WO2021218084A1

WO2021218084A1 - Sweeping robot

Info

Publication number: WO2021218084A1
Application number: PCT/CN2020/124768
Authority: WO
Inventors: 周威; 顾伟
Original assignee: 美智纵横科技有限责任公司
Priority date: 2020-04-29
Filing date: 2020-10-29
Publication date: 2021-11-04

Abstract

A sweeping robot (100), comprising: a main machine (1), a front collision assembly (2), a dust box (3) and a driving wheel (41), wherein a dust suction port (6) is provided at the bottom of the main machine (1), a rolling brush (81) is arranged inside the dust suction port (6), the front collision assembly (2) is arranged at the front end of the main machine (1), a detection device (7) used for acquiring a collision signal of the sweeping robot (100) is arranged on the front collision assembly (2), the dust box (3) is arranged on the main machine (1), an inner cavity of the dust box (3) is in communication with the dust suction port (6), and the driving wheel (41) is arranged on the main machine (1).

Description

Sweeping robot

Cross-references to related applications

This application is based on the following applications. The application numbers are: 202020696444.4, 202010358052.1, 202020694894.X, 202010358090.7 and 202010358104.5. The application dates of the above patents are all filed on April 29, 2020, and the priority of the above Chinese patent applications is claimed. The entire content of the aforementioned Chinese patent application is hereby incorporated into this application as a reference.

Technical field

This application relates to the field of household appliances, and specifically to a sweeping robot.

Background technique

With the continuous improvement of people's living standards, the application of smart home appliances has become more and more extensive, and smart home appliances have greatly improved people's comfort and convenience in life. The sweeping robot is a kind of smart home appliances. With certain artificial intelligence, it can automatically complete the floor cleaning work in the room.

In related technologies, the sweeping robot overemphasizes intelligence and neglects key cleaning indicators, stable operation, and forward collision trigger sensitivity. As a result, sweeping robots often have problems such as insensitive forward collision triggering and unstable center of gravity in practical applications.

Summary of the invention

This application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of this application is to propose a sweeping robot that has high sensitivity, so as to prevent the sweeping robot and the hit object from being damaged, and at the same time has high intelligence, which can Improve the cleaning effect and cleaning efficiency of the sweeping robot.

The sweeping robot according to the embodiment of the present application includes a host, a front impact assembly, a dust box, and a driving wheel. The bottom of the host is provided with a dust suction port, the dust suction port is provided with a rolling brush, and the front impact component is provided At the front end of the host, the front impact assembly is provided with a detection device for acquiring the collision signal of the sweeping robot, the dust box is provided on the host, and the inner cavity of the dust box is connected to the dust collector. The port is connected, and the driving wheel is arranged on the host.

Therefore, the sweeping robot according to the embodiment of the present application is provided with multiple detection devices on the front impact assembly, so that the multiple detection devices can detect and obtain the collision signal of the sweeping robot in all directions, and pass the collision signal received The detection device can determine the position of the obstacle relative to the sweeping robot, so that the sweeping robot can quickly avoid the obstacle.

In addition, by arranging a front impact component at the front end of the main engine, the front impact component can collide with obstacles, and the main engine will not collide with obstacles, so as to protect the main engine and the structure on it, thereby improving floor sweeping. The life span of the robot.

In addition, the sweeping robot according to the present application may also have the following additional technical features:

In some embodiments of the present application, the host includes a straight section and an arc-shaped section in the front-to-rear direction on a horizontal projection, the outer contour of the straight section is formed as a part of a rectangle, and the outer contour of the arc-shaped section It is formed as a part of a semicircle, the straight section and the arc-shaped section are butted with each other to form a closed outer contour, and the forward impact component is arranged on the straight section of the host away from the arc One side of the shape segment.

In some embodiments, the dust box is located in the middle of the host, there are two drive wheels, and the two drive wheels are respectively located on the left and right sides of the dust box.

Optionally, the sweeping robot further includes two drive wheel motors, and the two drive wheel motors are arranged on the host and are respectively arranged adjacent to the left and right sides of the host to connect the two drive wheels respectively. , The lateral center lines of the two drive wheel motors are located behind the lateral center lines of the two drive wheels.

In some embodiments of the present application, a navigation device that transmits and receives navigation signals is provided on the host.

In some embodiments of the present application, the sweeping robot further includes: a roller brush motor, the roller brush motor is arranged on the host and located below the forward impact component, and the roller brush motor is used to drive the When the roller brush rotates, the bottom of the host has an extension that extends forward, the forward impact component is arranged on the extension, and the roller brush motor is arranged at the location of the extension.

Optionally, the sweeping robot further includes: a side brush motor and a side brush, the side brush motor and the rolling brush motor are arranged transversely opposite to each other and are located on both sides of the longitudinal centerline of the host, and the side brush is connected to the side brush. The side brush motor is connected, and the side brush is located on the front side of the dust suction port.

In some embodiments of the present application, the sweeping robot further includes: a fan motor and a battery, the fan motor is arranged at the bottom of the arc section, the battery and the fan motor are respectively located in the longitudinal direction of the host Arranged on both sides of the center line.

Optionally, the sweeping robot further includes: a first auxiliary wheel and a second auxiliary wheel, the first auxiliary wheel is provided on the fan motor, the driving wheel motor adjacent to the fan motor, and the arc In the first area enclosed by the outer edge of the segment, the second auxiliary wheel is provided in the battery, the drive wheel motor adjacent to the battery, and the second area enclosed by the outer edge of the arc-shaped segment. within the area.

Optionally, there is a predetermined distance L between the center point of the entire machine of the cleaning robot and the lateral center lines of the two driving wheels, and the predetermined distance L ranges from 1 to 25 mm. The center point is located on the rear side of the lateral center lines of the two driving wheels.

Optionally, the center of gravity of the whole machine of the cleaning robot is adjacent to or located in front of the center line of the whole machine.

In some embodiments of the present application, the front impact assembly includes: a front impact base and a front impact housing, the front impact base is arranged at the front end of the host, and the front impact base extends in the left-right direction, The detection device is arranged on the front impact base, the detection device includes a plurality of detection devices, and the plurality of detection devices are respectively arranged on the arc surface and two side planes of the front impact base, the The front impact shell covers the exterior of the front impact base, wherein the front impact shell is movable relative to the front impact base.

Optionally, the front impact base is integrally connected to the front end of the host, the front impact base includes an outer peripheral surface and two side planes formed at the ends of the outer peripheral surface, and a plurality of the detection devices are respectively It is arranged on the outer peripheral surface and the two side planes.

Optionally, the front impact base includes multiple sections of base main bodies arranged side by side in the left-right direction, the multiple sections of the base main bodies are connected in sequence, and the outer diameters of the outer peripheral surfaces of two adjacent base main bodies are different.

Optionally, the forward impact shell includes a plurality of shell bodies arranged in a one-to-one correspondence with multiple sections of the base body, and each shell body covers the outside of the corresponding base body.

In some embodiments of the present application, the housing main body at the left and right ends includes: a first arc-shaped main body portion and a straight end, the first arc-shaped main body portion is configured to cover the corresponding base Outside of the outer peripheral surface of the seat body, the straight end portion is connected to the side portion of the first arc-shaped body portion and outwardly exceeds the outside of the side plane.

Optionally, the housing main body located in the middle portion includes: a second arc-shaped main body portion configured to cover the outside of the base main body located in the middle portion, the second arc-shaped main body Part is detachably connected with the first arc-shaped main body part or the second arc-shaped main body part adjacent to it, wherein both sides of each second arc-shaped main body part are detachably connected with all adjacent ones. The first arc-shaped main body portion or the second arc-shaped main body portion are connected.

In some embodiments of the present application, the front impact base is further provided with a visual detection device for obtaining visual signals, and the front impact housing further includes a baffle connected to the main body of the housing, and the baffle corresponds to The visual detection device is arranged and formed as a light-transmissive structure, the blocking piece is arranged in the middle of the housing body, and the blocking piece is connected to the housing body through a buckle and a slot structure.

Optionally, the visual detection device includes: a first detection device, a second detection device, and a third detection device, the first detection device is provided on the upper surface of the forward impact base; and/or, the The second detection device is provided on the bottom surface of the front impact base; and/or, the third detection device is provided on the front surface of the front impact base.

Optionally, the front impact base includes: a base body and a base mounting body, the visual detection device is arranged on the base mounting body, wherein the base mounting body surrounds the base body The length direction is rotatable, a plurality of the detection devices are arranged on the base body at intervals, and the base mounting body is arranged in the middle of the base body.

