WO2020177182A1 - Appareil à vide portatif - Google Patents

Appareil à vide portatif Download PDF

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Publication number
WO2020177182A1
WO2020177182A1 PCT/CN2019/082578 CN2019082578W WO2020177182A1 WO 2020177182 A1 WO2020177182 A1 WO 2020177182A1 CN 2019082578 W CN2019082578 W CN 2019082578W WO 2020177182 A1 WO2020177182 A1 WO 2020177182A1
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WO
WIPO (PCT)
Prior art keywords
vacuum cleaner
mobile robot
handheld vacuum
housing
handheld
Prior art date
Application number
PCT/CN2019/082578
Other languages
English (en)
Chinese (zh)
Inventor
孙佳俭
高胜利
Original Assignee
珊口（深圳）智能科技有限公司
珊口（上海）智能科技有限公司
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.)
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Application filed by 珊口（深圳）智能科技有限公司, 珊口（上海）智能科技有限公司 filed Critical 珊口（深圳）智能科技有限公司
Publication of WO2020177182A1 publication Critical patent/WO2020177182A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/24—Hand-supported suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • 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
    • 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
    • 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
    • A47L9/32—Handles
    • 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
    • A47L9/32—Handles
    • A47L9/322—Handles for hand-supported suction cleaners
    • 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

Definitions

  • This application relates to the field of vacuuming, and in particular to a handheld vacuuming device.
  • Vacuum cleaners can generally be divided into horizontal vacuum cleaners, vertical vacuum cleaners and hand-held vacuum cleaners. Compared with the other two, the hand-held vacuum cleaner is light and compact, and can flexibly clean the corners or gaps around the sofa, for example.
  • the handheld vacuum cleaner cannot clean the ground or large area carpets, and purchasing special cleaning equipment (such as sweeping robots, etc.) will cost a lot of costs.
  • the purpose of this application is to provide a handheld vacuum cleaner to solve the problems in the prior art.
  • a handheld vacuum cleaner including: a housing provided with a handle, the housing including a locking structure for locking in a mobile robot and A connector that is sexually connected to the control system of the mobile robot; a power supply assembly, which is arranged in the housing, is electrically connected to the connector, and is used to provide electric energy to the mobile robot through the connector; a fan assembly, Is arranged in the housing, electrically connected to the power supply assembly and the connector, and is used to receive control instructions of the control system of the mobile robot through the connector; the separation and dust collection part is detachably arranged in The housing includes a dust suction head that can be docked to the dust suction port of the mobile robot, a separation and dust collection chamber connected to the dust collection head, and an air outlet of the separation and dust collection chamber and the fan assembly The air inlet is connected; the filter assembly is arranged between the air outlet of the separation and dust collection chamber and the air inlet of the fan assembly.
  • the handheld vacuum cleaner further includes a mode detection module, which is provided in the housing and is electrically connected to the connector for detecting the working mode of the handheld vacuum cleaner ,
  • the working mode includes an offline working mode and an online working mode.
  • the mode detection module obtains the working mode of the handheld vacuum cleaner by detecting the path state of the connector and the mobile robot.
  • the direction of the suction head is defined as the forward direction, and there are multiple engaging structures on the housing, which are respectively located in the front, middle, and rear ends of the housing At least two positions.
  • the engaging structure is a tool-free engaging structure.
  • the tool-free engaging structure is a groove or hook structure corresponding to the engaging protrusion structure; or the protrusion structure corresponding to the engaging groove or hook structure .
  • the direction of the dust suction head is defined as the forward direction
  • the hand-held dust suction device includes the dust suction head, the separation and dust collection part, and the fan assembly from the front to the back.
  • the power supply assembly is arranged at the rear end of the fan assembly; or the power supply assembly is arranged on at least one side or opposite sides of the upper, lower, left or right side of the fan assembly.
  • the direction of the dust suction head is defined as the forward direction, and the air outlet of the handheld dust suction device is located at the rear end of the housing.
  • the separation and dust collection part is assembled on the housing in a tool-free manner.
  • the dust suction head and the separating and dust collecting part are integrally formed; or the dust collecting head and the separating and dust collecting part are of a tool-free assembly and disassembly structure.
  • the dust suction head and the separating and dust collecting part are made of transparent materials.
  • the separation and dust collection part includes a chamber, which communicates with the suction head and the air inlet of the fan assembly, includes a separation chamber and communicates with the separation chamber and is located in the separation chamber.
  • a flexible blade is arranged between the separation chamber and the dust collection chamber, and there is a gap between the flexible blade and the wall of the chamber.
  • a lid that can be opened and closed is provided at the bottom of the dust collection chamber.
  • a seating detection component is provided on the housing for detecting the assembly state of the handheld vacuum cleaner in the mobile robot.
  • an adjustment button for adjusting the output power of the fan is provided on the housing.
  • the height of the handheld vacuum cleaner placed in the mobile robot is equal to or lower than the height of the mobile robot body.
  • the direction of the vacuum cleaner head is defined as the forward direction, and the length of the hand-held vacuum cleaner placed in the mobile robot in the forward and backward direction is less than the length in the forward and backward direction of the mobile robot body .
  • the handle is arranged at a position corresponding to the fan assembly and the power supply assembly in the housing.
  • control instructions of the control system of the mobile robot include instructions to turn on the fan, turn off the fan, and adjust the output power of the fan.
  • control instruction of the control system of the mobile robot includes an instruction to obtain the power of the power supply component.
  • the power supply assembly obtains charging power from the charging base of the mobile robot through the connector.
  • the mobile robot is a sweeping robot or a vacuuming robot.
  • the hand-held vacuum cleaner of the present application has the following beneficial effects: by arranging the hand-held vacuum device with an engaging structure for engaging with the mobile robot, the handheld vacuum device can be detachably combined with the mobile robot. , On the one hand, it can achieve centralized cleaning of small areas and small areas through a separate handheld vacuuming device, and can well clean corners or gaps that are difficult to clean by mobile robots. On the other hand, it can be The dust collection equipment is adapted to the mobile robot to achieve large-scale ground cleaning.
  • the handheld vacuum cleaner of the present application can meet multi-functional cleaning requirements, save the cost of purchasing additional cleaning devices, and save storage space at the same time.
  • FIG. 1 shows a schematic diagram of the separation of the handheld vacuum cleaner and a mobile robot in an embodiment of this application.
  • FIG. 2 shows a schematic diagram of a certain perspective in an embodiment of the handheld vacuum cleaner of the present application in an online working mode.
