WO2020093383A1 - 扫地机器人 - Google Patents

扫地机器人 Download PDF

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Publication number
WO2020093383A1
WO2020093383A1 PCT/CN2018/114876 CN2018114876W WO2020093383A1 WO 2020093383 A1 WO2020093383 A1 WO 2020093383A1 CN 2018114876 W CN2018114876 W CN 2018114876W WO 2020093383 A1 WO2020093383 A1 WO 2020093383A1
Authority
WO
WIPO (PCT)
Prior art keywords
jet
sweeping robot
robot according
air outlet
chassis
Prior art date
Application number
PCT/CN2018/114876
Other languages
English (en)
French (fr)
Inventor
程杰锋
金成镇
李清
胡斯特
李忠华
付涛
Original Assignee
广东美的白色家电技术创新中心有限公司
美的集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东美的白色家电技术创新中心有限公司, 美的集团股份有限公司 filed Critical 广东美的白色家电技术创新中心有限公司
Priority to KR1020217009315A priority Critical patent/KR102459357B1/ko
Priority to JP2021519552A priority patent/JP2022504503A/ja
Priority to CN201880039285.6A priority patent/CN113710136B/zh
Priority to EP18939135.2A priority patent/EP3851015B1/en
Priority to US17/285,095 priority patent/US11910972B2/en
Priority to PCT/CN2018/114876 priority patent/WO2020093383A1/zh
Publication of WO2020093383A1 publication Critical patent/WO2020093383A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/08—Nozzles with means adapted for blowing
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the technical field of sweeping robots, in particular to a sweeping robot.
  • the main object of the present invention is to provide a cleaning robot, which aims to improve the cleaning ability of the cleaning robot.
  • the floor cleaning robot proposed by the present invention includes:
  • Jet dusting structure the jet dusting structure is installed on the chassis, the jet dusting structure has a jet channel, the jet channel has an air inlet and an air outlet, the air inlet provides airflow into the jet channel, The air outlet is located on the front side of the floor brush suction port of the cleaning robot.
  • the air outlet is disposed toward the direction of the ground brush suction port.
  • the jet channel extends obliquely from the top of the front side of the chassis to the direction of the ground brush suction port.
  • the angle ⁇ between the jet channel and the vertical direction is 20 to 70 °.
  • the jet channel extends along a straight line, and the inner wall surface of the jet channel includes a flat surface.
  • the jet channel includes a drainage section provided near the air inlet and a jet section provided near the air outlet;
  • the drainage section extends along a straight line, and the jet section extends along a curve.
  • the cross-sectional area of the jet channel gradually decreases from the air inlet to the air outlet.
  • the ratio S1 / S2 of the area S1 of the air outlet to the area S2 of the air inlet is greater than or equal to 0.2 and less than 1.
  • the length L of the air outlet is 3-20 mm, and / or, the width D of the air outlet is 0.5-3 mm.
  • the distance K between the air outlet and the floor brush suction port is greater than 0 and less than or equal to 20 mm.
  • an air intake cavity is formed on the chassis, the air intake cavity has an inflow port for airflow to enter, and the air intake port is in communication with the air intake cavity.
  • the cleaning robot further includes a dust suction motor, and the exhaust port of the dust suction motor communicates with the air inlet and / or the inlet of the chassis air inlet.
  • the exhaust port communicates with the air intake port and / or the inflow port through a hose;
  • the cleaning robot includes a mounting cylinder formed with a rolling brush installed, a side of the mounting cylinder facing away from the rolling brush is provided with a clamping slot, and part of the hose is clamped in the clamping slot.
  • the exhaust port communicates with the intake port and / or the inflow port through a pipeline, and a flow regulating valve is provided on the pipeline.
  • the cleaning robot has a main control circuit and a detection device for dirt and dirt;
  • the detection device detects the amount of dirt at the current position and sends the detection result to the main control circuit;
  • the main control circuit obtains a preset duration corresponding to the current detection result according to the detection result, and controls the cleaning robot to stay at the current position for a preset duration.
  • the bottom of the chassis is also provided with a pressurizing protrusion, the pressurizing protrusion is located on the front side of the suction port of the floor brush;
  • a plurality of the pressurizing protrusions are arranged with a gap along the length of the ground brush suction port, and the air outlet corresponds to the gap between two adjacent pressurizing protrusions.
  • the air outlet is located on the front side of the pressurizing protrusion.
  • the height of the supercharging protrusion gradually increases from the front side of the chassis to the direction of the ground brush suction port, and the maximum distance between the supercharging protrusion and the bottom surface of the chassis is 0.5-5 mm.
  • the jet dusting structure includes a jet sheet, and the jet sheet is provided with a plurality of the jet channels, and the plurality of jet channels are arranged along the length direction of the ground brush suction port.
  • the jet structure further includes a surrounding plate, and the jet sheet and the surrounding plate enclose to form an air inlet cavity, and the air inlet is located in the air inlet cavity.
  • the jet sheet is integrally formed with the chassis.
  • a jet dusting structure is provided on the chassis.
  • the jet channel of the jet dusting structure penetrates the top and bottom of the chassis.
  • the airflow enters the jet channel from the air inlet, and is ejected at the air outlet after passing through the jet channel.
  • the use of the floor brush suction port to improve the dust suction efficiency is conducive to improving the cleaning ability of the cleaning robot.
  • FIG. 1 is a schematic structural diagram of an embodiment of a sweeping robot of the present invention
  • Figure 2 is a schematic diagram of the structure at the bottom of Figure 1;
  • FIG. 3 is a partially enlarged view at A in FIG. 2;
  • FIG. 4 is a schematic structural view of an embodiment of the top of the chassis
  • FIG. 5 is a schematic structural view of another embodiment of the top of the chassis
  • FIG. 6 is a schematic diagram of the internal structure of an embodiment of the sweeping robot of the present invention.