The additional aspects and advantages of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a schematic structural view of a cleaning robot implemented according to the present application;

Fig. 2 is a schematic structural diagram of another perspective of the sweeping robot implemented according to the present application;

Figure 3 is a cross-sectional view of the sweeping robot implemented according to the present application;

FIG. 4 is a schematic structural diagram of the structure of the cleaning robot implemented according to the present application with a part removed;

FIG. 5 is a schematic structural diagram of the front impact housing of the sweeping robot implemented according to the present application after being removed from the front impact base;

Fig. 6 is an enlarged view of area A in Fig. 5;

FIG. 7 is a schematic structural diagram of the front impact shell of the sweeping robot implemented according to the present application after the front impact shell is disassembled from the front impact base, and the shell body and the baffle are separated;

FIG. 8 is a schematic structural diagram from a perspective of an embodiment of the sweeping robot implemented according to the present application;

FIG. 9 is a schematic structural diagram from another angle of an embodiment of the sweeping robot implemented according to the present application;

Fig. 10 is a schematic structural diagram of another embodiment of a cleaning robot implemented according to the present application.

Reference number

100: sweeping robot;

1: Main unit; 11: straight section; 12: arc section; 19: extension; 2: front impact component; 21: front impact base; 211: base body; 212: base mounting body; 22: front Bump the shell; 221: shell body; 2211: first arc-shaped body part; 222: stop piece; 2221: second arc-shaped body part; 3: dust box; 4: drive wheel motor; 41: drive wheel; 5: navigation Device; 6: dust suction port; 7: detection device; 71: upper detection device; 72: front detection device; 73: side detection device; 8: rolling brush motor; 81: rolling brush; 9: side brush motor; 10: Side brush; 13: fan motor; 14: battery; 15: first auxiliary wheel; 16: second auxiliary wheel; 17: visual detection device; 171: first detection device; 172: second detection device; 173: third Detection device; 18: elastic stopper.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and should not be construed as a limitation to the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "upper", "lower", "front", "rear", " The orientation or positional relationship indicated by "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, It is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the application. In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, unless otherwise specified, "plurality" means two or more.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood under specific circumstances.

As shown in FIGS. 1 to 10, the cleaning robot 100 may include: a main body 1, a front impact assembly 2, a dust box 3, and a driving wheel 41.

Specifically, the bottom of the host 1 is provided with a dust suction port 6, and the dust suction port 6 is provided with a rolling brush 81. The front impact component 2 is provided at the front end of the host 1, and the front impact component 2 is provided for obtaining the collision signal of the sweeping robot 100. In the detection device 7, the dust box 3 is arranged on the host 1, the inner cavity of the dust box 3 is connected to the dust suction port 6, and the driving wheel 41 is arranged on the host 1.

That is to say, the dust suction port 6 can be arranged at the bottom of the main unit 1, and the dust suction port 6 faces the ground, so that the dust suction port 6 can absorb garbage on the ground, and the garbage can move toward the dust box 3 after entering the dust suction port 6. It is temporarily stored in the dust box 3. When the dust box 3 is full, the dust box 3 can be taken out of the main unit 1, and the garbage in it can be discarded. In addition, the dust suction port 6 is provided with a roller brush 81, so that by fitting the roller brush 81 at the dust suction port 6, at least a part of the roller brush 81 can be in contact with the base surface of the area to be cleaned. Perform cleaning.

By arranging the front impact assembly 2 at the front end of the host 1, that is, the front impact assembly 2 is installed at the front end of the moving direction of the cleaning robot 100, so that when the cleaning robot 100 collides with an obstacle, the front impact assembly 2 will first contact the obstacle. The object touches and collides and squeezes, so as to prevent the host 1 from being damaged. After the front collision component 2 collides with the obstacle, the front collision component 2 is triggered, so that the sweeping robot 100 can effectively avoid the obstacle after receiving the trigger signal Therefore, it is possible to prevent the cleaning robot 100 from continuously colliding with obstacles and causing the cleaning robot 100 to be damaged.

Further, the detection device 7 is provided on the front impact assembly 2, so that after the front impact assembly 2 collides with an obstacle, the detection device 7 can detect and obtain the collision signal, so that the sweeping robot 100 can receive the collision signal. Obstacles can be avoided effectively, so that the sweeping robot 100 can be prevented from continuously colliding with the obstacles.

By arranging the driving wheel 41 on the host 1, the driving wheel 41 can drive the host 1 to move, so that the cleaning robot 100 can move flexibly. In addition, two driving wheels 41 can be provided on the host 1, and a plurality of driving wheels 41 can also be provided on the host 1. By providing a plurality of driving wheels 41, the plurality of driving wheels 41 can support the host 1 stably. Thus, the cleaning robot 100 can walk stably. It is understandable that there are two or more than two, which is not limited.

According to the cleaning robot 100 of the embodiment of the present application, multiple detection devices 7 are provided on the front impact assembly 2, so that the multiple detection devices 7 can detect and acquire the collision signal of the cleaning robot 100 in all directions, and receive the collision signal. The signal detection device 7 can determine the orientation of the obstacle relative to the cleaning robot 100, so that the cleaning robot 100 can avoid the obstacle quickly.

In addition, by providing the front impact assembly 2 at the front end of the mainframe 1, the front impact assembly 2 can collide with obstacles, and the mainframe 1 will not collide with the obstacles, thereby protecting the mainframe 1 and the structure installed on it. Therefore, the service life of the cleaning robot 100 can be increased.

In some embodiments of the present application, the host 1 includes a straight section 11 and an arc-shaped section 12 in the front-to-rear direction on a horizontal projection. The outer contour of the straight section 11 is formed as a part of a rectangle, and the outer contour of the arc-shaped section 12 forms As a part of a semicircle, the straight section 11 and the arc-shaped section 12 are butted with each other to enclose a closed outer contour.

Therefore, after the two ends of the straight section 11 and the arc section 12 are connected, the horizontal projection of the host 1 is roughly formed into a D shape, for example, as shown in FIGS. 2 to 4, in the forward direction of the cleaning robot 100, The straight section 11 is located at the front end of the arc-shaped section 12, so that when the sweeping robot 100 is cleaning a corner (for example, a corner of a wall), the straight section 11 of the host 1 can better match the corner of the cleaning area, so that the sweeping robot 100 100 can clean the corner area, so that the cleaning effect of the cleaning robot 100 can be improved.

It can be understood that the outer contour of the straight section 11 may not be a standard rectangle. Specifically, the outer contour of the straight section 11 is generally rectangular, and the straight section 11 may be at least partially protruding or at least partially protruding. It is recessed, so that other structures can be more conveniently connected with the straight section 11.

In some embodiments of the present application, the dust box 3 is located in the middle of the host 1, there are two driving wheels 41, and the two driving wheels 41 are respectively located on the left and right sides of the dust box 3.

Therefore, the center of gravity of the dust box 3 can be in the middle of the host 1 after the dust box 3 receives the garbage, so that the position of the center of gravity of the sweeping robot 100 will not be changed significantly after the dust box 3 receives the garbage, thereby making the sweeping robot During the cleaning process, the center of gravity of the cleaning robot 100 is relatively stable, so that the cleaning robot 100 can walk more stably and preventing the cleaning robot 100 from turning over.

Further, two driving wheels 41 are respectively arranged on the left and right sides of the dust box 3. For example, as shown in FIG. After the garbage is received, the left and right driving wheels 41 can support the weight of the dust box 3 more stably, preventing the sweeping robot 100 from being unstable in the center of gravity, and turning left, right, forward, backward, etc., which will affect sweeping. The robot 100 performs cleaning operations. Furthermore, the two driving wheels 41 may be symmetrical about the vertical center line of the host 1, so that the two driving wheels 41 can support the cleaning robot 100 more stably, and the cleaning robot 100 can perform cleaning work better.

Optionally, the sweeping robot 100 further includes two driving wheel motors 4, and the two driving wheel motors 4 are provided on the main body 1 and are respectively arranged adjacent to the left and right sides of the main body 1 to connect the two driving wheels 41 respectively.

That is to say, the two driving force motors can be used to provide power to the two driving wheels 41 respectively. Therefore, the driving wheel motor 4 on the left side of the cleaning robot 100 can drive the driving wheel 41 on the left side of the cleaning robot 100 to rotate. The driving wheel motor 4 on the right side of the cleaning robot 100 can drive the driving wheel 41 on the right side of the cleaning robot 100 to rotate, so that the left and right driving wheels 41 can rotate more stably, so that the cleaning robot 100 can walk and clean more stably.

Optionally, the lateral center lines of the two drive wheel motors 4 are located on the rear side of the lateral center lines of the two drive wheels 41, that is to say, the drive wheel motors 4 are provided on the rear side of the drive wheels 41. The wheel 41 is arranged on the front side of the driving wheel motor 4, so that the two driving wheels 41 can support the cleaning robot 100 relatively stably.