  • Fig. 3 shows a schematic diagram of a certain angle of view when the handheld vacuum cleaner of this application is configured in another form of mobile robot.
  • FIG. 4 shows a schematic diagram of a certain perspective in another embodiment of the handheld vacuum cleaner of this application in an online working mode.
  • FIG. 5 shows a schematic structural diagram of the handheld vacuum cleaner of this application in an embodiment in an offline working mode.
  • FIG. 6 shows a schematic structural diagram of the handheld vacuum cleaner of this application in an embodiment in an online working mode.
  • FIG. 7 shows a schematic structural diagram of the handheld vacuum cleaner of this application in an embodiment in an online working mode.
  • first, second, etc. are used herein to describe various elements or parameters in some instances, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one or parameter from another or parameter.
  • first engaging structure may be referred to as the second engaging structure, and similarly, the second engaging structure may be referred to as the first engaging structure without departing from the scope of the various described embodiments.
  • the first engaging structure and the second engaging structure are both describing one engaging structure, but unless the context clearly indicates otherwise, they are not the same engaging structure.
  • A, B or C or "A, B and/or C” means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C” .
  • An exception to this definition will only occur when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.
  • vacuum cleaners can be divided into horizontal vacuum cleaners, vertical vacuum cleaners and hand-held vacuum cleaners.
  • the hand-held vacuum cleaner is light and compact, and can flexibly clean the corners or gaps around the sofa, for example.
  • the handheld vacuum cleaner cannot clean the floor or large area carpets, and purchasing a special cleaner will cost a lot of costs. Therefore, the current handheld vacuum cleaners cannot meet the increasingly multifunctional demand.
  • the present application discloses a handheld vacuum cleaner.
  • the handheld vacuum cleaner can be detachably combined with the mobile robot by arranging a clamping structure on the handheld vacuum cleaner for engaging with the mobile robot.
  • it can achieve centralized cleaning of small areas and small areas through a separate handheld vacuuming device, and can well clean corners or gaps that are difficult to clean by mobile robots.
  • it can also vacuum the handheld The equipment is assembled on a mobile robot to achieve a wide range of ground cleaning.
  • the handheld vacuum cleaner of the present application can meet multi-functional cleaning requirements, save the cost of purchasing additional cleaning devices, and save storage space at the same time.
  • a mobile robot is a machine device that automatically performs specific tasks. It can accept commands from people, run pre-arranged programs, or act according to principles and guidelines formulated with artificial intelligence technology. This type of mobile robot can be used indoors or outdoors, can be used in industry or home, can be used to replace security patrols, replace people to clean the ground, can also be used for family companions, auxiliary office, etc. Take the most common sweeping robot as an example. Sweeping robots, also known as mobile robots, automatic sweeping machines, smart vacuum cleaners, etc., are a type of smart household appliances that can clean, vacuum, and wipe the floor.
  • the sweeping robot can be controlled by humans (the operator holds the remote control or through the APP loaded on the smart terminal) or completes the floor cleaning task in the room by itself according to certain set rules, which can clean the hair and dust on the ground , Debris and other ground debris. Therefore, the combination of a hand-held vacuuming device and a mobile robot can not only clean the ground, but also vacuum in a small area, saving users the cost of configuring special cleaning equipment to meet different cleaning needs.
  • Figures 1 and 2 are a physical form of a mobile robot for autonomous cleaning
  • Figures 3 to 7 are another physical form of mobile robot for autonomous cleaning. robot. But it is not limited to this.
  • the mobile robot is usually set in a certain shape (for example, a flat cylindrical structure) to increase environmental adaptability.
  • the mobile robot body with a flat cylindrical structure has better environmental adaptability, for example, when moving It will reduce the probability of collision with surrounding objects (such as furniture, walls, etc.) or reduce the intensity of the collision, so as to reduce damage to the mobile robot itself and surrounding objects, and is more conducive to turning or rotating.
  • the mobile robot body can also adopt, for example, a rectangular structure, a triangular column structure, or a semi-elliptical column structure or a D-shaped structure (such as those shown in FIGS. 1 and 2 Mobile robot) etc.
  • the mobile robot used for autonomous cleaning can be a vacuuming robot with or without a side sweep (side brush).
  • FIG. 1 shows a schematic diagram of the separation of the handheld vacuum cleaner and a mobile robot in an embodiment of the present application.
  • the handheld vacuum cleaner 10 of the present application can be assembled in the accommodation space 30 of a mobile robot 20.
  • the handheld vacuum cleaner 10 includes: a housing 110 provided with a handle 1101, a power supply assembly (not marked in FIG. 1), a fan assembly (not marked in FIG. 1), a separation and dust collection part 120, and a filter Components (not labeled in Figure 1).
  • the direction shown by the dashed arrow in FIG. 1 is defined as the forward direction; correspondingly, the reverse direction is defined as the backward direction.
  • the side in the front direction may be defined as the front side or the front end; the side in the opposite direction away from the front side or the front end may be defined as the rear side or the rear end.
  • the mobile robot may be a sweeping robot or a vacuuming robot.
  • the mobile robot includes a body, a power system, a control system, and so on.
  • FIG. 2 shows a schematic diagram of a certain perspective in an embodiment of the handheld vacuum cleaner of this application in an online working mode.
  • the handheld vacuum cleaner 10 when the handheld vacuum cleaner 10 is connected to the mobile robot, the handheld vacuum cleaner 10 is assembled in the mobile robot 10, and the mode of working with the mobile robot 10 is called online work. mode.
  • the mode in which the hand-held vacuum cleaner 10 works alone is called offline work In the offline working mode, the handheld vacuum cleaner 10 is completely used as an independent unit to perform vacuuming operations by the user.
  • FIG. 3 shows a schematic view of a certain perspective of the handheld vacuum cleaner of this application configured in another form of mobile robot.
  • the power system includes two opposite sides of the main body for A driving wheel 210 that drives the body to move.
  • the driving wheel 210 is installed along any side of the chassis 200.
  • the driving wheel 210 is arranged at the rear end of the dust suction port 220 and is used to drive the mobile robot to reciprocate back and forth according to the planned movement trajectory Movement, rotation or curve movement, etc., or drive the mobile robot to adjust the posture, and provide two contact points between the body and the floor surface.
  • the driving wheel 210 may have a biased drop suspension system, which is fastened in a movable manner, for example, is rotatably mounted to the body, and receives a spring bias that is biased downward and away from the body.
  • the spring bias allows the driving wheel 210 to maintain contact and traction with the ground with a certain ground force, so as to ensure that the tire surface of the driving wheel 210 fully contacts the ground.