  • FIG. 7 is a partial enlarged view at B in FIG. 6;
  • FIG. 8 is a schematic cross-sectional structure diagram of an embodiment of a sweeping robot of the present invention.
  • FIG. 9 is a partial enlarged view at C in FIG. 8.
  • FIG. 10 is a schematic structural diagram of an embodiment of a jet sheet of a sweeping robot of the present invention.
  • Label name Label name 100 Chassis 110 Floor brush suction 120 Boost bulge 200 Jet dust structure 210 Jet channel 220 Air inlet 230 Outlet 240 Hoarding 250 Inlet cavity 260 Inlet 270 hose 700 Dust cup 760 Mounting post 800 Mounting tube 900 Vacuum motor
  • the present invention mainly proposes a sweeping robot.
  • the sweeping robot includes a jet dusting structure 200, so that the sweeping robot can clean dust in a narrow space such as a ground gap, which is beneficial to improving the cleaning ability of the sweeping robot.
  • the cleaning robot includes:
  • a jet dusting structure 200 installed on the chassis 100 the jet dusting structure 200 has an air inlet 220, an air outlet 230, and a connection between the air inlet 220 and the air outlet 230
  • the air inlet 220 supplies airflow into the jet channel 210
  • the air outlet 230 is located on the front side of the floor brush suction port 110 of the cleaning robot.
  • the floor brush suction port 110 is opened at the bottom of the chassis 100, and the rolling brush is provided in the floor brush suction port 110.
  • the jet dusting structure 200 there are many forms of the jet dusting structure 200, such as a plate-like arrangement, a block-like arrangement, a strip-like arrangement, etc., which is not particularly limited here, as long as it has a jet channel 210 capable of jetting To achieve the effect of raising dust.
  • the jet dust-raising structure 200 on the chassis 100, such as by snap connection, screw connection, adhesive connection, and plug-in connection.
  • a slot may also be provided on the chassis 100 to catch the jet dust structure 200 into the slot.
  • the jet dust structure 200 and the chassis 100 are integrally formed.
  • shapes of the chassis 100 such as polygons, ellipses, circles, etc. In the case of the same volume, in order to allow the cleaning robot to enter a narrower space, the chassis 100 is set to a circle.
  • the relationship between the jet dust structure 200 and the chassis 100 can be of many types, such as opening an installation port on the chassis 100 to install the water jet dust structure into the installation port, or it can be directly installed on the chassis 100, the chassis 100 A via hole communicating with the jet channel 210 is formed on the top for the air flow to pass through. It suffices to ensure that the air outlet 230 of the jet channel 210 can deliver the airflow to the ground in front of the floor brush suction port 110.
  • the jet dusting structure 200 includes a jet sheet, and the jet sheet is provided with a plurality of the jet channels 210, and the plurality of jet channels 210 are brushed along the ground. 110 is arranged in the longitudinal direction.
  • the jet dust raising structure 200 is a jet sheet, and the jet channel 210 penetrates the two opposite plates of the jet sheet.
  • a mounting port is opened on the chassis 100, and the jet sheet is installed in the mounting port, so that the air inlet 220 of the jet channel 210 communicates with the top of the chassis 100, and the air outlet 230 communicates with the bottom of the chassis 100.
  • the arrangement of the multiple jet channels 210 enables the dust on the front side of the floor brush suction port 110 to be lifted up reliably, which is beneficial to improve the cleaning effect of the cleaning robot.
  • the air inlet 220 can be supplied individually or collectively. When collectively supplied, an air intake chamber is required.
  • the jet structure further includes a surrounding plate 240, the jet sheet and the surrounding plate 240 are enclosed to form an air inlet cavity, and the air inlet 220 is located in the air inlet cavity.
  • the surrounding plate 240 is arranged in a long shape, and its cross section may be L-shaped or notched. When it is arranged in an L shape, a baffle plate needs to be provided on the chassis 100 to cooperate with it.
  • the structural cover formed by the surrounding plate 240 and the baffle plate is arranged on the jet sheet; when it is arranged in a notch shape, the surrounding plate 240 is arranged on the jet
  • the air intake cavity is formed on the chip.
  • the surrounding panel 240 may be formed integrally with the chassis 100 or may be formed integrally with the jet sheet.
  • the jet sheet and the chassis 100 are integrally formed.
  • the jet channel 210 of the jet dusting structure 200 penetrates the top and bottom of the chassis 100, and the airflow enters the jet channel 210 from the air inlet 220, passes through the jet channel 210
  • the dust on the front side of the ground brush suction port 110 is raised, and the raised dust is sucked into the ground brush suction port 110; when the airflow is sprayed, not only can the flat dust be raised, but also the same Raise the dust in the gap, so that the dust that the floor brush suction port 110 cannot directly absorb is raised, so that the floor brush suction port 110 can absorb the dust in the narrow space such as the gap, and the use of the floor brush suction port 110 to improve the efficiency of vacuuming, It is beneficial to improve the cleaning ability of the cleaning robot.
  • the jet channel 210 can better achieve the dusting effect.
  • the air outlet 230 is disposed toward the ground brush suction port 110.
  • the air outlet 230 By directing the air outlet 230 toward the ground brush suction port 110, the air flow emitted from the jet channel 210 will vertically dust the ground brush suction port 110.
  • the suction port 110 is easily brushed to absorb dust.
  • the jet channel 210 extends obliquely from the top of the front side of the chassis 100 toward the ground brush suction port 110. That is, the jet channel 210 extends backward, and the jet channel 210 jets the airflow backward.