In some embodiments of the present application, the host 1 is provided with a navigation device 5 that transmits and receives navigation signals. Therefore, the navigation device 5 transmits and receives navigation signals, so that the sweeping robot 100 can detect, locate, and monitor the current location. The position of, can also make the cleaning robot 100 record its movement path, so that the cleaning robot 100 can distinguish the cleaned area and the uncleaned area, and thus the intelligence of the cleaning robot 100 can be improved. Further, the navigation device 5 can be arranged on the top of the host 1 to facilitate navigation by the navigation device 5.

Optionally, the navigation device 5 is a laser navigation device that transmits and receives laser signals, and the laser navigation device is arranged on the top of the host 1, so that the laser navigation device transmits and receives laser signals, so that the sweeping robot 100 can detect and locate the current The location also allows the cleaning robot 100 to record its movement path, so that the cleaning robot 100 can distinguish the cleaned area from the uncleaned area, and the intelligence of the cleaning robot 100 can be improved.

In some embodiments of the present application, the sweeping robot 100 further includes: a roller brush motor 8, which is provided on the host 1 and located below the forward impact assembly 2, and the roller brush motor 8 is used to drive the roller brush 81 to rotate. Therefore, the roller brush motor 8 can be electrically connected to the roller brush 81 so that the roller brush motor 8 can drive the roller brush 81 to perform cleaning operations. In addition, by arranging the rolling brush 81 below the front impact assembly 2, the rolling brush 81 can be located at the front end of the host 1, so that the rolling brush 81 can clean the ground to be treated first, so that the current impact assembly 2 and obstacles may occur. After colliding and reversing, the ground to be treated under the front impact assembly 2 has been cleaned by the roller brush 81, so that the cleaning area and cleaning effect can be improved.

Optionally, the bottom of the host 1 has an extension 19 extending forward, the front impact assembly 2 is provided on the extension 19, and the roller brush motor 8 is arranged at the location of the extension 19, that is, the extension 19 is located in the host At the front end of 1, by arranging the front impact assembly 2 on the extension 19, the extension 19 can support the front impact assembly 2 more stably, thereby preventing the front impact assembly 2 from falling off the main body 1 during the collision.

In addition, the roller brush motor 8 can be arranged on the host 1 adjacent to the front end of the cleaning robot 100. Further, the roller brush 81 can be connected to the output shaft of the roller brush motor 8. The roller brush motor 8 can drive the roller brush 81 to move. After 81 is connected to the roller brush motor 8, the roller brush 81 can be fitted on the extension 19, and the roller brush 81 can extend in the left-right direction as shown in FIG. In this way, the extension length of the roller brush 81 can be increased, so that the contact area between the roller brush 81 and the cleaning base surface can be increased, and the cleaning efficiency of the roller brush 81 can be improved, thereby improving the cleaning efficiency of the cleaning robot 100.

Optionally, the sweeping robot 100 further includes: a side brush motor 9 and a side brush 10, the side brush motor 9 and the rolling brush motor 8 are arranged laterally opposite and located on both sides of the longitudinal center line of the host 1, the side brush 10 and the side brush motor 9 Connected, the side brush 10 is located on the front side of the dust suction port 6.

As shown in Figures 3 and 4, in the left-right direction, the side brush motor 9 can be arranged on the right side of the main body 1, and the rolling brush motor 8 can be arranged on the left side of the main body 1. Thus, the rolling brush 81 and the side brush 10 They can be located on the left and right sides of the host 1 and work independently of each other to prevent the two from affecting each other during work. In addition, the side brush motor 9 and the rolling brush motor 8 are respectively arranged on the left and right sides of the main machine 1, so that the load on the left and right sides of the main machine 1 is more evenly distributed, thereby preventing the main machine 1 from tilting left or right.

Among them, it can be understood that the side brush motor 9 can also be arranged on the left side of the host 1, and the rolling brush motor 8 can be arranged on the right side of the host 1, without limitation. Of course, it is also understandable that the side brush motor 9 and the rolling brush motor 8 can be arranged adjacent to the left and right ends of the host 1, or can be arranged in the area between the end of the host 1 and the center line. The specific positions of 9 and the roller brush motor 8 are not limited.

The side brush 10 is located on the front side of the dust suction port 6, so that not only the cleaning area of the sweeping robot 100 per unit time can be increased, but also the side brush 10 can sweep out the garbage at corners, walls, etc., so that the side brush 10 The roller brush 81 on the rear side can clean the garbage more conveniently and transport the garbage into the dust box 3, thereby improving the cleaning effect of the sweeping robot 100.

In some embodiments of the present application, the sweeping robot 100 further includes: a fan motor 13 and a battery 14. The fan motor 13 is arranged at the bottom of the arc section 12, and the battery 14 and the fan motor 13 are respectively located on both sides of the longitudinal centerline of the host 1. Layout.

In other words, the fan motor 13 can be fitted to the arc section 12 of the host 1, that is, the rear end of the sweeping robot 100. After the fan motor 13 is fitted on the arc section 12, the fan can be set toward the dust box 3. 13 When the fan is driven to rotate, the fan can draw air, so that negative pressure can be generated in the dust box 3, so that the garbage at the dust suction port 6 can better enter the dust box 3, thereby improving the efficiency of garbage storage, thereby The cleaning efficiency of the cleaning robot 100 can be further mentioned.

In addition, by installing a battery 14 on the host 1, the battery 14 can store electricity and supply power to the motor installed on the cleaning robot 100, so that the cleaning robot 100 can move more flexibly. When the battery 14 is low in power , The sweeping robot 100 can move to the automatic charging position, and automatically charge, and can continue to clean the base surface after the charging is completed.

Further, the battery 14 and the fan motor 13 can be located on both sides of the longitudinal centerline of the main machine 1, that is, the battery 14 and the fan motor 13 can be located on the left and right sides of the main machine 1, so that the fan does not interfere with the battery 14 during operation. , So that the fan and the battery 14 can work more stably.

Optionally, the sweeping robot 100 further includes: a first auxiliary wheel 15 and a second auxiliary wheel 16. The first auxiliary wheel 15 is provided on the fan motor 13, the driving wheel motor 4 adjacent to the fan motor 13, and the outer edge of the arc section 12. In the enclosed first area, the second auxiliary wheel 16 is arranged in the second area enclosed by the battery 14, the driving wheel motor 4 adjacent to the battery 14 and the outer edge of the arc section 12.

Therefore, after the first auxiliary wheel 15 is arranged in the first area, the first auxiliary wheel 15 can assist the right drive wheel 41 to support the cleaning robot 100. After the second auxiliary wheel 16 is arranged in the second area, the second auxiliary wheel The wheel 16 can assist the driving wheel 41 on the left to support the cleaning robot 100 and prevent the cleaning robot 100 from tilting to the left and back. In addition, after the first auxiliary wheel 15 and the second auxiliary wheel 16 are fitted on the main machine 1, the first auxiliary wheel 15 and the second auxiliary wheel 16 can be symmetrical about the center line of the main machine 1, so that they can better assist in support. The host 1 in turn enables the sweeping robot 100 to walk and clean more stably.

In some embodiments of the present application, the side brush motor 9 is located at the first corner of the straight section 11, and the rolling brush motor 8 is located at the second corner of the straight section 11.

For example, as shown in FIGS. 3 and 4, the side brush motor 9 may be located at the right corner of the front end of the cleaning robot 100 (ie at the first corner), and the rolling brush motor 8 may be located at the left corner of the front end of the cleaning robot 100 ( That is, the second corner), therefore, the side brush motor 9 and the roller brush motor 8 are symmetrical about the center line of the main machine 1, so that the weight distribution on the left and right sides of the main machine 1 is more even, preventing the sweeping robot 100 from turning to the left (Or right) sideways. Wherein, after the roller brush motor 8 is set at the second corner, the roller brush 81 connected to it can be arranged adjacent to the front end of the cleaning robot 100, so that the roller brush 81 can clean the walking area of the cleaning robot 100 in advance, so that the cleaning robot 100 is turning At this time, the roller brush 81 can clean the corners in advance, thereby improving the cleaning effect of the cleaning robot 100.

In some embodiments of the present application, the center point of the sweeping robot 100 is a predetermined distance L from the lateral center lines of the two driving wheels 41, and the predetermined distance L ranges from 1 to 25 mm, that is, the sweeping robot There can be a certain distance L between the center point of the whole machine of 100 and the midpoint of the axis of the two driving wheels 41, and the value range of L can be limited between 1-25mm, for example, L can be 5mm, 10mm, 18mm , 23mm, etc., there are no restrictions here. By limiting L to between 1-25 mm, the two driving wheels 41 can support the sweeping robot 100 more stably, preventing it from tilting, turning over, and the like.