  • the rotation speed difference of the driving wheels 210 on both sides of the main body is driven by the adjuster to realize the steering.
  • At least one driven wheel 211 may be provided on the body to stabilize To support the body.
  • the driven wheel is also called: auxiliary wheel, caster, roller, universal wheel, etc.
  • the driving wheels 210 on both sides of the main body maintain the balance of the main body in motion.
  • the driven wheel 211 may be arranged at the rear part of the body, specifically, in a state as shown in FIG. 2.
  • driven wheels 211 which are respectively arranged on the rear side of the driving wheel 211, and It is arranged adjacent to the opposite sides of the fan assembly and the power supply assembly of the hand-held vacuum cleaner, and together with the driving wheels 210 on both sides of the main body to maintain the balance of the main body in the moving state.
  • FIG. 4 shows a top view of the handheld vacuum cleaner of this application in another embodiment in the online working mode.
  • the driving wheel and its driving motor in the power system and the modularized fan assembly and power supply assembly of the handheld vacuum cleaner are respectively located in the front part and the rear part of the mobile robot, so that the handheld vacuum cleaner 10 When assembled on the mobile robot 20, the weight of the entire mobile robot is balanced.
  • the position of the fan assembly and the power supply assembly of the hand-held vacuum cleaner is at the position shown by the handle 1101 in the figure.
  • the handheld vacuum cleaner 10 is symmetrically located on the central axis of the mobile robot 20 in the front-to-rear direction (shown by the dashed arrow in FIG. 4), so that the driving wheels on the left and right sides of the mobile robot 20 are working
  • the force is consistent, which is more conducive to the drive and control of the mobile robot.
  • the power system further includes a driving motor.
  • the mobile robot may also include at least one drive unit, such as a left-wheel drive unit for driving the left-hand drive wheel and a right-wheel drive unit for the right-hand drive wheel.
  • the driving unit may include one or more processors (CPU) or micro processing units (MCU) dedicated to controlling the driving motor.
  • the micro-processing unit is used to convert the information or data provided by the processing device into an electrical signal for controlling the drive motor, and control the rotation speed and steering of the drive motor according to the electrical signal to adjust the movement.
  • the moving speed and direction of the robot The information or data is the deflection angle determined by the processing device.
  • the processor in the drive unit can be shared with the processor in the processing device or can be set independently.
  • the drive unit serves as a slave processing device
  • the processing device serves as a master device
  • the drive unit performs movement control based on the control of the processing device.
  • the drive unit is shared with the processor in the processing device.
  • the drive unit receives the data provided by the processing device through the program interface.
  • the driving unit is used for controlling the driving wheel based on a movement control instruction provided by the processing device.
  • the control system is arranged on the body for controlling the driving wheel 210, and is usually provided with a processor and a memory.
  • the control system is arranged on the main circuit board in the body, including a memory and a processor, etc., and the memory and the processor are directly or indirectly electrically connected to realize data transmission or interaction .
  • the memory and the processor may be electrically connected to each other through one or more communication buses or signal lines.
  • the control system is electrically connected to the main body through the first connector, thereby controlling the movement of the main body.
  • the control system is electrically connected to the handheld vacuum cleaner through the second connector that is electrically connected to the first connector, so as to realize the assembly of the handheld vacuum cleaner to realize the online working mode.
  • the control system may also include at least one software module stored in the memory in the form of software or firmware (Firmware).
  • the software module is used to store various programs for the mobile robot to execute, for example, a path planning program of the mobile robot.
  • the processor is used to execute the program, thereby controlling the mobile robot to perform cleaning tasks.
  • the processor includes an integrated circuit chip with signal processing capabilities; or a general-purpose processor, for example, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a discrete gate or a transistor logic device , Discrete hardware components can implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of the present application.
  • the general-purpose processor may be a microprocessor or any conventional processor.
  • the memory may include random access memory (Random Access Memory, RAM), read-only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), Erasable Programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), Electric Erasable Programmable Read-Only Memory, EEPROM, etc.
  • RAM Random Access Memory
  • ROM read-only memory
  • PROM programmable read-only memory
  • PROM Erasable Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrical Erasable Programmable Read-Only Memory
  • the control system may also only be provided with a sensing system, which is used to sense related signals and physical quantities to determine the position information and motion state information of the mobile device.
  • the sensing system may include a camera device, a laser direct structuring (LDS) device, various sensing devices, etc., where these devices can be combined in different ways according to product requirements.
  • the sensing system may include a camera device and various sensor devices.
  • the sensing system may include a laser distance measuring device and various sensor devices.
  • the sensing system may include a camera device, a laser distance measuring device, and various sensor devices. In the foregoing embodiments, there may be one or more imaging devices.
  • the top surface of the body (for example, the central area of the top surface, the front end of the top surface relative to the central area, the rear end of the top surface relative to the central area), the side surface or the top surface and the side At least one camera can be provided at the junction of the surface of the mobile robot, and the optical axis of the at least one camera is at an acute or close to a right angle to the plane formed by the top surface, and is used to capture images of the operating environment of the mobile robot to facilitate subsequent VSLAM (Visual Simultaneous Localization and Mapping, visual simultaneous localization and map creation) and object recognition.
  • VSLAM Visual Simultaneous Localization and Mapping, visual simultaneous localization and map creation
  • the top surface of the body may be provided with a monocular camera, and the monocular camera can calculate the transformation of the camera's pose by matching adjacent images, and perform triangulation ranging from two perspectives. The depth information of the corresponding points can be obtained, and the positioning and mapping can be realized through the iterative process.
  • a binocular camera may be provided on the top surface of the body, and the binocular camera may calculate depth information through a triangulation method, and positioning and mapping may be realized through an iterative process.
  • the top surface of the main body may be provided with a fish-eye camera, the fish-eye camera protrudes from the top surface of the main body, and a panoramic image can be obtained through the fish-eye camera.
  • the sensing system may include various types of sensors for different purposes, including but not limited to any one or a combination of pressure sensors, gravity sensors, distance sensors, cliff sensors, fall sensors, collision detection sensors, etc. .
  • the pressure sensor can be set on the shock absorber of the driving wheel, and the shock absorber can determine whether the mobile device has passed the uneven surface of the cleaning area by detecting the pressure change of the shock absorber.
  • the damping movement makes the pressure sensor output a pressure signal different from the pressure signal on a flat ground.
  • the pressure sensor may be arranged on a buffer component (such as a bumper, etc.) of the mobile robot. When the buffer component collides with an obstacle, the pressure-reducing vibration of the buffer component makes the pressure sensor output based on The pressure signal generated by the collision.