  • the air intake of the jet channel 210 does not affect the jet of the air outlet 230, and at the same time, the trend of the jet channel 210 can be ensured from top to bottom, which is conducive to airflow transmission.
  • the angle ⁇ between the jet channel 210 and the vertical direction is 20 ° ⁇ 70 °.
  • the angle between the jet channel 210 and the vertical direction is the deflection angle of the jet channel 210 toward the ground brush suction port 110.
  • the angle ⁇ is too small, the emitted airflow is reflected to the front side of the floor brush suction port 110, which is not conducive to directly entering the floor brush suction port 110.
  • the angle ⁇ is too large, the reflection distance is far, and may fall to the floor brush suction port The rear side of 110 is also not conducive to brushing the suction port 110 directly.
  • the inner wall surface of the jet channel 210 may be a flat surface or a curved surface. In some embodiments, it may also have both a flat surface and a curved surface. The following takes the flat surface as an example, and then takes both the flat surface and the curved surface as an example. .
  • the jet channel 210 extends along a straight line, and the inner wall surface of the jet channel 210 includes a flat surface.
  • the jet channel 210 is a direct current channel, and the air flow suffers less resistance in the jet channel 210, and can be ejected from the air outlet 230 simply and quickly; at the same time, the linear jet channel 210 is easy to process, which simplifies the processing process.
  • the jet channel 210 needs to have a large angle change. At this time, a curved surface is required to guide the air flow, so that the air flow transitions smoothly during the deflection angle.
  • a curved section is provided near the air outlet 230.
  • the jet channel 210 includes a drainage section and a suction section disposed near the air inlet 220.
  • a jet section provided near the air outlet 230; the drainage section extends along a straight line, and the jet section extends along a curve.
  • the airflow first passes through the straight-line drainage section. Before the airflow exits the air outlet 230, the jetting direction of the airflow needs to be adjusted. Through the setting of the jetting section, the jet angle of the airflow jet can reach the optimal jetting angle. effect.
  • the cross-sectional area of the jet channel 210 gradually decreases from the air inlet 220 to the air outlet 230.
  • the air pressure of the air flow in the jet channel 210 is gradually increased, so that the flow rate of the air flow at the air outlet 230 is higher, which is beneficial to greatly improve the dusting effect.
  • the ratio S1 / S2 of the area S1 of the air outlet 230 to the area S2 of the air inlet 220 is greater than or equal to 0.2 and less than 1.
  • the ratio of the area of the air outlet 230 to the area of the air inlet 220 is inversely related to the increase in pressure and flow rate, but the ratio of the area of the air outlet 230 to the area of the air inlet 220 cannot be too large when equal to 1. It will not have the effect of supercharging and speed increasing. When it is less than 0.2, the area difference between the air outlet 230 and the air inlet 220 is large, which will affect the normal flow of the airflow, but it is not conducive to the injection of the airflow.
  • the length L of the air outlet 230 is 3-20 mm, and / or, the width D of the air outlet 230 is 0.5-3 mm.
  • the length of the air outlet 230 cannot be too long or too short. When it is too long, the airflow flowing out along the length of the air outlet 230 is uneven, and turbulence is likely to occur along its length, which is not conducive to accurate airflow.
  • the length of the air outlet 230 is too long In a short time, the spray length is not enough and the effect is not good.
  • the width of the air outlet 230 cannot be too large or too small.
  • the distance K between the air outlet 230 and the ground brush suction port 110 is greater than 0 and less than or equal to 20 mm.
  • the distance between the air outlet 230 and the floor brush suction port 110 is very critical. After the airflow hits the ground (gap), it bounces back toward the floor brush suction port 110. When the distance between the air outlet 230 and the floor brush suction port 110 is too long, It is difficult for the airflow to shoot the ground brush suction port 110 accurately and quickly, and the dust raising effect is not good.
  • an air intake cavity is formed on the chassis 100, the air intake cavity has an inflow port 260 for airflow to enter, and the air intake 220 is in communication with the air intake cavity .
  • the multiple intake ports 220 communicate with the intake cavity at the same time, so that the multiple intake ports 220 can simultaneously supply air.
  • the position of the air intake 220 is more flexible so as to correspond to the floor brush suction port 110.
  • the air inlet cavity extends along the length of the ground brush suction port 110, so that the air inlet 220 and the air outlet 230 can correspond to the ground brush suction port 110, and at the same time, the length of the jet channel 210 is reduced to reduce the distance of airflow movement.
  • the cleaning robot further includes a dust suction motor 900, and the exhaust port and the air inlet 220 of the dust suction motor 900 and / or the chassis 100 intake air
  • the inflow port 260 of the cavity is in communication.
  • the dust suction motor 900 communicates with the dust cup 700 and the floor brush suction port 110 for forming a negative pressure at the floor brush suction port 110 to absorb dust.
  • the airflow drawn out of the dust cup 700 is also sent to the jet channel 210 to form a circulation of the airflow.
  • the circulation path is as follows: the ground brush suction port 110 sucks the air flow under the action of negative pressure, flows from the ground brush suction port 110 to the dust cup 700, and then enters the jet channel 210 after the vacuum motor 900, and the air flow emitted from the jet channel 210 is grounded
  • the brush suction port 110 absorbs. In this way, the vacuum cleaner motor 900 is utilized coincidentally, so that the utilization rate of the vacuum cleaner motor 900 is greatly improved.
  • the exhaust port of the vacuum motor 900 communicates with the intake port 220 and / or the inflow port 260 of the intake cavity of the chassis 100.
  • the two are directly connected through a pipe, and of course, they can also be connected through a hose 270.