In some preferred examples, L can be limited to between 1 and 15 mm, for example, L can be 3 mm, 7 mm, 10 mm, 13 mm, etc., which is not limited here. By limiting L to between 1 and 15 mm, the two driving wheels 41 can support the cleaning robot 100 more stably, so that the movement posture of the cleaning robot 100 is more stable, and the reliability of the cleaning robot 100 can be improved.

Optionally, the center point of the entire machine of the cleaning robot 100 is located behind the lateral center lines of the two driving wheels 41, that is, the center point of the entire machine of the cleaning robot 100 is located behind the midpoint of the axes of the two driving wheels 41 Therefore, the two driving wheels 41 can better support the weight of the cleaning robot 100 and prevent it from turning forward during walking, cleaning, etc., so that the movement posture of the cleaning robot 100 can be more stable and reliable. At the same time, it is convenient to control the movement of the sweeping machine to improve its cleaning ability.

Optionally, the center of gravity of the sweeping robot 100 is adjacent to the center line of the sweeping robot 100 or located in front of the center line of the sweeping robot 100, that is, the center of gravity of the sweeping robot 100 can be located on the center line of the sweeping robot and drive Therefore, the two driving wheels 41 located on the front side of the driving wheel motor 4 can bear the weight of the whole machine, so that the sweeping robot 100 can walk stably, so that the sweeping robot 100 can stably Carry out cleaning operations to improve cleaning efficiency and cleaning effects.

It is understandable that the center of gravity of the whole machine of the cleaning robot 100 may also be adjacent to the driving wheel 41, so that the driving wheel 41 can support the weight of the whole machine.

In some embodiments of the present application, the front impact assembly 2 includes: a front impact base 21 and a front impact housing 22. The front impact base 21 is provided at the front end of the host 1, the front impact base 21 extends in the left and right directions, and the detection device 7 is arranged on the front impact base 21, the detection device 7 includes multiple, the multiple detection devices 7 are respectively arranged on the arc surface and the two side planes of the front impact base 21, and the front impact housing 22 covers the front impact base Outside of the seat 21, the front impact housing 22 is movable relative to the front impact base 21.

That is to say, the front impact base 21 can be fitted at the front end of the host 1 as shown in FIG. Front side.

By arranging the detection device 7 on the front impact base 21, the detection device 7 can first detect and acquire the environmental information on the front side of the movement direction of the cleaning robot 100. When the front end of the cleaning robot 100 collides with an obstacle, the detection device 7 7 The collision signal can be obtained and the collision signal can be fed back to the control center. The control center can control the activities of the sweeping robot 100 so that the sweeping robot 100 can move to avoid obstacles, thereby preventing the sweeping robot 100 from continuously hitting obstacles and causing the sweeping robot 100 damage.

In addition, a plurality of detection devices 7 may be provided on the front impact base 21, and the plurality of detection devices 7 may be respectively provided on at least one of the upper, lower, left, right, and front sides of the front impact base 21. On one side, at the same time, one detection device 7 can be provided on each side of the front impact base 21, and each side can also be provided with multiple detection devices 7. There is no specific limitation here, as long as the actual needs are met. By arranging multiple detection devices 7 on the front impact base 21, the detection device 7 can more accurately and omni-directionally inspect and obtain the surrounding environment information of the cleaning robot 100, so that the cleaning robot 100 can be effectively cleaned during the cleaning process. Avoid obstacles, so as to protect the sweeping robot 100.

Optionally, the front impact base 21 may include an arc-shaped surface circumferentially wound around a straight axis and two side planes formed at the ends of the arc-shaped surface. Specifically, the front impact base 21 may be in the left-right direction. Extend while rotating around the axis in which the direction of extension is located to form an arc-shaped surface. Further, a left-side plane is formed at the left end of the arc-shaped surface, and a right-side plane is formed at the right end of the arc-shaped surface, thereby hitting the base forward The outer shape of 21 can be formed into a cylindrical shape. Alternatively, the front-mounted housing can also be formed into a cylindrical shape and cover the outside of the front impact base 21, so that when the sweeping robot 100 collides with an obstacle, the front impact housing 22 and the obstacle The contact of the object is point contact or line contact. Under the same impact force condition, the pressure of point contact or line contact is relatively larger than the pressure of surface contact, thereby improving the sensitivity of the cleaning robot 100. Among them, the front end can be understood as the direction in which the cleaning robot 100 moves.

By arranging a plurality of detection devices 7 on the curved surface and two side planes of the front impact base 21 respectively, the detection device 7 can detect and acquire the environmental information on the front side of the movement direction of the cleaning robot 100. When the cleaning robot 100 When the front end of the robot collides with an obstacle, the detection device 7 can obtain the collision signal and feed the collision signal back to the control center. The control center can control the activities of the sweeping robot 100 so that the sweeping robot 100 can move to avoid obstacles, thereby preventing sweeping. The robot 100 continuously hits obstacles, causing damage to the sweeping robot 100.

Further, there may be multiple detection devices 7. The multiple detection devices 7 are respectively installed on the curved surface and the left and right side planes of the front impact base 21, so that the detection device 7 can be more accurate and omnidirectional. The inspection and acquisition of the surrounding environment information of the cleaning robot 100, so that the cleaning robot 100 can effectively avoid obstacles during the cleaning process, thereby protecting the cleaning robot 100. It can be understood that the number of detection devices 7 may be four or five, and there may be more, which is not limited here.

In addition, by covering the front impact housing 22 on the outside of the front impact base 21, the front impact housing 22 is movable relative to the front impact base 21, so that the front impact housing 22 can protect the front impact base 21 and make the sweeping robot 100 When colliding with an obstacle, the front impact housing 22 collides with the obstacle, and the front impact base 21 does not contact the obstacle, so that the front impact housing 22 can protect the front impact base 21. Further, the detection device 7 is fitted on the front impact base 21, and the front impact housing 22 covers the outside of the detection device 7, so that the front impact housing 22 can protect the detection device 7 and prevent the sweeping robot 100 from colliding with an obstacle. The detection device 7 was damaged.

Optionally, the front impact base 21 is integrally connected to the front end of the main body 1, thus, by forming the front impact base 21 and the extension 19 as an integral structure, the front impact base 21 and the extension can be omitted 19 Cooperating with the installation steps can reduce the difficulty of assembling the cleaning robot 100, improve the assembling efficiency of the cleaning robot 100, and prevent the front collision base 21 from separating from the cleaning robot 100 when the cleaning robot 100 collides with obstacles.

Optionally, the front impact base 21 includes an outer circumferential surface and two side planes formed at the ends of the outer circumferential surface, and a plurality of detection devices 7 are respectively arranged on the outer circumferential surface and the two side planes.

For example, as shown in FIG. 5, the front impact base 21 may extend horizontally in the left-right direction, and at the same time surround the axis where the extension direction is located to form an outer peripheral surface. Further, a left side plane may be formed at the left end of the outer peripheral surface, and a right side plane may be formed at the right end of the outer peripheral surface. Therefore, the outer peripheral surface of the front impact base 21 cooperates with the side plane to make the front impact base The seat 21 can be matched with a corner (for example, a wall corner). After a cleaning module is arranged on the lower side of the front impact base 21, the cleaning module can clean the corner area, thereby improving the cleaning effect of the cleaning robot 100.

Optionally, the front impact base 21 includes a multi-segment base body 211 arranged side by side in the left-right direction, the multi-segment base main bodies 211 are connected in sequence, and the outer peripheral surfaces of the two adjacent base bodies 211 have different outer diameters, that is, There may be a plurality of base bodies 211 in the collision base 21, and the plurality of base bodies 211 may be arranged in the left-right direction, and two adjacent base bodies 211 may be connected to each other to make the front collision base 21 The structure is more compact, so that the overall structure of the sweeping robot 100 is more compact, so that the sweeping robot 100 can clean the ground in a smaller space.

Further, by designing the outer diameters of the outer peripheral surfaces of two adjacent base bodies 211 to be of different sizes, the outer peripheral surface of the base main body 211 with a smaller outer diameter size and its adjacent outer peripheral surface have a larger outer diameter size. An installation space may be formed between the base bodies 211 of the pedestal. The installation space can be equipped with detection devices, navigation, visual monitoring and other structures to increase the functions of the sweeping robot 100, thereby making the sweeping robot 100 more intelligent. At the same time, the installation space can also protect the structure installed inside it so that it will not It collides with other objects, so that the internal structure of the installation space can work better. It is understandable that there are two or more than two, and there is no specific limitation.