  • the gravity sensor can be set at any position of the body, and the gravity value of the mobile robot is detected to determine whether the mobile device passes the uneven surface of the cleaning area. When the mobile robot passes the uneven surface, the mobile robot The gravity value also changes accordingly.
  • a plurality of obstacle detectors are provided on the periphery of the front end of the body.
  • the obstacle detector includes, but is not limited to, cliff sensors, ranging sensors, collision detection sensors, etc., which are used for mobile robots to detect surrounding objects in a clean environment, so as to realize their own movement direction or movement posture according to the received feedback signal The adjustment to avoid collision with obstacles or falling off the cliff.
  • at least one side of the body is provided with the cliff sensor, and the cliff sensor is located at the front end and close to the bottom of the edge of the mobile robot.
  • cliff sensors there are multiple cliff sensors, such as four, which are respectively arranged at the front end of the bottom of the body, and are used to transmit sensing signals to the ground and use the signals received by reflection to sense cliffs.
  • the cliff sensor is also called the suspended sensor.
  • the cliff sensor is a light sensor that mainly uses various forms.
  • the cliff sensor can be an infrared sensor with an infrared signal transmitter and an infrared signal receiver. Infrared light and the reflected infrared light are received to perceive the cliff, and further, the depth of the cliff can be analyzed.
  • a distance measuring sensor may also be provided to detect changes in the vertical distance between the chassis 200 of the mobile robot and the ground, and/or to detect changes in the distance between the mobile robot and surrounding objects.
  • the distance measuring sensor can be arranged on the buffer component of the mobile robot, so that when the mobile robot is traveling, the distance measuring sensor can detect the change of the distance between the mobile robot and other objects in the clean environment.
  • the bumper is in the shape of a circular arc and is arranged at the front end of the mobile robot body.
  • the distance measurement sensor may include an infrared distance measurement sensor, and the number of infrared distance measurement sensors may be multiple.
  • the number of infrared distance measurement sensors may be four, six, or eight, which are arranged symmetrically in the Opposite sides of the bumper.
  • Each infrared ranging sensor has an infrared signal transmitter and an infrared signal receiver.
  • the infrared signal transmitter emits a beam of infrared light, which forms a reflection after it hits the object, and the reflected infrared light is received by the infrared signal receiver.
  • the time difference data between infrared emission and reception is calculated to obtain the distance between the mobile robot and the object.
  • the ranging sensor may include a ToF sensor, and ToF (Time of Flight) is the time of flight technology.
  • the number of ToF sensors may be multiple, for example, the number of ToF sensors is two, which are respectively arranged symmetrically on opposite sides of the bumper.
  • the ToF sensor emits modulated near-infrared light, reflects after encountering an object, receives the reflected light, and calculates the distance between the mobile robot and the object by calculating the time difference or phase difference between light emission and reflection.
  • the distance measurement sensor may include an ultrasonic distance measurement sensor, and the ultrasonic distance measurement sensor may be disposed on the frontmost end centered in the bumper.
  • the ultrasonic distance measuring sensor has an ultrasonic transmitter and a sound wave receiver. The ultrasonic transmitter is used to transmit ultrasonic waves.
  • the counter starts timing at the same time as the transmission time.
  • the ultrasonic waves propagate in the air, and they will be reflected back immediately when they hit objects on the way.
  • the timing is stopped immediately, and the distance between the mobile robot and the object is calculated based on the time recorded by the timer.
  • the distance measuring sensor can also be provided on the chassis 200 of the mobile robot.
  • the distance between the chassis of the mobile robot and the floor surface is detected to determine whether the mobile device has passed the uneven surface of the cleaning area.
  • the ranging sensor can detect the change in the distance between the mobile robot chassis 200 and the ground.
  • the body can also be equipped with buffer components to avoid damage caused by the collision of the mobile robot with surrounding objects in the clean environment.
  • the buffer component may be, for example, a bumper, which is used to buffer the collision of the mobile robot with surrounding objects during the movement.
  • the bumper is roughly in the shape of a circular arc sheet, which can be installed at the forward part of the side panel of the body.
  • An elastic structure may be provided between the bumper and the body, so that a stretchable elastic space is formed between the two.
  • the bumper may adopt a multi-layer structure, or a soft rubber strip or the like may be provided on the outside of the bumper.
  • a collision detection sensor may be provided on the body, and the collision detection sensor is associated with the bumper and mainly includes light.
  • the collision telescopic rod located on the inner side of the bumper will contract and block the light emitter The light path between the light transmitter and the light receiver is cut off between the light receiver and the light receiver, and the collision detection sensor sends out a collision signal.
  • the sensing device may also include other sensors, such as magnetometers, accelerometers, gyroscopes, odometers, etc.
  • sensors such as magnetometers, accelerometers, gyroscopes, odometers, etc.
  • the above-mentioned various sensors can also be used in combination to achieve better detection and control effects.
  • control system is further provided with a positioning and navigation system
  • the processor uses a positioning algorithm (such as SLAM) to map the environment where the mobile robot is located according to the object information fed back by the laser ranging device in the sensing system.
  • the processor uses a positioning algorithm (such as VSLAM) to draw a real-time map of the environment where the mobile robot is located according to the image information captured by the camera device in the perception system, so that planning based on the drawn real-time map information is the most efficient Reasonable cleaning paths and cleaning methods greatly improve the cleaning efficiency of mobile robots.
  • control system is also provided with a mileage calculation system.
  • the processor obtains an instruction to reach a target predetermined position, and calculates and obtains a cleaning path according to the target predetermined position and the initial position where the mobile robot is currently located. After the mobile robot starts to work, the processor calculates the mileage of the mobile robot in real time according to the speed data, acceleration data, and time data fed back by the motor.
  • control system is also provided with an object recognition system.
  • the processor compares the image information captured by the camera device in the sensing system with the object image stored in the known image database of the memory, and obtains the category information and location information of the surrounding objects in real time, thereby achieving better Accurate map construction and navigation functions.
  • the mobile robot has a built-in object recognition model obtained through deep learning in advance. During the work of the mobile robot, the image taken by the camera is input into the object recognition model. Calculate the object information (such as position information, shape information, etc.) existing in the input image, and identify the object category in the image.
  • the object recognition model can be obtained through convolutional neural network training.
  • Convolutional Neural Network is an architecture of deep neural networks, which is closely related to image processing.