  • the exhaust port communicates with the air inlet 220 and / or the inflow port 260 through a hose 270;
  • the cleaning robot includes an installation cylinder 800 formed with an installation roller brush, and the installation cylinder 800 faces away from A clamping slot is opened on one side of the roller brush, and part of the hose 270 is clamped in the clamping slot.
  • the exhaust port of the dust suction motor 900 and the intake port 220 of the jet channel 210 are connected through the hose 270. Due to the low rigidity of the hose 270, shaking may occur during the work process. , Fix the hose 270 to avoid the shaking of the hose 270 and improve the stability of the hose 270.
  • the exhaust port communicates with the air inlet 220 and / or the inflow port 260 through a hose 270;
  • the cleaning robot includes an installation barrel 800 for installing a rolling brush, and the installation barrel 800
  • a mounting post 760 is provided on the side facing away from the roller brush, the circuit board of the cleaning robot is mounted on the mounting post 760; the hose 270 passes through the circuit board, the mounting post 760 and the mounting tube 800 Limit gap.
  • the number of the mounting posts 760 is two, which respectively support the two ends of the circuit board.
  • the two mounting posts 760, the top of the mounting tube 800 and the circuit board form a limit gap, and the hose 270 is not easily shaken after passing through, which improves 270 working stability.
  • the exhaust port communicates with the intake port 220 and / or the inflow port 260 through a pipeline, and a flow regulating valve is provided on the pipeline.
  • a flow path regulating valve is provided on the hose 270, and the flow regulating valve is used to control the flow rate through the hose 270 per unit time; when there is much dirt on the ground, increase the opening of the flow regulating valve to increase the flow; the dirt on the ground When there are few objects, reduce the opening of the flow regulating valve to reduce the flow.
  • the flow regulating valve can be a manual valve or an automatic valve. When it is an automatic valve, it is connected to the circuit board of the cleaning robot, and the flow rate of the flow regulating valve is adjusted according to the instructions issued by the circuit board.
  • the cleaning robot has a main control circuit and a detection device for dirt; the detection device detects the amount of dirt at the current position and sends the detection result to the main control circuit; the main control circuit is based on the detection result Acquire a preset duration corresponding to the current detection result, and control the cleaning robot to stay at the current location for a preset duration.
  • detection devices such as infrared sensors, image acquisition devices, and contact detection sensors.
  • the detection sensor sends the detected signal to the main control circuit.
  • the main control circuit compares the received signal with a preset signal strength-duration table, and finds out the jet duration corresponding to the signal from the table.
  • the main control circuit selects a longer jet duration corresponding to it; when there is less dirt on the ground, the main control circuit selects a shorter jet duration corresponding to it. In this way, to balance the cleaning efficiency and effectiveness of the cleaning robot.
  • the bottom of the chassis 100 is further provided with a pressurization protrusion 120, which is located on the front side of the ground brush suction port 110;
  • the pressurizing protrusions 120 are arranged along the longitudinal gap of the ground brush suction port 110, and the air outlet 230 corresponds to the gap between two adjacent pressurizing protrusions 120.
  • the pressurizing protrusions 120 are provided on the front side of the floor brush suction port 110, and there is a ventilation gap between the adjacent pressurizing protrusions 120, and the airflow passes through the gap. 120, reducing the area of the wind, thereby increasing the wind pressure entering the ground brush suction port 110, which is beneficial to the suction of the dirt by the ground brush suction port 110.
  • the air outlet 230 of the jet channel 210 is provided corresponding to the gap, so that the air flow passing through the jet can quickly and reliably pass through multiple gaps and enter the ground brush suction port 110. In order to ensure the full and reasonable use of the gap, the length of the air outlet 230 is greater than the width of the gap corresponding thereto.
  • the air outlet 230 is located on the front side of the pressurizing protrusion 120.
  • the jet airflow passes through the bottom of the chassis 100 before the boosting protrusion 120 is pressurized, to avoid the mutual loss of the vertical high-speed air pressure and the lateral high-speed air pressure.
  • the transfer position of the person is located in the low-pressure section, which is conducive to improving the utilization rate of airflow.
  • the height of the supercharging protrusion 120 gradually increases from the front side of the chassis 100 to the direction of the ground brush suction port 110, and the maximum distance between the supercharging protrusion 120 and the bottom surface of the chassis 100 is 0.5 ⁇ 5mm.