Optionally, the front impact base 21 includes three base main bodies 211 arranged side by side in the left-right direction, wherein the outer peripheral surface of the base main body 211 located in the middle has a smaller outer diameter than the outer peripheral surface of the base main body 211 located on the left and right sides of the base main body 211. The outer diameter.

For example, as shown in FIGS. 5 and 7, the front impact base 21 may include a left base body 211, a right base body 211, and a base mounting body 212. The left base body 211 is provided on the front impact base 21. On the left side of the forward direction, the right base body 211 can be arranged on the right side of the forward direction of the front impact base 21, and the base mounting body 212 can be fitted at the middle position of the forward impact base 21, that is, the base mounting body 212 The left side of the base is matingly connected to the left base body 211, and the right side of the base mounting body 212 is matingly connected to the right base body 211. By designing the outer diameter of the outer peripheral surface of the base mounting body 212 to be smaller than the outer diameter of the outer peripheral surfaces of the left base body 211 and the right base body 211, the upper space of the base mounting body 212 can be formed with mounting space. It can be understood that the size of the installation space depends on the difference between the outer diameter of the outer peripheral surface of the base mounting body 212 and the outer diameter of the outer peripheral surface of the left base body 211 and the right base main body 211. When the difference between the outer diameter of the seat mounting body 212 and the outer peripheral surfaces of the left base main body 211 and the right base main body 211 is larger, the installation space becomes larger, and vice versa, the installation space becomes smaller. Of course, the size of the installation space can be designed in combination with the specific size of the sweeping robot 100, which is not limited here.

Optionally, the front impact shell 22 includes a plurality of shell bodies 221 arranged in a one-to-one correspondence with the multi-segment base body 211, each shell body 221 correspondingly covers the outside of the corresponding base body 211, that is, the front impact shell A plurality of housing main bodies 221 may be included in 22, and one housing main body 221 may be correspondingly arranged with one base main body 211. Specifically, each housing main body 221 may cover the outside of its corresponding base main body 211, so that the housing main body 221 can better protect the corresponding base main body 211. In addition, by forming the front impact housing 22 into a plurality of housing main bodies 221, when one or some of the front device housings are damaged, the damaged housing main body 221 can be replaced, and the undamaged housing main body 221 does not need to be replaced. This not only saves raw materials, but also improves the efficiency of maintenance, so that the sweeping robot 100 can be quickly restored to use.

In one example, the front impact shell 22 includes a plurality of shell bodies 221 arranged in a one-to-one correspondence with the multi-segment base body 211. The shell body 221 may be a wall surface or a kind of substantial shell. Covering the outside of the corresponding base body 211, so that the housing body 221 can better protect the front impact base 21 and the detection device 7, so that the cleaning robot 100 can perform cleaning operations more stably. Wherein, the housing main body 221 covers the outside of the base main body 211, and the housing main body 221 can completely cover the base main body 211 in it, or can cover a part of the base main body 211, which will not be repeated here.

In another example, the front impact shell 22 includes a plurality of shell bodies 221 arranged in a one-to-one correspondence with the multi-segment base body 211. The shell body 221 may be a hollow wall surface. Therefore, the plurality of shell bodies 221 can not only better The front impact base 21, the detection device 7 and other structures fitted in the front impact housing 22 can be protected, and the structure inside the front impact housing 22 can also be seen through the hollow structure, which is convenient for maintenance and inspection.

Further, the housing main body 221 located at the left and right ends includes a first arc-shaped main body portion 2211 and a straight end portion, and the first arc-shaped main body portion 2211 is configured to cover the outer peripheral surface of the corresponding base main body 211, The straight end portion is connected to the side portion of the first arc-shaped main body portion 2211 and outwardly exceeds the outside of the side plane.

For example, as shown in FIGS. 5 and 7, the housing main body 221 may include a left housing main body 221, a right housing main body 221, and a baffle 222. Specifically, the left housing main body 221 includes a first arc-shaped main body 2211 and The left straight end and the right housing main body 221 include a first arc-shaped main body 2211 and a right straight end. Further, the outer peripheral surface of the left base main body 211 is covered by the first arc-shaped main body 2211 of the left housing main body 221, and the left flat end of the left housing main body 221 is covered on the left base main body 211 The left side of the plane outside the left side, so that the left housing main body 221 can better protect the left base main body 211. The outer peripheral surface of the right base body 211 is covered by the first arc-shaped main body portion 2211 of the right housing body 221, and the right straight end of the right housing body 221 is covered on the right side plane of the right base body 211 Externally, the right housing main body 221 can better protect the right base main body 211.

In one embodiment, the housing main body 221 located in the middle includes: a second arc-shaped main body portion 2221, the second arc-shaped main body portion 2221 is configured to cover the outside of the base main body 211 located in the middle, wherein the second arc-shaped main body portion 2221 is detachably connected with the first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 adjacent thereto.

Thus, the second arc-shaped main body 2221 of the blocking piece 222 covers the outside of the base mounting body 212 so that the blocking piece 222 can protect the base mounting body 212.

In an example, the left and right sides of the second arc-shaped main body portion 2221 may be detachably connected to the adjacent first arc-shaped main body portion 2211.

In another example, the left and right sides of the second arc-shaped main body portion 2221 may be detachably connected to the adjacent second arc-shaped main body portion 2221.

In some other examples, both sides of the second arc-shaped main body portion 2221 may be detachably connected to the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 respectively.

Further, by detachably connecting the second arc-shaped main body portion 2221 with the first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221, it can be replaced more conveniently when the second arc-shaped main body portion 2221 is damaged. The damaged second arc-shaped main body portion 2221 can reduce the impact on the other second arc-shaped main body portion 2221 and the first arc-shaped main body portion 2211, and at the same time, it is also convenient for the lower part of the second arc-shaped main body portion 2221. The base mounting body 212 is individually designed, controlled, maintained, and so on.

Optionally, both sides of each second arc-shaped main body portion 2221 are detachably connected with the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221, that is, the baffle 222 may include A plurality of second arc-shaped main body portions 2221 are detachably connected between the plurality of second arc-shaped main body portions 2221, and the second arc-shaped main body portion 2221 and its adjacent first arc-shaped main body portion 2211 may also be connected to each other. Detachable ground connection. Therefore, when one or some of the second arc-shaped main body portions 2221 are damaged, the damaged second arc-shaped main body portion 2221 can be replaced more conveniently, so that the mutual relationship between the second arc-shaped main body portions 2221 can be reduced. The influence of the second arc-shaped main body 2221 on the first arc-shaped main body can also be reduced.

Optionally, the second arc-shaped main body portion 2221 is connected to the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 through a buckle and a slot structure.

In an example, a plurality of buckles are provided on the second arc-shaped main body portion 2221, and a plurality of card slots may be provided on the first arc-shaped main body portion 2211 adjacent thereto, and the plurality of card slots and the plurality of The buckles are arranged one by one. By fitting a plurality of buckles in a plurality of grooves, the first arc-shaped main body portion 2211 and the second arc-shaped main body portion 2221 can be more firmly fitted together.

In another example, a plurality of buckles are provided on the second arc-shaped main body portion 2221, and a plurality of buckles are provided on the second arc-shaped main body portion 2221 adjacent to the second arc-shaped main body portion 2221. The buckles are arranged one by one, and by fitting a plurality of buckles in a plurality of grooves, two adjacent second arc-shaped main body portions 2221 can be more firmly fitted together.

Therefore, the second arc-shaped main body portion 2221 is connected with the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 through the cooperation of a plurality of buckles and a plurality of grooves, which not only lowers the second arc The difficulty of installing the main body 2221 also reduces the difficulty of disassembling the second arc-shaped main body 2221, thereby improving the assembly efficiency and removal efficiency of the second arc-shaped main body 2221. At the same time, after the second arc-shaped main body 2221 is installed, its appearance is neat and beautiful. It can be understood that there are two or more than two, which is not limited.

It can also be understood that the second arc-shaped main body portion 2221 and the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 may also be adjacent to each other in other ways, which is not limited here. For example, the second arc-shaped main body portion 2221 and the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 may be connected by a supporting rod and a supporting hole in cooperation.

In some embodiments of the present application, the front impact base 21 is further provided with a visual detection device 17 for obtaining visual signals. Therefore, the visual detection device 17 is disposed on the front impact base 21, so that the visual detection device 17 It can detect whether there are obstacles in the area to be cleaned, and then feedback the detected visual information to the host 1. If there are obstacles, the sweeping robot 100 can decelerate to reduce the impact force generated by the sweeping robot 100 and the obstacles and prevent the sweeping robot 100 Was crashed.