  • the weight-sharing network structure of convolutional neural networks makes it more similar to biological neural networks. This structure not only reduces the complexity of the network model, but also reduces the number of weights. This network structure is effective for translation, scaling, and tilt. Or other forms of deformation are highly invariant.
  • Convolutional neural networks can directly use images as the input of the network, avoiding the complicated process of feature extraction and data reconstruction in traditional recognition algorithms.
  • control system is also provided with a vision measurement system. Similar to the object recognition system and the positioning and navigation system, the vision measurement system is also based on SLAM or VSLAM. It measures the clean environment through the camera device in the perception system, and recognizes the landmark objects and main features in the clean environment. A map of the clean environment is drawn and navigated based on principles such as triangulation, so as to confirm the current location of the mobile robot and confirm the cleaned and uncleaned areas.
  • the control system is also provided with a voice recognition system.
  • the voice recognition system the user can issue voice commands to the audio media device to control the mobile robot, thereby enabling the user to control the mobile robot, even if the user does not have a hand to operate a manual input device that can be operated with the mobile robot; Alternatively, the user can also receive notifications about the state of the mobile robot without having to physically approach the mobile robot.
  • the voice recognition system can also be positioned to provide audible notifications to the user, and can provide these notifications to the user when the mobile robot autonomously navigates around the home (in some cases away from the user's vicinity). Since the voice recognition system can issue audible notifications, it can notify the user of the state of the mobile robot without having to divert the user's visual attention.
  • Figure 5 shows a schematic structural diagram of the handheld vacuum cleaner of this application in an offline working mode in an embodiment
  • Figure 6 shows the handheld vacuum cleaner of this application in an online working mode
  • the housing 110 provided with a handle includes an engaging structure for engaging in a mobile robot 20 and an electrical connection to the mobile robot 20.
  • Control system connector (not shown).
  • the housing 110 may be integrally formed of a material such as plastic to provide protection for related devices or components therein.
  • a handle 1101 is provided on the housing 110.
  • the handle 1101 may also be a pull-out handle or a flip-type handle.
  • the handle 1101 is provided on the upper surface of the housing (the direction indicated by the dashed arrow in FIG. 5 is upward, and correspondingly, the outer housing faces upward.
  • the surface is called the upper surface).
  • the length of the handle 1101 can be set to a length convenient for human hands to grasp; in some embodiments, a plurality of protrusions can also be provided on the surface of the handle 1101 to increase friction and facilitate holding.
  • the working modes of the handheld vacuum cleaner include offline working mode and online working mode.
  • the handheld vacuum cleaner further includes a mode detection module (not shown), which is arranged in the housing and is electrically connected to the connector to detect The working mode of the handheld vacuum cleaner.
  • the mode detection module obtains the working mode of the handheld vacuum cleaner by detecting the state of the passage between the connector and the mobile robot. For example, when the mode detection module detects that the electrical connection between the connector and the mobile robot is a pathway (for example, the level collected from the detection point is high), it means that the handheld vacuum cleaner is assembled at this time. On the mobile robot and connected to the mobile robot, the handheld vacuum cleaner is in an online working mode.
  • the mode detection module detects that the electrical connection between the connector and the mobile robot is open (for example, the level collected from the detection point is low), it means that the handheld vacuum cleaner is connected to the The mobile robot is separated and not connected to the mobile robot, and the handheld vacuum cleaner is in an offline working mode.
  • the mobile robot was used as a sweeping robot, a cleaning robot or a vacuuming robot to perform cleaning tasks on the ground (floor). Due to its long walk, the mobile robot body would bump Or vibration, of course, part of the vibration may also be the working vibration of the fan, which will affect the stability of the handheld vacuum cleaner 10 assembled on the mobile robot 20. Therefore, the housing 110 is provided with an engaging structure for engaging in the mobile robot 20, so as to closely connect the handheld vacuum cleaner 10 and the mobile robot 20 together and prevent the handheld vacuum cleaner from 10 Fall off when working in online working mode.
  • the engagement structure is a tool-free engagement structure, such as a slot structure or a magnetic attraction structure, which can be disassembled and assembled without tools, and the operation is simple and convenient.
  • the mobile robot 20 is provided with a plurality of first engaging structures 230 (only one is marked as an example in FIG. 6), and the handheld vacuum cleaner 10 is provided with a plurality of corresponding engaging structures.
  • the second engaging structure 130 is a mutually corresponding fitting structure.
  • the first engaging structure 230 is a protrusion structure
  • the second engaging structure 130 is a groove structure corresponding to the protrusion structure
  • the structure 230 is a slot structure
  • the second engagement structure 130 is a protrusion structure corresponding to the slot structure.
  • the airtightness of the combination of the head 140, the front side of the mobile robot is also provided with a first engaging structure 230, and correspondingly, the vacuum head of the handheld vacuum cleaner 10 is provided with a corresponding first engaging structure 230
  • the second snap-fit structure 130 In the embodiment shown in FIG. 6, the first engaging structure 230 provided on the front side of the mobile robot 20 is a hook, and accordingly, the side wall of the suction head of the handheld vacuum cleaner 10 is provided
  • the second engaging structure 130 corresponding to the first engaging structure 230 is a card slot.
  • the front end of the handheld vacuum cleaner 10 is assembled on the mobile robot 20 by the combination of the hook and the card slot.
  • the combination is firm, thereby ensuring the airtightness or sealing performance of the combination of the dust suction port 220 and the dust suction head 140, and will not reduce the dust collection efficiency due to air leakage.
  • the connector is arranged in the housing (not shown), and is used to electrically connect the portable vacuum cleaner and the mobile robot in the online working mode, and transmit the control command sent by the control system of the mobile robot.
  • the connector When the handheld vacuum cleaner is in an online working mode, the connector is in a connected state, and when the handheld vacuum cleaner is in an offline working mode, the connector is in a disconnected state.
  • the handheld vacuum cleaner is provided with a first connector electrically connected to the control system
  • the mobile robot is provided with a corresponding second connector electrically connected to the first connector (Not shown).
  • the first and second connectors are plug-in connectors, such as pin connectors, socket connectors, or gold finger connectors. The first connector is electrically connected to the control system and the second connector.
  • a pin-type connector or a socket-type connector is provided between the control system and the handheld vacuum cleaner to electrically connect the two, which is used to realize the The control of the fan of the hand-held vacuuming device, for example, adjusting the output power of the fan of the hand-held vacuuming device; a pin connection is provided between the control system and the hand-held vacuuming device to electrically connect the two Socket or slot connector, used to control the motion state of the mobile robot.
  • the housing 110 may also be provided with a position detection component for detecting the assembly state of the handheld vacuum cleaner in the mobile robot 20.
