, until the internal and external pressures of the water tank 302 are balanced, the elasticity of the groove 330 itself will pull it back upwards, and the gap of the slit 350 will shrink and return to the original closed state. With this design, the water pumping unit 308 does not need to be operated with high power, and the water discharge process can still be maintained smoothly with an ideal output efficiency.

FIG. 4 is a schematic diagram of a spray module 400 according to an embodiment of the invention. The spraying module 400 includes a water tank 302, a filter 402, a water pumping unit 404, and a water outlet 408. The above-mentioned components are connected by a water pipe 401 (including water pipes 401a-401d). In one embodiment, the filter 402 is used to filter solid impurities in the cleaning liquid to prevent the impurities from causing malfunctions of other components (such as the water pumping unit 404). In one embodiment, the water pumping unit 404 is a pump used to input the cleaning liquid of the water tank 302 through the inlet 414 and pressurize it, and output it to the water outlet 408 through the outlet 424 for spraying. The structure of the pump 404 visible spraying module 114 or the cleaning machine 10 needs to be installed in other positions, such as in the water tank 302 or outside the water tank 302, and the pressurized cleaning liquid is delivered to the water outlet 408 through the water pipe 411. In one embodiment, the water outlet 408 is a nozzle, which can extend outward from the side of the water tank 302 or the housing 110 of the cleaning machine 10. In one embodiment, the spray module 400 further includes a check valve 406 located between the water pumping unit 308 and the nozzle 4 to prevent the cleaning liquid in the water pipe 401d from leaking from the nozzle 408. exist In one embodiment, the check valve 406 includes a baffle plate and a reed (not shown). When the cleaning liquid flows from the water pumping unit 404 to the nozzle 408, the baffle plate does not seal the flow hole of the check valve. When the cleaning liquid flows from the nozzle 408 to the water pumping unit 404, the countercurrent thrust of the cleaning liquid in the water pipe 401d can push the reed so that the baffle block seals the circulation hole in the check valve and prevents the cleaning liquid from flowing back. When the water pumping unit 404 is not pumping water, the reed of the check valve 406 will press the stopper to block the flow of the cleaning liquid, so that the cleaning liquid in the water pipe 401c will not flow to the water pipe 401d, and the cleaning liquid in the water pipe 401d will also There is no leakage from the nozzle 408.

In one embodiment, the water outlet 408 of the spray module 400 may be placed on the side of the water tank 302 as the water outlet 310 shown in FIG. 3A. However, the nozzle 408 can also be placed at other locations other than the side of the water tank 302. 2D, the suction cup 116 is provided with an array of vent holes 117, which communicate with the suction module 130, so that the air in the enclosed space S can be exhausted from the vent holes 117 when the air is sucked. In addition, the through hole 222 is provided beside the vent 117, and the water outlet 408 can face the through hole 222, so that the cleaning liquid can be sprayed downward toward the plate 101. In an embodiment, a plurality of through holes 222 connected to the water outlet 408 form an array of water outlets to generate the required spray profile. In one embodiment, even if the water tank 302 is still placed on the side of the housing 110, the water outlet 408 can still be connected to the water tank 302 through the water pipe 401 and aligned downward with the through hole 222 to achieve the purpose of spraying downward. In an embodiment, at least a part of the spray module 400 (ie, the through hole 222) is located in the enclosed space S, so that the spray module 400 can spray the cleaning liquid toward the surface of the plate 101 surrounding the enclosed space S. Although the enclosed space S has a negative pressure, its pressure value is not enough to pull the cleaning liquid from the plate 101, so the cleaning liquid can still be sprayed to the plate 101 in the enclosed space S with the movement of the cleaning machine 10 Where needed.

FIG. 5 is a system functional block diagram of the cleaning machine 10 according to an embodiment of the present invention. The cleaning machine 10 includes a control system 502, a driving signal generating unit 504, and a driving electric Roads 506, 508 and 510, the water outlet control module 512, the horizontal angle sensor 522, the remote control receiver 524, and the door and window edge sensor 526. The control system 502 is composed of a central processing unit (CPU) 532, a random access memory (RAM) 534, and a read-only memory (ROM) 536. The cleaning machine 10 uses the central processing unit 532 to access a control program located in a random access memory (RAM) 534 or a read-only memory (ROM) 536 to perform actions such as movement, sensing, and spraying of the cleaning machine 10. In one embodiment, the read-only memory (ROM) 536 can be replaced by a flash memory (Flash). The central processing unit 532 is configured to generate a control signal to determine the driving signal generating unit 504 to generate the required control waveform. In one embodiment, the driving signal generation unit 504 is configured to generate a pulse width modulation (Pulse Width Modulation, PWM) signal. By adjusting the width and duty cycle of the PWM waveform, the walking elements 111, 112 or the pumping mode can be controlled. Working frequency of group 130. The driving circuits 506, 508 and 510 are respectively connected to the traveling element 111, the traveling element 112 and the air extraction module 130, and are configured to drive the traveling elements 111, 112 and the air extraction module 130 according to the PWM signal of the driving signal generating unit 504.