  • the distance between the boosting protrusion 120 and the chassis 100 is the height difference between the top of the boosting protrusion 120 and the air outlet 230.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
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Abstract

一种扫地机器人，包括：底盘（100），射流起尘结构（200），射流起尘结构（200）安装于底盘（100）上，射流起尘结构（200）具有进气口（220）、出气口（230），以及连通进气口（220）和出气口（230）的射流通道（210），进气口（220）供气流进入射流通道（210），出气口（230）位于扫地机器人的地刷吸口（110）的前侧。

Description

扫地机器人
技术领域
本发明涉及扫地机器人技术领域，特别涉及一种扫地机器人。
背景技术
随着生活水平的提高，扫地机器人已经走入大家的生活，大家对扫地机器人的要求也越来越高。例如，扫地机器人代替人们的日常清扫，其除尘能力是一个很关键的性能。现有的扫地机器人，对地面缝隙中的灰尘清扫的效果不佳。使得现有的扫地机器人不能满足人们的需求。
发明内容
本发明的主要目的是提供一种扫地机器人，旨在提高扫地机器人的清洁能力。
为实现上述目的，本发明提出的扫地机器人，包括：
底盘，
射流起尘结构，所述射流起尘结构安装于所述底盘上，所述射流起尘结构具有射流通道，所述射流通道具有进气口和出气口，所述进气口供气流进入射流通道，所述出气口位于扫地机器人的地刷吸口的前侧。
可选地，所述出气口朝向所述地刷吸口的方向设置。
可选地，所述射流通道自底盘前侧的顶部向所述地刷吸口的方向倾斜延伸。
可选地，所述射流通道与竖直方向之间的夹角α为20~70°。
可选地，所述射流通道沿直线延伸，所述射流通道的内壁面包括平面。
可选地，所述射流通道包括靠近所述进气口设置的引流段和靠近所述出气口设置的射流段；
所述引流段沿直线延伸，所述射流段沿曲线延伸。
可选地，所述射流通道的横截面积，自进气口向出气口逐渐缩小。
可选地，所述出气口的面积S1与所述进气口的面积S2的比值S1/S2，大于或者等于0.2，且小于1。
可选地，所述出气口的长度L为3~20mm，和/或，所述出气口的宽度D为0.5~3mm。
可选地，所述出气口与所述地刷吸口之间的距离K大于0，且小于或者等于20mm。
可选地，所述底盘上形成有进气腔，所述进气腔具有供气流进入的入流口，所述进气口与所述进气腔连通。
可选地，所述扫地机器人还包括吸尘电机，所述吸尘电机的排气口与进气口和/或底盘进气腔的入流口连通。
可选地，所述排气口与所述进气口和/或入流口通过软管连通；
所述扫地机器人包括形成有安装滚刷的安装筒，所述安装筒背对所述滚刷的一侧开设有卡槽，部分所述软管卡设于所述卡槽内。
可选地，所述排气口与所述进气口和/或入流口通过管路连通，在所述管路上设置有流量调节阀。
可选地，所述扫地机器人具有主控电路和用于脏污物的检测装置；
检测装置检测当前位置的脏污物的量，并将检测结果发送至主控电路；
主控电路根据检测结果获取与当前检测结果对应的预设时长，并控制扫地机器人在当前位置停留预设时长。
可选地，所述底盘的底部还设置有增压凸起，所述增压凸起位于地刷吸口的前侧；
多个所述增压凸起沿所述地刷吸口的长度方向间隙排布，所述出气口与相邻两所述增压凸起之间的间隙对应。
可选地，所述出气口位于所述增压凸起的前侧。
可选地，增压凸起的高度自底盘的前侧向所述地刷吸口的方向逐渐增高，所述增压凸起与底盘底面之间的最大距离为0.5~5mm。
可选地，所述射流起尘结构包括射流片，所述射流片上开设有多个所述射流通道，多个所述射流通道沿所述地刷吸口的长度方向排布。
可选地，所述射流结构还包括围板，所述射流片和围板围合形成进气腔，所述进气口位于所述进气腔内。
可选地，所述射流片与所述底盘一体成型设置。
本发明技术方案中，在底盘上设置有射流起尘结构，射流起尘结构的射流通道贯穿底盘的顶部和底部，气流从进气口进入到射流通道，经射流通道后在出气口喷出，将地刷吸口前侧的灰尘扬起，扬起的灰尘被地刷吸口吸入；在气流喷出时，不仅仅可以将平面的灰尘扬起，也同样能将缝隙中的灰尘扬起，如此，将地刷吸口无法直接吸收的灰尘扬起，使得地刷吸口可以吸收缝隙等狭小空间中的灰尘，有利用提高地刷吸口吸尘的效率，有利于提高扫地机器人的清洁能力。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明扫地机器人一实施例的结构示意图；
图2为图1底部的结构示意图；
图3为图2中A处的局部放大图；
图4为底盘顶部一实施例的结构示意图；
图5为底盘顶部另一实施例的结构示意图；
图6为本发明扫地机器人一实施例的内部结构示意图；
图7为图6中B处的局部放大图；
图8为本发明扫地机器人一实施例的截面结构示意图；
图9为图8中C处的局部放大图；
图10为本发明的扫地机器人的射流片一实施例的结构示意图。
附图标号说明：
标号 名称 标号 名称
100 底盘 110 地刷吸口
120 增压凸起 200 射流起尘结构
210 射流通道 220 进气口
230 出气口 240 围板
250 进风腔 260 入流口
270 软管 700 尘杯
760 安装柱 800 安装筒
900 吸尘电机