  • the seat detection component may include a Hall sensor and a magnet, wherein the magnet is disposed inside the housing 110 (not shown), and the magnet passes through the connection
  • the sensor is electrically connected to the mobile robot 20, and the Hall sensor is arranged in the corresponding assembly space 30 on the mobile robot 20.
  • the chassis 300 and the housing of the mobile robot 20 can be detachably combined with various suitable devices (such as screws, buckles, etc.), and after being combined, the chassis 300 And the shell can form a package structure, and the package structure has a certain accommodation space.
  • the accommodation space can be used to accommodate various devices or components of the mobile robot 20.
  • the accommodation space can be used to accommodate the power system, the control system, and other related devices. Or parts.
  • the handheld vacuum cleaner 10 is detachably assembled in the accommodating space, occupies a part of the accommodating space, and the handheld vacuum cleaner 10 is detached and fixed through a snap structure.
  • the part of the handheld vacuum cleaner 10 that occupies the receiving space forms the assembly space 30.
  • the handheld vacuum cleaner 10 When the handheld vacuum cleaner 10 is connected to the mobile robot 20, that is, when the handheld vacuum cleaner 10 is in the online working mode, when the magnet on the handheld vacuum cleaner 10 is connected to the Hall at the assembly space 30 Corresponding to the sensor. Because the magnetic field changes and cuts the lines of magnetic force, the Hall sensor will output a pulse signal to determine that the handheld vacuum cleaner 10 is placed in place or has been correctly located in the assembly space 30. When the magnet is not in contact with If the Hall sensor in the assembly space 30 corresponds, the Hall sensor will not output a pulse signal, and the control system will output an alarm signal because it has not received the corresponding pulse signal to remind the user of the handheld vacuum cleaner Not placed in place.
  • the mobile robot when in the online working mode, can complete the ground cleaning task according to a pre-established program or cleaning plan.
  • the area that needs to be cleaned is often large, such as the floor of the entire room.
  • the mobile robot can spend more working hours to complete the cleaning to reduce the power requirements.
  • the power of the fan in the assembled state is often reduced.
  • the fan needs to be adjusted to a higher power.
  • an adjustment button for adjusting the output power of the fan is also provided on the housing, so as to adjust the output power of the fan according to different application scenarios or usage states.
  • the adjustment button may be provided on the outer surface of the housing.
  • the adjustment button is a plurality of preset power levels, for example, the first gear or low gear, the second gear or middle gear, the third gear or the high third gear are marked and corresponding respectively.
  • the adjustment buttons are also equipped with status display lights to display the status of these buttons to provide a better human-machine user experience.
  • the status display light can have different choices in display colors and display modes. For example, the status display light can be based on different output powers (for example, high power mode, low power mode, standby mode, etc.). Etc.) and display different light colors, or use different display methods (for example: constant light, breathing light mode, flashing, etc.).
  • the power supply assembly is arranged in the housing 110, electrically connected to the connector, and used to provide electric energy to the mobile robot through the connector.
  • the power supply assembly includes a battery part and a circuit part for supplying power to other electric devices such as the power system and the control system.
  • the battery part may include a rechargeable battery (group), for example, a conventional nickel metal hydride (NiMH) battery may be used, which is economical and reliable, or the battery part may also be other suitable rechargeable batteries (group), such as a lithium battery Compared with nickel-metal hydride batteries, lithium batteries have a higher volumetric specific energy than nickel-metal hydride batteries; and lithium batteries have no memory effect and can be charged at any time, greatly improving convenience.
  • the power supply assembly also includes a battery groove, the rechargeable battery (group) is installed in the battery groove, and the size of the battery groove can be customized according to the installed battery (group).
  • the rechargeable battery (pack) can be installed in the battery groove in a conventional manner, such as a spring latch.
  • the battery groove can be closed by a battery cover plate, and the battery cover plate can be fixed to the outer wall of the power supply assembly in a conventional manner, such as screws.
  • the rechargeable battery (group) can be connected with a charging control circuit, a battery charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, a battery charging temperature detection circuit, and a battery undervoltage monitoring circuit are then connected to the control system .
  • the battery part, circuit part, and battery groove are surrounded by a shell to form a modular integrated assembly structure, which can be integrated into different modules through pre-design, integration and assembly, and finally assembled into a whole, Finally, it is encapsulated by a shell to form a modular integrated assembly structure.
  • the power supply assembly obtains the charging power from the charging base of the mobile robot through the connector, that is, through the charging electrodes and the charging base provided on the side or bottom of the mobile robot body. Connect to charge.
  • the power supply assembly may include a main battery and a backup battery, and when the main battery is too low or there is a line failure, it can be switched to the backup battery to work.
  • the control instruction of the control system of the mobile robot includes an instruction to obtain the power of the power supply component.
  • the mobile robot and its matching charging station also called a charging stand
  • the control system of the mobile robot sends an instruction to the power supply component to obtain the power of the power supply component.
  • the control system of the mobile robot detects the power of the handheld vacuum cleaner through the connector. When the power of the mobile robot is too low, the mobile robot transmits a homing signal to the charging station that is paired with it, and then returns to the charging station following the homing signal to charge the battery of the power supply component of the handheld vacuum cleaner.
  • the fan assembly is arranged in the housing, is electrically connected to the power supply assembly and the connector, and is used to receive a control command of the control system of the mobile robot through the connector.
  • the control instructions of the control system of the mobile robot include instructions for turning on the fan, turning off the fan, and adjusting the output power of the fan.
  • the instructions for adjusting the output power of the fan are, for example, the control system of the mobile robot according to the detection in the working state. Different power modes such as the first gear or low gear, the second gear or middle gear, the third gear or the high gear output by the floor dust state or the ground material (such as wooden floor or carpet).
  • the power supply assembly is arranged at the rear end of the fan assembly.
  • the power supply assembly can also be arranged on at least one side of the upper, lower, left or right side of the fan assembly, so that the power supply assembly is close to the handheld dust collector. The geometric center of the device, and the center of gravity of the hand-held vacuum cleaner is further forward, making it more labor-saving when holding the hand-held vacuum cleaner.
  • the handheld dust collector includes At least the housing that encapsulates the power supply assembly and the fan assembly, on the one hand, the housing protects the power supply assembly and the fan assembly provided therein, and on the other hand, the noise can be reduced; and the housing can prevent airflow from exhausting the air The air flow can only escape from the place outside the opening, and the airflow channel is only the fan inlet and the air outlet, which is more conducive to air exhaust.