In addition, the control system 502 is also connected to the water outlet control module 512 to control the operation of the water pumping unit 308 or 404. In one embodiment, the water outlet control module 512 can receive the movement parameters of the walking elements 111 and 112 via the control system 502, such as their moving speed or information about whether they stay in place, and decide to increase, decrease or even suspend the spraying amount of the cleaning liquid. spray. In an embodiment, the water outlet control module 512 may be included in the central processing unit 532. In an embodiment, the water outlet control module 512 further includes a driving circuit, such as a driving circuit 506, 508, or 510, for driving the water pumping module 308 or 404. In an embodiment, the water pumping unit 308 or 404 may have a wireless receiver, and the water output control module 512 may transmit control signals to the water pumping unit 303 or 404 by wireless transmission, so that the water pumping unit 308 or 404 is Drive The driving circuit can control the operation of the pump or the ultrasonic vibration element according to the wireless control signal. The wireless transmission method can be infrared transmission, ZigBee, Bluetooth, RFIO, Wi-Fi, FM or other suitable specifications.

As described above, the water output control module 512 is configured to determine the water output mode of the spray module 114. In one embodiment, the water outlet mode may be continuous water outlet or intermittent water outlet. When the spraying module 114 adopts the intermittent water discharging mode, the water discharging control module 512 can transmit a periodic signal, such as a PWM signal, to determine the proportion of the spraying time. The duty cycle of the PWM signal can be used to determine the duty cycle of the water pumping unit 308 or 404 to generate periodic thrust. In one embodiment, the water discharge control module 512 may use a pulse position modulation (PPM) signal to determine the time point of water discharge in a fixed period. In one embodiment, the water output control module 512 can use a pulse amplitude modulation (Pulse Amplitude Modulation, PAM) signal to control the water output by changing the output power of the water pumping unit 308/404. The above method is only an example, and other modulation signals, such as digital signal modulation or frequency modulation (FM) can also be used to generate the control signal of the water control module 512.

The horizontal angle sensor 522 is used to sense the horizontal state of the cleaning machine 10 and transmit the sensed value to the control system 502 to determine that the cleaning machine 10 is in the correct horizontal position. In one embodiment, the horizontal angle sensor 522 includes a gyroscope (Gyro) and an acceleration sensor (G sensor), and the horizontal angle can be obtained by measuring gravity. The remote control receiver 524 receives a wireless control signal from a remote control transmitter 528, so that the control system 502 controls the working mode or walking path of the cleaning machine 10 according to the control signal. The signal transmission mode of the remote control receiver 524 and the remote control transmitter 528 can be infrared transmission or radio transmission, and the radio transmission specifications can be ZigBee, Bluetooth, RFIO, Wi-Fi, FM, etc.

The door and window edge sensor 526 has the function of detecting the edge of the door and window. By using the door and window edge sensor 526 to transmit the sensing value to the control system 502, the control system 502 can detect the edge of the panel 101 or a foreign object on the panel 101. The door and window edge sensor 526 may be an analog sensor, and for example, may be a distance sensor such as infrared, laser, or ultrasonic. In addition, the door and window edge sensor 526 can also be, for example, a limit switch or a proximity switch.