In addition, the vision detection device 17 can also detect the surrounding environment information. For example, when the cleaning robot 100 needs to be charged, the vision detection device 17 can detect the current location information of the environment where the cleaning robot 100 is currently located, and determine the current location. It is fed back to the host 1, and then the cleaning robot 100 can automatically de-charge. After the charging is completed, the cleaning robot 100 can return to the position it was at before charging based on the position information detected by the visual detection device 17, so that the cleaning robot 100 can continue. The cleaning work enables the cleaning robot 100 to continue cleaning the uncleaned area. In this way, the phenomenon that some areas are repeatedly cleaned and some areas are not cleaned can be prevented, so that the intelligence of the cleaning robot 100 can be improved, and the cleaning effect and cleaning efficiency of the cleaning robot 100 can also be improved.

Optionally, the front impact housing 22 includes: a housing main body 221 and a baffle 222 detachably connected to the housing main body 221. The baffle 222 is provided corresponding to the visual detection device 17 and formed into a light-transmissive structure, that is, the baffle The 222 can be connected to the housing main body 221. After the blocking piece 222 is connected to the housing main body 221, the blocking piece 222 can also be detached from the housing main body 221. Further, the baffle 222 may be a light-transmitting structure and cover the outside of the visual inspection device 17. Thus, the visual detection device 17 can detect the external environment through the baffle 222, and the baffle 222 can protect the visual detection device 17 from colliding with other objects. When the visual detection device 17 is damaged, the baffle 222 can be removed from The housing main body 221 is disassembled, so that the visual inspection device 17 can be replaced more conveniently, so that the cleaning robot 100 can quickly return to the working state, so that the cleaning efficiency of the cleaning robot 100 can be improved.

In an example, the baffle 222 is movably connected to the housing main body 221, and the baffle 222 is disposed corresponding to the visual inspection device 17 and formed into a light-transmissive structure, that is, the baffle 222 can be movable relative to the housing main body 221, specifically In other words, the baffle 222 can be rotated relative to the housing main body 221. When the visual inspection device 17 is damaged or needs to be inspected, the baffle 222 can be opened, that is, the baffle 222 can be rotated to a certain angle, so that the visual inspection device 17 can be easily maintained. Or check etc.

Optionally, the baffle 222 is provided in the middle of the housing main body 221, and the baffle 222 is connected to the housing main body 221 through a buckle and a slot structure. Therefore, the baffle 222 is provided in the middle of the housing main body 221, and the visual inspection device The 17 can be correspondingly arranged at the middle position of the front impact base 21, so that a single visual detection device 17 can detect a larger range, and thus the sweeping robot 100 can obtain a larger range of environmental information.

In some embodiments of the present application, the visual detection device 17 includes: a first detection device 171 and a second detection device 172, the first detection device 171 is provided on the upper surface of the front impact base 21; and/or, the second detection device The device 172 is provided on the bottom surface of the front impact base 21.

In an example, the first detection device 171 may be provided on the upper surface of the front impact base 21, the first detection device 171 may be centered on the upper surface, and the second detection device 172 may be provided on the bottom surface of the front impact base 21 , And the second detection device 172 can be centered on the bottom surface, so that the detection range of the first detection device 171 and the second detection device 172 can be increased.

Specifically, as shown in FIG. 8, the first detection device 171 can detect the environmental information of the upper space and the upper space of the cleaning robot 100. For example, the first detection device 171 detects the upper environmental information and the upper part of the cleaning robot 100. Environmental information, and then work in coordination with the navigation device 5, so that the sweeping robot 100 can be positioned more accurately, so that after charging, it can return to the position before charging more accurately, thereby improving the cleaning of the sweeping robot 100 Efficiency and cleaning effect.

For example, as shown in FIG. 9, the second detection device 172 can detect information on the ground so that the sweeping robot 100 can identify obstacles. For example, the second detection device 172 can identify power cords, rags, socks, etc., after the second detection device 172 identifies , The sweeping robot 100 may not clean obstacles to prevent socks, wires, etc. from getting stuck in the sweeping robot 100, thereby causing the sweeping robot 100 to be unable to perform cleaning work.

In some embodiments of the present application, the visual detection device 17 includes a third detection device 173, which is provided on the front surface of the front impact base 21. Thus, as shown in FIG. 10, the third detection device 173 After being fitted on the front surface of the front impact base 21, the third detection device 173 can detect the front environment information of the sweeping robot 100, so that the third detection device 173 can simultaneously realize the functional needs of recognizing obstacles and the functional needs of assisting positioning. At the same time, the manufacturing cost of the cleaning robot 100 can also be reduced.

In some embodiments of the present application, the front impact base 21 includes a base body 211 and a base mounting body 212. The visual detection device 17 is provided on the base mounting body 212, wherein the base mounting body 212 surrounds the base body 212. The length direction of the 211 is rotatable, that is, the base mounting body 212 can rotate at any angle around the axis of the base body 211. When the visual inspection device 17 is fitted on the base mounting body 212, it passes through the base mounting body 212. Rotating around the axis of the base body 211 can increase the detection range of the visual inspection device 17 so that the visual inspection device 17 can detect the surrounding environment of the sweeping robot 100 in all directions, thereby protecting the sweeping robot 100 and improving the sweeping robot. 100 cleaning efficiency and cleaning effect.

Optionally, a plurality of detection devices 7 are arranged on the base body 211 at intervals, and the base mounting body 212 is arranged in the middle of the base body 211. Therefore, by disposing the detection devices 7 on the base body 211, The detection device 7 can detect and acquire the environment information on the front side of the movement direction of the cleaning robot 100. When the front end of the cleaning robot 100 collides with an obstacle, the detection device 7 can acquire a collision signal, and feed the collision signal back to the host 1, and the host 1 After receiving and processing the signal, the cleaning robot 100 can be controlled to move, so that the cleaning robot 100 can avoid obstacles, so as to prevent the cleaning robot 100 from continuously hitting obstacles and causing damage to the cleaning robot 100.

In some embodiments of the present application, the cross-section of the front impact component 2 is circular. Specifically, the cross section of the front impact component 2 perpendicular to the left-right direction is a circular shape, or it can be understood that the front impact component 2 is in a vertical position. The projection on the plane is a circle, so that the outer shape of the front impact base 21 can be formed into a cylinder or approximately a cylindrical shape, so that the front impact housing 22 can cover the outside of the front impact base 21 more firmly, The front impact housing 22 covers the exterior of the front impact base 21, so that when the front mounting housing collides with an object, its sides have no edges and corners, which can prevent the object from crashing or leaving traces, thereby reducing the occurrence of the sweeping robot 100 and the object. The impact on the two after the collision.

The following describes the cleaning robot 100 according to an embodiment of the present application with reference to FIGS. 1 to 10.

As shown in FIGS. 1 to 10, the sweeping robot 100 includes: a host 1, a front impact assembly 2, a dust box 3 and two driving wheels 41.

Specifically, the host 1 includes a straight section 11 and an arc-shaped section 12 in the front and rear direction on a horizontal projection. The outer contour of the straight section 11 is formed as a part of a rectangle, and the outer contour of the arc-shaped section 12 is formed as a part of a semicircle. , The straight section 11 and the arc-shaped section 12 are connected to each other to form a closed outer contour. Therefore, after the two ends of the straight section 11 and the arc-shaped section 12 are connected, the horizontal projection of the host 1 is roughly formed as D For example, as shown in Figs. 2 to 4, in the forward direction of the cleaning robot 100, the straight section 11 is located at the front end of the arc section 12, so that when the cleaning robot 100 cleans a corner (for example: a corner), the main body 1 The straight section 11 can better fit the corners of the cleaning area, so that the cleaning robot 100 can clean the corners, thereby improving the cleaning effect of the cleaning robot 100.

In addition, the arc section 12 is arranged on the rear side of the straight section 11, so that when the sweeping robot 100 turns at a corner, the rear side of the host 1, that is, the arc section 12 will not collide with the corner, so that the sweeping robot 100 can be protected. , So that the cleaning robot 100 can perform cleaning operations normally.

The host 1 is provided with a navigation device 5 for transmitting and receiving navigation signals. For example, as shown in FIG. Detecting, locating, and monitoring the current location can also enable the cleaning robot 100 to record its movement path, so that the cleaning robot 100 can distinguish between cleaned areas and uncleaned areas, thereby improving the intelligence of the cleaning robot 100.

In addition, the navigation signal transmitted and received by the navigation device 5 also enables the sweeping robot 100 to more accurately determine its position information, so that after the charging is completed, it can return to the position it was at before charging based on the recorded position information. This allows the sweeping robot 100 to continue cleaning according to the route planned before charging, thereby improving the cleaning efficiency and cleaning effect of the sweeping robot 100, thereby preventing the sweeping robot 100 from repeatedly cleaning the cleaned area after charging, and always cleaning the uncleaned area. Not being cleaned.