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。同时，全文中出现的“和/或”的含义为，包括三个方案，以“A和/或B”为例，包括A方案，或B方案，或A和B同时满足的方案。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本发明主要提出一种扫地机器人，该扫地机器人包括射流起尘结构200，使得扫地机器人可以清洁地面缝隙等狭小空间的灰尘，有利于提高扫地机器人的清洁能力。
以下将主要描述扫地机器人的具体结构。
参照图1至图10，在本发明实施例中，该扫地机器人包括：
底盘100，
射流起尘结构200，所述射流起尘结构200安装于所述底盘100上，所述射流起尘结构200具有进气口220、出气口230，以及连通所述进气口220和出气口230的射流通道210，所述进气口220供气流进入射流通道210，所述出气口230位于扫地机器人的地刷吸口110的前侧。地刷吸口110开设在底盘100的底部，滚刷设置在地刷吸口110内。
具体地，本实施例中，射流起尘结构200的形式有很多，如呈板状设置、块状设置，条状设置等等，在此不做特殊限定，只要其具有可以射流的射流通道210，以实现扬灰的效果即可。射流起尘结构200安装于底盘100上的方式有很多，如通过卡扣连接、通过螺钉紧固连接、通过胶粘连接、以及插接等。当然，在一些实施例中，也可以在底盘100上设置卡槽，将射流起尘结构200卡到卡槽中。本实施例中，以将射流起尘结构200与底盘100一体成型设置为例。其中，底盘100的形状可以有很多种，如多边形、椭圆形、圆形等，在相同的体积的情况下，为了使扫地机器人可以进入到更狭小的空间，将底盘100设置为圆形。
关于射流起尘结构200与底盘100之间的关系，可以有很多种，如在底盘100上开设一个安装口，将水流起尘结构安装至安装口中，也可以直接安装在底盘100上，底盘100上形成有与射流通道210连通的过孔，以供气流通过。只要能保证射流通道210的出气口230能将气流输送至地刷吸口110前侧的地面上即可。
下面介绍射流起尘结构200的一个具体例子，所述射流起尘结构200包括射流片，所述射流片上开设有多个所述射流通道210，多个所述射流通道210沿所述地刷吸口110的长度方向排布。本实施例中，射流起尘结构200为射流片，射流通道210贯穿射流片的相对两板面。在底盘100上开设有安装口，射流片安装于安装口内，使得射流通道210的进气口220与底盘100的顶部连通，出气口230与底盘100的底部连通。多个射流通道210的设置，使得地刷吸口110前侧的灰尘都可靠的被扬起，有利于提高扫地机器人的清洁效果。进气口220可以单独供气也可以集体供气，集体供气时，需要一个进气腔。此时，所述射流结构还包括围板240，所述射流片和围板240围合形成进气腔，所述进气口220位于所述进气腔内。围板240呈长条形设置，其横截面可以呈L形，也可以呈凹口状。当呈L形设置时，需要在底盘100上设置挡板与其配合，围板240与挡板围合形成的结构罩设于射流片上；当呈凹口状设置时，围板240罩设于射流片上形成进气腔。当然，在一些实施例中，围板240可以与底盘100一体成型设置，也可以与射流片一体成型设置。在一些实施例中，为了简化射流片制造和安装工艺，所述射流片与所述底盘100一体成型设置。
本实施例中，通过在底盘100上设置射流起尘结构200，射流起尘结构200的射流通道210贯穿底盘100的顶部和底部，气流从进气口220进入到射流通道210，经射流通道210后在出气口230喷出，将地刷吸口110前侧的灰尘扬起，扬起的灰尘被地刷吸口110吸入；在气流喷出时，不仅仅可以将平面的灰尘扬起，也同样能将缝隙中的灰尘扬起，如此，将地刷吸口110无法直接吸收的灰尘扬起，使得地刷吸口110可以吸收缝隙等狭小空间中的灰尘，有利用提高地刷吸口110吸尘的效率，有利于提高扫地机器人的清洁能力。
在一些实施例中，为了是射流通道210可以更好的实现起尘效果。
所述出气口230朝向所述地刷吸口110的方向设置。通过将出气口230朝向地刷吸口110的方向，自射流通道210射出的气流将灰尘垂向地刷吸口110。从而，便于地刷吸口110吸收灰尘。所述射流通道210自底盘100前侧的顶部向所述地刷吸口110的方向倾斜延伸。即射流通道210向后延伸，射流通道210将气流向后喷射。通过将进气口220设置在底盘100的顶部，使得射流通道210的进气不影响出气口230的射流，同时，可以保证射流通道210的趋势为自上而下，有利于气流的传输。
为了进一步的保证射流效果，所述射流通道210与竖直方向之间的夹角α为20°~70°。射流通道210与竖直方向的夹角为射流通道210向地刷吸口110的方向的偏角。当夹角α太小时，射出的气流反射到地刷吸口110的前侧，不利于直接进入到地刷吸口110，当夹角α太大时，反射的距离较远，可能落到地刷吸口110的后侧，也不利于直接被吸入地刷吸口110。
关于射流通道210的内壁面，可以为平面，也可以为曲面，在一些实施例中，还可以既有平面又有曲面，下面先以具有平面为例，再以既有平面又有曲面为例。
所述射流通道210沿直线延伸，所述射流通道210的内壁面包括平面。本实施例中，射流通道210为直流通道，气流在射流通道210中所受阻力较小，可以简单快速的从出气口230射出；同时，直线的射流通道210容易加工，便于简化加工工艺。当然，在一些特殊的工况下，射流通道210需要有较大的角度变化，此时，需要曲面对气流进行导流，以使气流在偏转角度的过程中，顺滑过渡。
在一些实施中，为了使射流通道210在有效的空间内具有较大的转角，在靠近出气口230的部分设置曲线段，所述射流通道210包括靠近所述进气口220设置的引流段和靠近所述出气口230设置的射流段；所述引流段沿直线延伸，所述射流段沿曲线延伸。本实施例中，气流首先经过直线的引流段，在气流射出出气口230之前，需要对气流的喷射方向进行调整，通过射流段的设置，使得气流喷出的喷射角可以达到最佳的喷射的效果。