FIG. 6 shows a schematic diagram of a cleaning machine 60 according to another embodiment of the present invention. The cleaning machine 60 includes a housing 110, a suction cup 116, a (first) spraying module 114 and a second spraying module 115. 1 and 6, the same components (such as 110, 114, and 116) in the cleaning machine 60 and the cleaning machine 10 have substantially the same structure and function. The biggest difference is that the cleaning machine 60 has a second spray module 115. In one embodiment, the structure and function of the second spray module 115 are the same as those of the first spray module 114. In other embodiments, the first spraying module 114 and the second spraying module 115 may have different structures. For example, the water pumping unit 308 of the first spraying module 114 has an ultrasonic vibration element, and the second spraying module 115 The water pumping unit 308 is composed of pumps. In one embodiment, the second spray module 115 and the first spray module 114 are located on opposite sides. However, in other embodiments, the second spray module 115 may be located on either side of the housing, for example, closer to the first spray module. Spray one side of the module 114. In one embodiment, the directions of the water outlets of the first spray module 114 and the second spray module 115 (for example, 310 in FIG. 3A) are consistent with the traveling directions of the traveling elements 111 and 112 of the cleaning machine 60. In one embodiment, the water outlet of the first spray module 114 is located on the side of the housing 110 and the water outlet of the second spray module 115 is located at the bottom of the housing 110 and faces the plate 101.

According to an embodiment of the present invention, the cleaning machine includes a spraying module, which can spray cleaning liquid to enhance the cleaning effect when the cleaning machine cleans the plates. In addition, since the suction cup 116 is set to be able to move relative to the housing 110, when the walking elements 111 and 112 walk on obstacles When attaching an object, the suction cup 116 moves relative to the housing 110 and can be tightly attached to the plate 101, which can maintain the airtightness of the enclosed space defined by the plate 101, the housing 110 and the suction cup 116, thereby avoiding leakage of the enclosed space. gas. In one embodiment, the area of the first area Aa defined by the edge of the suction cup 116 is further made larger than the area of the second area Aw defined by the abutting member of the suction cup 116, so as to be based on the area of the second area Aw and the area of the remaining area Ac The ratio of the negative pressure on the walking elements 111 and 112 and the force on the suction cup 116 are distributed.

The present invention provides various improvement schemes for the cleaning machine, and the above improvement schemes can be combined arbitrarily to optimize the cleaning method. SUMMARY OF THE INVENTION The structures and methods shown in the various exemplary embodiments are for illustration only. Therefore, all modifications made according to the embodiments of the present invention are included in the scope of the present invention. The order or sequence of any procedure or method steps can be changed or re-sequenced according to different embodiments. Without departing from the scope of the present invention, other substitutions, modifications, changes, and omissions can also be made in the design, operating conditions, and configuration of the embodiments.

10: Cleaning machine

101: plate

110: shell

114: Spray module

116: Suction Cup

314: Fastener

Claims (17)