  • the separation and dust collection part is detachably assembled on the housing so as to be separately removed for cleaning or replacement.
  • FIG. 7 shows a schematic structural diagram of an embodiment of the handheld vacuum cleaner of this application in an online working mode.
  • the handheld vacuum cleaner is the vacuum cleaner in order from front to back.
  • the power supply assembly 170 is arranged at the rear end of the fan assembly; or the power supply assembly 170 is arranged on the upper, lower, left or At least one side or opposite sides of the right side. Since the power supply assembly 170 and the fan assembly 160 in the handheld vacuum cleaner 10 occupy most of its overall weight, the present application sets the position of the handle 1101 to the power supply assembly 170 and the fan assembly in the handheld vacuum cleaner 10 The upper side of the, in order to make the user more labor-saving operation.
  • the separation and dust collection part 120 is detachably disposed on the housing 110, and includes a dust suction head 140 that can be docked to the dust suction port 220 of the mobile robot, and a separation chamber 1210 and The dust collection chamber 1220, the air outlets of the separation chamber 1210 and the dust collection chamber 1220 are in communication with the air inlet 1601 of the fan assembly.
  • the direction of the dust suction head is defined as forward (that is, the direction shown by the dashed arrow in FIG. 7); correspondingly, the direction of the dust suction head
  • the opposite direction is defined as backward.
  • the side in the direction of the suction head is defined as the front side or the front end; the side in the opposite direction away from the front side or the front end is defined as the rear side or the rear end.
  • One end of the dust suction head 140 communicates with the dust suction port 220, and the other end communicates with the air duct inlet 1240 of the separation and dust collection part 120 to form a passage for air circulation.
  • a sealing ring (not shown) is provided at the place where one end of the dust suction head 140 communicates with the dust suction port 220 to seal the possible occurrence between the dust suction head 140 and the dust suction port 220. To improve the suction efficiency.
  • the separation and dust collection part 120 is assembled on the housing 110 in a tool-free manner.
  • the tool-free means that the separation and dust collection part 120 can be assembled on the housing 110 by the operation of the user's hands without borrowing any tools. By means of tool-free loading and unloading, the separation and dust collection part can be easily cleaned or replaced.
  • the dust suction head 140 and the separation and dust collection part 120 are integrally formed, for example, using a material such as plastic to be integrally formed; or the dust suction head 140 and the separation and dust collection part 120 can be Tool-free loading and unloading structure, you can replace or configure different vacuum heads according to actual needs to achieve better cleaning results. It should be understood that in practical applications, the shape, size, or width of the vacuum head may be different for different cleaning environments. For example, for the cleaning of door slits, the dust suction head may be required to have a relatively slender shape.
  • the suction head 140 is provided with a docking structure (not shown), and the docking structure is used to dock a variety of suction head accessories suitable for different application scenarios, and the suction head accessories are Its specific functions can present different structures, such as duckbill nozzles for the plot of the gap or flat nozzles for a large area (such as a bed).
  • the hand-held vacuum cleaner 10 is usually used for small-scale, centralized cleaning, it is designed to have a higher power vacuum performance (compared to the vacuum power when assembled in a mobile robot) For this reason, the handheld vacuum cleaner 10 needs a longer body to optimize its air duct design to meet its high-power requirements. For this reason, this application optimizes the air duct design, that is, a cyclone separation design avoids If the air duct is too short, the air duct may be blocked, for example, a large amount of garbage or dust will block the filter due to the short air duct.
  • the separation and dust collection part 120 includes a housing, an air duct inlet 1240 communicating with the dust suction head 220, and a chamber.
  • the chamber includes a separation chamber 1210 and a separation chamber 1210 connected to the separation chamber 1210 and located in The dust collection chamber 1220 on the lower side of the separation chamber 1210.
  • the chamber further includes an outer filter 1211 and an inner filter 1212, and the outer filter 1211 has a circular ring-shaped side wall structure to form a circular air cavity; or The outer filter 1211 and part of the outer shell together form a circular air cavity.
  • the outer filter 1211 and all the outer casings form an accommodating cavity 1213, or the gap between the outer filter 1211 and a part of the outer casing forms an accommodating cavity 1213.
  • the inner filter 1212 is arranged as an annular side wall structure in the circular wind cavity, and the middle part of the inner filter 1212 forms a separation chamber 1210.
  • a flexible blade 1230 is further provided between the separation chamber 1210 and the dust collection chamber 1220, and there is a gap between the flexible blade 1230 and the wall of the chamber, so that the separation chamber Dust or debris can fall into the dust collection chamber 1220 from the gap.
  • the material of the flexible blade 1230 is, for example, rubber with elasticity. When the area of the separated debris is large, it cannot When falling into the dust collection chamber 1220 through the gap, the flexible blade 1230 can also be bent and deformed by its own weight so as to fall into the dust collection chamber 1220.
  • the separation and dust collection part 120 is separated in the separation and dust collection part 120.
  • the radial size of the dust particles in the dirt is smaller than the radial size of the debris
  • the aperture of the first filter hole provided on the outer filter 1211 is larger than the radial size of the dust particles and smaller than the radial size of the debris
  • the aperture of the second filter hole opened on the inner filter 1212 is smaller than the radial size of the debris.
  • the air flow carries dust and debris and other dirt into the chamber from the air duct inlet 1240, and follows a circular ring shape.
  • the inner wall of the wind cavity moves to form a cyclone.
  • the radial size of the dust particles in the dirt is smaller than the radial size of the debris.
  • the aperture of the first filter hole provided on the outer filter 1211 is larger than the radial size of the dust particles
  • the radial size is larger than the aperture of the second filter hole provided on the inner filter 1212, and the light dust particles will be subjected to centrifugal force during the process of moving with the cyclone and enter the containing cavity 1213 through the first filter hole to stand still.
  • the debris is separated and is no longer disturbed by the airflow. Due to the action of gravity, the relatively dusty debris falls to the dust collection chamber 1220 through the gap between the flexible blade 1230 and the wall of the chamber.
  • the flexible blade 1230 is used to keep the collected debris in It is not easy to run around in a relatively stable space, so that it can be cleaned up later.
  • the bottom of the dust collection chamber 1220 is provided with a cover 1221 that can be opened and closed, so that when the dust collection chamber 1220 is full or needs to be cleaned, the dust collection chamber 1220 The dirt is poured out.
  • the cover 1221 further includes a fixing structure for fixing the cover 1221 to the dust collection chamber 1220.
  • the cover 1221 and the dust collection chamber 1220 may be connected and fixed by a hinge structure and a snap structure, and the hinge structure may include, for example, a hinge with a simple structure.