为了进一步的增加起尘效果，所述射流通道210的横截面积，自进气口220向出气口230逐渐缩小。通过将射流通道210的横截面积逐渐缩小，使得气流在射流通道210中的气压逐渐增加，使得出气口230气流的流速更高，有利于大幅提升起尘效果。为了进一步的提高射流通道210内压强和流速调节的精度，所述出气口230的面积S1与所述进气口220的面积S2的比值S1/S2，大于或者等于0.2，且小于1。在一定的范围内，出气口230面积与进气口220面积的比值与压强和流速的增加呈反相关，但是，出气口230面积和进气口220面积的比值不能太大，当等于1时，将起不到增压和增速的效果，当小于0.2时，出气口230和进气口220的面积差较大，将影响气流的正常流动，反而不利于气流的喷射。
为了达到更好的射流效果，所述出气口230的长度L为3~20mm，和/或，所述出气口230的宽度D为0.5~3mm。出气口230的长度不能太长，也不能太短，太长时沿出气口230长度方向流出的气流不均匀，容易沿其长度方向发生紊流，不利于气流准确的射出，出气口230长度太短时，喷射长度不够，效果不佳。同理，出气口230的宽度不能太大，也不能太小，太大时沿出气口230宽度方向流出的气流不均匀，容易沿其宽度方向发生紊流，不利于气流准确的射出，出气口230宽度太短时，喷射宽度不够，效果不佳。
为了进一步的提高射流通道210起尘的效果，所述出气口230与所述地刷吸口110之间的距离K大于0，且小于或者等于20mm。出气口230与地刷吸口110之间的距离非常关键，气流在射入地面（缝隙）后，反弹射向地刷吸口110，当出气口230与地刷吸口110之间的距离太长时，气流难以准确快速的射向地刷吸口110，起尘效果不佳。
在一些实施例中，为了提高进气效率，所述底盘100上形成有进气腔，所述进气腔具有供气流进入的入流口260，所述进气口220与所述进气腔连通。当进气口220的数量为多个时，多个进气口220同时与进气腔连通，使得多个进气口220可以同时供气。另外，通过进气腔的设置，使得进气口220的位置更加灵活，以便于与地刷吸口110对应。进气腔沿地刷吸口110的长度方向延伸，以使进气口220和出气口230可以与地刷吸口110对应的同时，减小射流通道210的长度，以减小气流运动的路程。
为简化整机结构，尽量合理的利用现有结构来供气，所述扫地机器人还包括吸尘电机900，所述吸尘电机900的排气口与进气口220和/或底盘100进气腔的入流口260连通。吸尘电机900与尘杯700和地刷吸口110连通，用于在地刷吸口110处形成负压，从而吸收灰尘。在本实施例中，还将抽离尘杯700中的气流输送至射流通道210，从而形成气流的循环。循环路径如下：地刷吸口110在负压的作用下吸取气流，从地刷吸口110流到尘杯700，再经过吸尘电机900后进入到射流通道210，自射流通道210射出的气流被地刷吸口110吸收。如此，重合的利用了吸尘电机900，使得吸尘电机900的利用率得到大幅的提高。
吸尘电机900的排气口与进气口220和/或底盘100进气腔的入流口260连通的方式有很多，如通过管道连通，二者直接连通，当然也可以通过软管270连通。具体地，所述排气口与所述进气口220和/或入流口260通过软管270连通；所述扫地机器人包括形成有安装滚刷的安装筒800，所述安装筒800背对所述滚刷的一侧开设有卡槽，部分所述软管270卡设于所述卡槽内。本实施例中，通过软管270连通吸尘电机900的排气口和射流通道210的进气口220，由于软管270的刚度较低，在工作过程中可能出现晃动，通过卡槽的设置，将软管270固定，从而避免软管270的晃动，提高软管270工作的稳定性。
在一些实施例中，所述排气口与所述进气口220和/或入流口260通过软管270连通；所述扫地机器人包括用于安装滚刷的安装筒800，所述安装筒800背对所述滚刷的一侧设置有安装柱760，所述扫地机器人的电路板安装于所述安装柱760上；所述软管270经过电路板、安装柱760以及安装筒800所围成的限位间隙。安装柱760的数量为两个，分别支撑电路板的两端，两安装柱760、安装筒800的顶部和电路板围合形成限位间隙，软管270穿过后不容易晃动，提高了软管270工作的稳定性。
在一些实施例中，为了可以根据当前地面的脏污程度来控制射流的强弱和在同一位置的喷射时长，下面给出两种可行的方案：
第一种，所述排气口与所述进气口220和/或入流口260通过管路连通，在所述管路上设置有流量调节阀。在软管270上设置流路调节阀，流量调节阀用于控制单位时间内通过软管270的流量；当地面脏污物较多时，增大流量调节阀的开口以增加流量；当地面脏污物较少时，减小流量调节阀的开口以缩减流量。流量调节阀可以为手动阀，也可以为自动阀。为自动阀时，与扫地机器人的电路板连接，根据电路板所发出的指令来调整流量调节阀的流量。
第二种，所述扫地机器人具有主控电路和用于脏污物的检测装置；检测装置检测当前位置的脏污物的量，并将检测结果发送至主控电路；主控电路根据检测结果获取与当前检测结果对应的预设时长，并控制扫地机器人在当前位置停留预设时长。本实施例中，检测装置的种类可以有很多，如红外传感器、图像采集装置、接触式检测传感器等等均可。检测传感器将检测到的信号发送至主控电路，主控电路将接收到的信号与预设的信号强度-时长表进行比对，从表格中查找出与该信号对应的射流时长。当地面的脏污物较多时，主控电路选择与之对应的较长的射流时长；当地面脏污物较少时，主控电路选择与之对应的较短的射流时长。如此，以兼顾扫地机器人的清洁效率与效果。