It is understandable that the navigation device 5 may be a laser navigation device, a visual device, or a visual monitoring device with visual monitoring and some laser navigation devices. There is no specific limitation here, and the actual needs can be met.

The bottom of the host 1 is provided with a dust suction port 6, and the dust suction port 6 is provided with a rolling brush 81. Therefore, after the rolling brush 81 is fitted at the dust suction port 6, the rolling brush 81 can contact the base surface of the area to be cleaned. And clean it. Optionally, the dust suction port 6 may be provided at the front end of the straight section 11 adjacent to the main unit 1. Therefore, after the roller brush 81 is fitted at the dust suction port 6, the sweeping robot 100 cleans the corner area At this time, the rolling brush 81 located on the front side of the host 1 can clean the base surface of the corner area, so that the dead corner area that the cleaning robot 100 cannot clean can be reduced, and the cleaning effect of the cleaning robot 100 can be mentioned. At the same time, by arranging the dust suction port 6 at the front end of the straight section 11 adjacent to the host 1, the open length of the dust suction port 6 can be increased, so that the roller brush 81 can also increase its length, thereby increasing the roller brush 81 and cleaning The contact area of the area can thereby improve the cleaning efficiency of the cleaning robot 100.

The front impact component 2 is provided on the side of the straight section 11 of the host 1 far away from the arc section 12, and the front impact component 2 is provided with a detection device 7 for obtaining the collision signal of the sweeping robot 100. The detection device 7 includes a plurality of In other words, the front impact component 2 can be fitted to the front end of the straight section 11. When the sweeping robot 100 collides with an obstacle, the front impact component 2 will first contact the obstacle and collide and squeeze, thereby preventing the host 1 from being crushed. Crashed. Further, the detection device 7 is provided on the front impact assembly 2, so that after the front impact assembly 2 collides with an obstacle, the detection device 7 can detect and obtain the collision signal, so that the sweeping robot 100 can receive the collision signal. Obstacles can be avoided effectively, so that the sweeping robot 100 can be prevented from continuously colliding with the obstacles.

In addition, by providing multiple detection devices 7 on the front impact assembly 2, the multiple detection devices 7 can detect and obtain the collision signal of the sweeping robot 100 in all directions, and the detection device 7 that receives the collision signal can determine The orientation of the obstacle relative to the sweeping robot 100, so that the sweeping robot 100 can quickly avoid the obstacle.

The dust box 3 is arranged on the main unit 1 and is located in the middle of the main unit 1. The inner cavity of the dust box 3 is connected to the dust suction port 6, so that the garbage on the base surface can enter the dust box from the dust suction port 6 through the roller brush 81 In 3, after the garbage enters the dust box 3, the dust box 3 can store it. When the garbage stored in the dust box 3 reaches the upper limit, the dust box 3 can be disassembled, and the stored garbage can be thrown away.

Wherein, by arranging the dust box 3 in the middle of the main unit 1, the center of gravity of the dust box 3 can be in the middle of the main unit 1 after storing the garbage, so that the dust box 3 does not cause the complete machine of the sweeping robot 100 to receive the garbage. The position of the center of gravity changes greatly, so that the center of gravity of the cleaning robot 100 is relatively stable during the cleaning process, so that the cleaning robot 100 can walk more stably and prevent the cleaning robot 100 from turning over.

Two driving wheels 41 are provided on the host 1 and respectively adjacent to the left and right sides of the host 1. For example, as shown in FIG. 3, a driving wheel 41 is respectively provided on the left and right sides adjacent to the host 1. After 1 is up, the driving wheel 41 is rotated so that the driving wheel 41 can drive the host 1 to move, so that the cleaning robot 100 can move and perform cleaning work.

Therefore, according to the cleaning robot 100 of the embodiment of the present application, the navigation device 5 is provided on the host 1, so that the cleaning robot 100 can detect, locate, and monitor the current position, and can also make the cleaning robot 100 record its movement path Therefore, the cleaning robot 100 can distinguish the cleaned area and the uncleaned area, and the intelligence of the cleaning robot 100 can be improved. At the same time, after charging, the cleaning robot 100 can return to the position before charging according to the recorded position information, so that the cleaning robot 100 can continue to clean according to the route planned before charging, thereby improving the cleaning effect of the cleaning robot 100 and Cleaning efficiency.

In addition, by arranging the front impact assembly 2 on the side of the straight section 11 of the host 1 away from the arc section 12, when the sweeping robot 100 collides with an obstacle, the front impact assembly 2 will first contact the obstacle. And collide and squeeze, so that the host 1 can be prevented from being damaged.

In addition, by providing multiple detection devices 7 on the front impact assembly 2, the multiple detection devices 7 can detect and obtain the collision signal of the cleaning robot 100 in all directions, and the detection device 7 that receives the collision signal can determine The orientation of the obstacle relative to the sweeping robot 100, so that the sweeping robot 100 can quickly avoid the obstacle.

In some embodiments of the present application, the two driving wheels 41 are respectively located on the left and right sides of the dust box 3. For example, as shown in FIG. 3 or FIG. 4, the two driving wheels 41 are respectively provided on the left and right sides of the dust box 3. After the dust box 3 is made to contain garbage, the left and right driving wheels 41 can support the weight of the dust box 3 more stably, preventing the sweeping robot 100 from being unstable in its center of gravity, and turning left, right, forward, and backward. The phenomenon such as tilting affects the cleaning operation of the cleaning robot 100. Further, the two driving wheels 41 are symmetrical with respect to the vertical center line of the host 1, so that the two driving wheels 41 can support the cleaning robot 100 more stably, and the cleaning robot 100 can perform cleaning work better.

In one embodiment, the sweeping robot 100 further includes: a roller brush motor 8, a side brush motor 9, and a side brush 10. The roller brush motor 8 is used to drive the roller brush 81 to rotate, and thus, the roller brush motor 8 drives the roller brush. The brush 81 allows the roller brush 81 to rotate relatively stably, so that the roller brush 81 can clean the base surface better, and thus can improve the cleaning performance of the sweeping robot 100.

The side brush motor 9 and the rolling brush motor 8 are arranged laterally opposite to each other and are located on both sides of the longitudinal centerline of the host 1. The side brush 10 is connected to the side brush motor 9, that is, as shown in Figures 3 and 4, in the left and right directions , The side brush motor 9 can be located on the right side of the host 1, and the roller brush motor 8 can be located on the left side of the host 1. Therefore, the roller brush 81 and the side brush 10 can be located on the left and right sides of the host 1 and work independently of each other. , To prevent the two from interacting with each other at work. In addition, the side brush motor 9 and the rolling brush motor 8 are respectively arranged on the left and right sides of the main machine 1, so that the load on the left and right sides of the main machine 1 is more evenly distributed, thereby preventing the main machine 1 from tilting left or right.

Among them, it can be understood that the side brush motor 9 can also be arranged on the left side of the host 1, and the rolling brush motor 8 can be arranged on the right side of the host 1, without limitation.

Of course, it is also understandable that the side brush motor 9 and the rolling brush motor 8 can be arranged adjacent to the left and right ends of the host 1, or can be arranged in the area between the end of the host 1 and the center line. The specific positions of 9 and the roller brush motor 8 are not limited.

It can also be understood that the side brush motor 9 and the rolling brush motor 8 can be symmetrically arranged about the center line of the host 1 or not symmetrically about the center line of the host 1 to balance the forces on the left and right sides of the host 1.

Furthermore, the side brush 10 is located on the front side of the dust suction port 6, which not only can increase the cleaning area of the sweeping robot 100 per unit time, but also allows the side brush 10 to sweep out the garbage at corners, walls, etc., so that the side The rolling brush 81 on the rear side of the brush 10 can clean the garbage more conveniently and transport the garbage into the dust box 3, thereby improving the cleaning effect of the sweeping robot 100.

In some embodiments of the present application, the sweeping robot 100 further includes: a fan motor 13 and a battery 14. The fan motor 13 is arranged at the bottom of the arc section 12, and the battery 14 and the fan motor 13 are respectively located on both sides of the longitudinal centerline of the host 1. That is to say, the fan motor 13 can be fitted at the arc 12 of the host 1, that is, the rear end of the sweeping robot 100. After the fan motor 13 is fitted on the arc 12, the fan can be set toward the dust box 3. When the motor 13 drives the fan to rotate, the fan can draw air so that negative pressure can be generated in the dust box 3, so that the garbage at the dust suction port 6 can better enter the dust box 3, thereby improving the efficiency of garbage storage. Thus, the cleaning efficiency of the cleaning robot 100 can be further mentioned.