A cleaning robot is used to move on a surface, and the surface is an inclined plane or a straight plane, comprising: a housing; a walking element coupled to the housing; a suction cup coupled to the housing, During operation, the suction cup touches the surface and the housing, the suction cup and the surface are configured to form a closed space, so that the robot moves on the surface without being attracted by gravity and slides down; a suction module is located The casing is connected to the enclosed space and is configured to generate negative pressure in the enclosed space; and a spray module, coupled to the casing and includes a water outlet, the water outlet is placed on the side of the cleaning machine And is configured to spray liquid from the side of the cleaning machine onto the surface, wherein the spray module includes: a water tank configured to contain the liquid; and a water pumping unit configured to generate a thrust to push the liquid out The water outlet and the water pumping unit include an ultrasonic vibration element. The robot according to claim 1, wherein the boundary of the suction cup defines a first area, the area formed by the abutment of the suction cup and the housing is defined as the second area, and the first area is defined in an area outside the second area It is the remaining area, and the force caused by the negative pressure on the walking element and the suction cup is determined according to the area of the second area and the area of the remaining area. The cleaning robot according to claim 1, wherein the ultrasonic vibration element of the water pumping unit includes a substrate and a vibrating plate connected to the substrate, the water outlet is provided on the substrate and the The vibrating plate surrounds the water outlet. A cleaning robot is used to move on a surface, and the surface is an inclined plane or a straight plane, comprising: a housing; a walking element coupled to the housing; a suction cup coupled to the housing, During operation, the suction cup touches the surface and the housing, the suction cup and the surface are configured to form a closed space, so that the robot moves on the surface without being attracted by gravity and slides down; a suction module is located The casing is connected to the enclosed space and is configured to generate negative pressure in the enclosed space; and a spray module, coupled to the casing and includes a water outlet, the water outlet is placed on the side of the cleaning machine And is configured to spray liquid from the side of the cleaning machine onto the surface, wherein the spray module includes: a water tank configured to contain the liquid; and a water pumping unit configured to generate a thrust to push the liquid out The water outlet, wherein the water pumping unit includes a substrate and a vibrating plate connected to the substrate, the water outlet is arranged on the substrate and the vibrating plate surrounds the water outlet. The cleaning robot according to claim 3 or 4, wherein the vibrating plate is made of piezoelectric material. A cleaning robot is used to move on a surface, and the surface is an inclined plane or a straight plane, including: a housing; A walking element is coupled to the casing; a suction cup is coupled to the casing. During operation, the suction cup contacts the surface and the casing, the suction cup and the surface are configured to form a closed space so that the The robot moves on the surface without being attracted by gravity and slips off; an air extraction module is located in the housing and communicates with the enclosed space, and is configured to generate negative pressure in the enclosed space; and a spray module, coupled The housing is connected to the housing and includes a water outlet, the water outlet is placed on the side of the cleaning machine and configured to spray liquid from the side of the cleaning machine onto the surface, wherein the spraying module includes: a water tank, Configured to contain liquid; and a water pumping unit configured to generate thrust to push the liquid out of the water outlet, an inlet located on the water tank; and a water tank cover to cover the water inlet, wherein the water tank cover Contains a groove and a crack located on the groove. The cleaning robot according to claim 6, wherein the groove is located outside the water tank cover. A cleaning robot is used to move on a surface, and the surface is an inclined plane or a straight plane, comprising: a housing; a walking element coupled to the housing; a suction cup coupled to the housing, During operation, the suction cup contacts the surface and the housing, the suction cup and the surface are configured to form a closed space, so that the robot moves on the surface without being attracted by gravity and slipping off; An air extraction module, located in the housing and communicating with the enclosed space, and configured to generate negative pressure in the enclosed space; and a spraying module, coupled to the housing and including a water outlet, the water outlet is disposed On the side of the cleaning machine and configured to spray liquid from the side of the cleaning machine onto the surface, wherein the spraying module includes: a water tank configured to contain the liquid; and a water pumping unit configured The liquid is pushed out of the water outlet by generating a thrust, wherein the water outlet is located deviating from the center line of the side of the water tank to divide the surface to be cleaned into at least a first section and a second section Section, and the water outlet is located facing the first section, and when the cleaning machine passes through adjacent paths, the wiping range will overlap in some areas. The cleaning robot according to claim 8, wherein the suction cup further includes a cleaning cloth attached to the bottom surface of the suction cup, and the liquid sprayed by the water outlet falls on the first section, making the cleaning machine the first time To clean the first section, the liquid on the first section is substantially removed by the corresponding wetted area on the cleaning cloth; the cleaning machine is made to clean the first section for the second time, and the cleaning cloth is dried The area is dry wiped. The cleaning robot according to claim 8, wherein the water pumping unit is located off a center line of the side surface of the water tank. The cleaning robot according to any one of claims 8 to 10, wherein the water pumping unit includes a substrate and a vibrating plate connected to the substrate, and the water outlet is provided on the substrate. The cleaning robot according to any one of claims 1 to 4, wherein the water tank further comprises a waterproof member, the waterproof member and the water pumping unit are located on the side of the water tank, and the water outlet is provided on the water pumping unit, And the water outlet is configured to spray the liquid from the side of the cleaning machine to the surface, and the waterproof member is used to surround the water pumping unit and fill the gap between the water pumping unit and the water tank. The unit is located off the center line of the side of the water tank. The cleaning robot according to claim 12, wherein the spraying direction of the liquid is the traveling direction of the robot, and the water tank of the spraying module is defined by a long axis and a short axis, and the long axis is not parallel to the liquid The spraying direction. The cleaning robot according to claim 13, wherein the spraying module further includes a water inlet, the water inlet is located on the water tank, and the water inlet and the water outlet are respectively located on two opposite sides of the long axis. The cleaning robot according to claim 14, wherein the spraying module is arranged on the side of the cleaning machine. The cleaning robot according to claim 15, wherein the housing is provided with an accommodating space, and the spraying module is embedded in the accommodating space of the housing, and the accommodating space is located on the side of the cleaning machine, The spraying module is placed on the side of the cleaning machine. The cleaning robot described in claim 12, wherein: The water outlet is located deviating from the center line of the side surface of the water tank, and is used to divide the surface to be cleaned into at least a first section and a second section, and the water outlet is located facing the first section , And when the cleaning machine passes through adjacent paths, there will be a partial overlap of the wiping range.

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