在一些实施例中，为了增加地刷吸口110的吸取效率，所述底盘100的底部还设置有增压凸起120，所述增压凸起120位于地刷吸口110的前侧；多个所述增压凸起120沿所述地刷吸口110的长度方向间隙排布，所述出气口230与相邻两所述增压凸起120之间的间隙对应。
具体地，本实施例中，增压凸起120设置于地刷吸口110的前侧，相邻的增压凸起120之间具有通气间隙，气流从间隙中穿过，通过设置增压凸起120，减小了过风面积，从而提高进入地刷吸口110的风压，有利于地刷吸口110对脏污物的吸取。在此基础上，射流通道210的出气口230对应间隙设置，使得通过射流通的气流可以快速可靠的通多间隙而进入到地刷吸口110中。其中，为了保证充分合理的利用间隙，出气口230的长度大于与之对应的间隙的宽度。为了提高吸尘效果，所述出气口230位于所述增压凸起120的前侧。通过将出气口230设置在地刷吸口110的前侧，使得喷射的气流在增压凸起120增压之前穿过底盘100底部，避免竖向的高速气压与横向的高速气压相互损耗，将二者的交接位置位于低压段，有利于提高气流的利用率。
为了保证增压效果，增压凸起120的高度自底盘100的前侧向所述地刷吸口110的方向逐渐增高，所述增压凸起120与底盘100底面之间的最大距离为0.5~5mm。增压凸起120与底盘100之间的距离，即为增压凸起120顶部与出气口230之间的高度差。当高度差太小时，滚刷距离地面的距离较小，滚刷吸地板阻力大，不利于工作；当高度差太大时，地刷吸口110距离地面的距离太大，此时滚刷没压力，吸不起灰尘，吸尘效果不佳。

Claims (22)

  1. 一种扫地机器人，其特征在于，包括：
    底盘，
    射流起尘结构，所述射流起尘结构安装于所述底盘上，所述射流起尘结构具有进气口、出气口，以及连通所述进气口和出气口的射流通道，所述进气口供气流进入射流通道，所述出气口位于扫地机器人的地刷吸口的前侧。
  2. 如权利要求1所述的扫地机器人，其特征在于，所述出气口朝向所述地刷吸口的方向设置。
  3. 如权利要求2所述的扫地机器人，其特征在于，所述射流通道自底盘前侧的顶部向所述地刷吸口的方向倾斜延伸。
  4. 如权利要求3所述的扫地机器人，其特征在于，所述射流通道与竖直方向之间的夹角α为20~70°。
  5. 如权利要求1所述的扫地机器人，其特征在于，所述射流通道沿直线延伸，所述射流通道的内壁面包括平面。
  6. 如权利要求1所述的扫地机器人，其特征在于，所述射流通道包括靠近所述进气口设置的引流段和靠近所述出气口设置的射流段；
    所述引流段沿直线延伸，所述射流段沿曲线延伸。
  7. 如权利要求1所述的扫地机器人，其特征在于，所述射流通道的横截面积，自进气口向出气口逐渐缩小。
  8. 如权利要求7所述的扫地机器人，其特征在于，所述出气口的面积S1与所述进气口的面积S2的比值S1/S2，大于或者等于0.2，且小于1。
  9. 如权利要求1所述的扫地机器人，其特征在于，所述出气口的长度L为3~20mm，和/或，所述出气口的宽度D为0.5~3mm。
  10. 如权利要求1所述的扫地机器人，其特征在于，所述出气口与所述地刷吸口之间的距离K大于0，且小于或者等于20mm。
  11. 如权利要求1所述的扫地机器人，其特征在于，所述底盘上形成有进气腔，所述进气腔具有供气流进入的入流口，多个所述进气口与所述进气腔连通。
  12. 如权利要求1所述的扫地机器人，其特征在于，所述扫地机器人还包括吸尘电机，所述吸尘电机的排气口与进气口和/或底盘进气腔的入流口连通，所述吸尘电机进风口与地刷吸口连通。
  13. 如权利要求12所述的扫地机器人，其特征在于，所述排气口与所述进气口和/或入流口通过软管连通；
    所述扫地机器人包括形成有安装滚刷的安装筒，所述安装筒背对所述滚刷的一侧开设有卡槽，部分所述软管卡设于所述卡槽内。
  14. 如权利要求12所述的扫地机器人，其特征在于，所述排气口与所述进气口和/或入流口通过软管连通；
    所述扫地机器人包括用于安装滚刷的安装筒，所述安装筒背对所述滚刷的一侧设置有安装柱，所述扫地机器人的电路板安装于所述安装柱上；
    所述软管经过电路板、安装柱以及安装筒所围成的限位间隙。
  15. 如权利要求12所述的扫地机器人，其特征在于，所述排气口与所述进气口和/或入流口通过管路连通，在所述管路上设置有流量调节阀。
  16. 如权利要求1所述的扫地机器人，其特征在于，所述扫地机器人具有主控电路和用于脏污物的检测装置；
    检测装置检测当前位置的脏污物的量，并将检测结果发送至主控电路；
    主控电路根据检测结果获取与当前检测结果对应的预设时长，并控制扫地机器人在当前位置停留预设时长。
  17. 如权利要求1所述的扫地机器人，其特征在于，所述底盘的底部还设置有增压凸起，所述增压凸起位于地刷吸口的前侧；
    多个所述增压凸起沿所述地刷吸口的长度方向间隙排布，所述出气口与相邻两所述增压凸起之间的间隙对应。
  18. 如权利要求17所述的扫地机器人，其特征在于，所述出气口位于所述增压凸起的前侧。
  19. 如权利要求17所述的扫地机器人，其特征在于，增压凸起的高度自底盘的前侧向所述地刷吸口的方向逐渐增高，所述增压凸起与底盘底面之间的最大距离为0.5~5mm。
  20. 如权利要求1至19中任意一项所述的扫地机器人，其特征在于，所述射流起尘结构包括射流片，所述射流片上开设有多个所述射流通道，多个所述射流通道沿所述地刷吸口的长度方向排布。
  21. 如权利要求20所述的扫地机器人，其特征在于，所述射流结构还包括围板，所述射流片和围板围合形成进气腔，所述进气口位于所述进气腔内。
  22. 如权利要求20所述的扫地机器人，其特征在于，所述射流片与所述底盘一体成型设置。
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