  • the dust suction head 140 and the separation and dust collection part 120 are made of transparent materials for more intuitive observation The collection situation in the dust chamber 1220.
  • the light dust is collected in the accommodating cavity 1213, and the debris is collected in the dust collection chamber 1220, which originally carried dust and debris and other dirt
  • the air flow becomes a clean air flow, which is discharged from the separation and dust collection part 120 through the air outlet, and then enters the fan 160 through the fan inlet 1610.
  • the fan assembly includes a fan inlet 1610 and a fan 160.
  • a filter assembly 150 is provided on the channel between the separation and dust collection part 120 and the fan inlet 1610, and the filter assembly 150 forms a certain gap with the receiving cavity 1213.
  • the filter assembly 150 includes a filter element or a similar filter structure to further filter the air flow, remove possible residual dust, and prevent the dirt in the separating and dust collecting part 120 from escaping and damaging the rear fan 160.
  • the filter element or similar filter structure is a detachable design and can be reused, for example, by brushing or washing. Of course, in some cases, the filter element or similar filter structure is a disposable consumable.
  • the handheld cleaning device of the present application optimizes the design of the air duct, that is, extends the length of the entire air duct to meet the demand for the air duct when it is used as a high-power handheld vacuum cleaner. For this reason, the dust suction port is located in the entire handheld vacuum cleaner.
  • the air outlet of the air duct is designed at the rear end of the entire handheld vacuum cleaner, so that the length of the entire air duct is almost equal to the length of the front and rear sides of the handheld vacuum cleaner, as shown in Figure 7,
  • the hand-held vacuum cleaner further includes an air outlet 180, which is located at the rear end of the hand-held vacuum cleaner.
  • the air outlet 180 may be configured as a grille structure arranged at intervals, and the gap of the grille may be designed according to actual needs, the characteristics of the fan, and the size of the air outlet.
  • the height of the grille may be slightly lower than the height of the passage formed by the air flow through the fan 160, so that a certain flow space is also left between the grille and the top of the passage.
  • the air outlet 180 may also adopt other structures, such as fins or through holes.
  • the air outlet of the separating and dust collecting part 120 is provided with a filter element or a similar filter structure to filter the air, so as to prevent the dirt in the separating and dust collecting part 120 from escaping from the fan 160 behind.
  • the cross-sectional area of the air outlet of the separation and dust collection part 120 is usually larger, and the fan inlet 1610 is much smaller than the separation and dust collection part.
  • the cross section of the connecting passage connecting the air outlet of the separating and dust collecting part 120 and the fan inlet 1610 is also reduced, so that the filter element or the like from the separating and dust collecting part 120 The wind from the filter structure enters the fan 160 in a certain direction with as little loss as possible.
  • the mobile robot When the mobile robot performs ground cleaning tasks, the mobile robot often needs to go deep into the gap between the bottom of the bed and the bottom of the cabinet to clean, so the height of the mobile robot is usually limited. In order to avoid that the height of the handheld vacuum cleaner is too high in the online working mode, the mobile robot cannot enter the gap with a relatively low height when it is assembled on the mobile robot. Therefore, the handheld vacuum cleaner is provided The height placed in the mobile robot is equal to or lower than the height of the mobile robot body.
  • the mobile robot is usually set in a certain shape (for example, a flat cylindrical structure) to increase environmental adaptability.
  • a certain shape for example, a flat cylindrical structure
  • the mobile robot body with a flat cylindrical structure has better environmental adaptability, for example, when moving It will reduce the probability of collision with surrounding objects (such as furniture, walls, etc.) or reduce the intensity of the collision, so as to reduce damage to the mobile robot itself and surrounding objects, and is more conducive to turning or rotating.
  • surrounding objects such as furniture, walls, etc.
  • it is not limited to this.
  • the mobile robot body can also adopt, for example, a rectangular structure, a triangular column structure, or a semi-elliptical column structure or a D-shaped structure (such as those shown in FIGS. 1 and 2 Mobile robot) etc. Therefore, in order not to hinder the movement of the mobile robot such as turning or rotating, and considering the overall aesthetics, the length of the handheld vacuum cleaner placed in the mobile robot in the front-rear direction is set to be less than the length of the mobile robot body in the front-rear direction.
  • the handheld vacuum cleaner of the present application realizes the detachable combination of the handheld vacuum cleaner with the mobile robot by providing a locking structure for being locked on the mobile robot. On the one hand, it can be realized by a separate handheld vacuum cleaner. Concentrated cleaning of small areas and small areas, and can well clean corners or gaps that are difficult to clean by mobile robots. On the other hand, it can also achieve large-scale floor cleaning by assembling handheld vacuum equipment on mobile robots .
  • the handheld vacuum cleaner of the present application can meet multi-functional cleaning requirements, save the cost of purchasing additional cleaning devices, and save storage space at the same time.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

Appareil à vide portatif (10), comprenant : un boîtier (110) pourvu d'une poignée (1101), le boîtier (110) comprenant une structure de mise en prise destinée à être mise en prise dans un robot mobile (20) et un connecteur pour être connecté électriquement à un système de commande du robot mobile (20) ; un ensemble d'alimentation électrique disposé dans le boîtier (110), électriquement connecté au connecteur, et conçu pour apporter de l'énergie électrique au robot mobile (20) à l'aide du connecteur ; un ensemble ventilateur disposé dans le boîtier (110), connecté électriquement à l'ensemble d'alimentation électrique et au connecteur, et conçu pour recevoir une instruction de commande du système de commande du robot mobile (20) à l'aide du connecteur ; une partie de séparation et de collecte de poussière (120) disposée de manière amovible sur le boîtier (110), et comprenant une tête à vide (140) qui peut être connectée à un orifice à vide (220) du robot mobile (20), et une chambre de séparation et de collecte de poussière en communication avec la tête à vide (140), une sortie d'air de la chambre de séparation et de collecte de poussière étant en communication avec une entrée d'air de l'ensemble ventilateur ; et un ensemble filtre, disposé entre la sortie d'air de la chambre de séparation et de collecte de poussière et l'entrée d'air de l'ensemble ventilateur.
PCT/CN2019/082578 2019-03-05 2019-04-12 Appareil à vide portatif WO2020177182A1 (fr)

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CN201910167388.7A CN111657781A (zh) 2019-03-05 2019-03-05 手持吸尘设备
CN201910167388.7 2019-03-05

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WO2020177182A1 true WO2020177182A1 (fr) 2020-09-10

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