In the specific example shown in Figure 3, the rolling brush motor 8 is installed on the left side of the host 1, and the side brush motor 9 is installed on the right side of the host 1, and the rolling brush motor 8 and the side brush motor 9 can be related to the host The centerline of 1 is symmetrical. In addition, the left and right driving

wheels

41 and 41 are symmetrical about the centerline, and the fan motor 13 and the battery 14 are symmetrical about the centerline. Therefore, the left side of the centerline of the host 1 The total weight of the brush motor 8, the left drive wheel 41, and the fan motor 13 can be balanced with the total weight of the side brush motor 9, the right drive wheel 41 and the battery 14 on the right side of the center line of the host 1, so that the host 1 has two left and right sides. The weight of the side can be balanced, thereby preventing the cleaning robot 100 from tilting to the left or right, so that the cleaning robot 100 can walk and clean more stably.

In some embodiments of the present application, the cleaning robot 100 further includes: two driving wheel motors 4, and the two driving force motors are respectively used to provide power to the two driving wheels 41, that is, the driving of the left side of the cleaning robot 100 The wheel motor 4 can drive the drive wheel 41 on the left side of the cleaning robot 100 to rotate, and the drive wheel motor 4 on the right side of the cleaning robot 100 can drive the drive wheel 41 on the right side of the cleaning robot 100 to rotate, so that the left and right drive wheels 41 can be more stable. Ground rotation, so that the sweeping robot 100 can walk, clean, etc. more stably.

Further, the lateral center lines of the two drive wheel motors 4 are located on the rear side of the lateral center lines of the two drive wheels 41, thus, the roller brush motor 8 and the side brush motor 9 on the front side of the axis of the two drive wheels 41 The total weight can be balanced with the total weight of the two driving wheel motors 4, the fan motor 13 and the battery 14 on the rear side of the two driving wheels 41, so that the weight of the front and rear sides of the host 1 can be balanced, thereby preventing the sweeping robot 100 Tilt toward the front side or the rear side, so that the cleaning robot 100 can walk and clean relatively smoothly.

Optionally, by setting the first auxiliary wheel 15 and the second auxiliary wheel 16 as universal wheels, the walking flexibility of the cleaning robot 100 can be improved, so that the cleaning efficiency and the cleaning effect of the cleaning robot 100 can be improved. Of course, the first auxiliary wheel 15 and the second auxiliary wheel 16 may also have other wheel-shaped structures, which are not limited here.

In some embodiments of the present application, as shown in FIG. 4, there is a predetermined distance L between the center point of the sweeping robot 100 and the lateral center lines of the two driving wheels 41, and the predetermined distance L ranges from 1 to 25 mm. That is to say, there may be a certain distance L between the center point of the entire machine of the cleaning robot 100 and the axis of the two driving wheels 41, and the value range of L may be limited to between 1 and 25 mm, for example, L may be They are 5mm, 10mm, 18mm, 23mm, etc., which are not limited here. By limiting L to between 1-25 mm, the two driving wheels 41 can support the sweeping robot 100 more stably, preventing it from tilting, turning over, and the like.

Optionally, the center of gravity of the sweeping robot 100 is adjacent to the center line of the sweeping robot 100 or located in front of the center line of the sweeping robot 100, that is, the center of gravity of the sweeping robot 100 can be located on the center line of the sweeping robot and drive Therefore, the two driving wheels 41 can bear the weight of the whole machine, so that the sweeping robot 100 can walk stably, so that the sweeping robot 100 can perform cleaning operations stably, improving cleaning efficiency and Cleaning effect.

It should be noted that the center point of the whole machine of the sweeping robot 100 is not the center of gravity of the whole machine. The center of gravity of the whole machine is usually on the front side of the whole machine. By placing two driving wheels 41 in front of the center point of the whole machine On the other hand, the two driving wheels 41 can be adjacent to the center of gravity of the whole machine, so that the driving wheels 41 can stably support the sweeping robot 100 for walking, cleaning, etc.

In some embodiments of the present application, the front impact assembly 2 includes: a front impact base 21 and a front impact housing 22. The front impact base 21 is provided at the front end of the host 1, and the front impact base 21 includes: A straight axis, an arc-shaped surface circumferentially wound around the straight axis, and two side planes formed at the ends of the arc-shaped surface.

That is to say, the front impact base 21 can be fitted at the front end of the host 1 as shown in FIG. Furthermore, a left side plane is formed at the left end of the arc-shaped surface, and a right side plane is formed at the right end of the arc-shaped surface. Thus, the front impact base 21 may be formed in a cylindrical shape, optionally, the front The housing can also be formed into a cylindrical shape and cover the exterior of the front impact base 21, so that when the sweeping robot 100 collides with an obstacle, the front impact housing 22 is in point contact or line contact with the obstacle. Under the condition of force, the pressure of the point contact or the line contact is relatively larger than the pressure of the surface contact, so that the sensitivity of the cleaning robot 100 can be improved. Among them, the front end can be understood as the direction in which the cleaning robot 100 moves.

The front collision base 21 is provided with a detection device 7 for obtaining a collision signal of the sweeping robot 100. The detection device 7 includes a plurality of detection devices 7 respectively arranged on the arc surface and the two side planes. The detection device 7 is arranged on the front impact base 21, so that the detection device 7 can detect and obtain the environmental information on the front side of the movement direction of the cleaning robot 100. When the front end of the cleaning robot 100 collides with an obstacle, the detection device 7 can obtain The collision signal is fed back to the control center. The control center can control the activities of the cleaning robot 100 so that the cleaning robot 100 moves to avoid obstacles, thereby preventing the cleaning robot 100 from continuously hitting obstacles and causing damage to the cleaning robot 100.

Optionally, the front impact housing 22 covers the exterior of the front impact base 21, wherein the front impact housing 22 is movable relative to the front impact base 21, that is, the front impact housing 22 can be sheathed on the front impact base 21 Outside, so that the front impact housing 22 can protect the front impact base 21, so that when the sweeping robot 100 collides with an obstacle, the front impact housing 22 collides with the obstacle, and the front impact base 21 does not contact the obstacle, so that the front The impact housing 22 can protect the front impact base 21. Further, the detection device 7 is fitted on the front impact base 21, and the front impact housing 22 covers the outside of the detection device 7, so that the front impact housing 22 can protect the detection device 7 and prevent the sweeping robot 100 from colliding with an obstacle. The detection device 7 was damaged.

Optionally, the front impact base 21 is further provided with a visual detection device 17 for obtaining visual signals. Therefore, after the visual detection device 17 is installed on the front impact base 21, the visual detection device 17 can detect the object to be cleaned. Whether there is an obstacle in the area, the detected visual information is fed back to the host 1. If there is an obstacle, the sweeping robot 100 can decelerate to reduce the impact force between the sweeping robot 100 and the obstacle and prevent the sweeping robot 100 from being damaged. The vision detection device 17 can also detect the surrounding environment information. For example, when the cleaning robot 100 needs to be charged, the vision detection device 17 can detect the current location information of the environment where the cleaning robot 100 is currently located, determine the current location, and feed it back Charge the host 1, and then the cleaning robot 100 can automatically de-charge. After the charging is completed, the cleaning robot 100 can return to the position before charging based on the position information detected by the visual detection device 17, so that the cleaning robot 100 can continue cleaning work , So that the cleaning robot 100 can continue to clean the uncleaned area. In this way, the phenomenon that some areas are repeatedly cleaned and some areas are not cleaned can be prevented, so that the intelligence of the cleaning robot 100 can be improved, and the cleaning effect and cleaning efficiency of the cleaning robot 100 can also be improved.

It can be understood that the blocking piece 222 may be hinged to the housing main body 221, and the blocking piece 222 may also be connected to the housing main body 221 in other ways and structures. No restrictions.

In another example, the blocking piece 222 is disposed in the middle of the housing main body 221, and the blocking piece 222 is connected to the housing main body 221 through a buckle and a slot structure, that is, the blocking piece 222 may be disposed in the middle of the housing main body 221, The visual detection device 17 can be correspondingly arranged at the middle position of the front impact base 21, so that a single visual detection device 17 can detect a larger range, so that the sweeping robot 100 can obtain a larger range of environmental information.

In some embodiments of the present application, the visual detection device 17 includes: a first detection device 171 and a second detection device 172, the first detection device 171 is provided on the upper surface of the front impact base 21; and/or the second detection device 172 is provided on the bottom surface of the front impact base 21.

In an example, the first detection device 171 may be provided on the upper surface of the front impact base 21, the first detection device 171 may be centered on the upper surface, and the second detection device 172 may be provided on the bottom surface of the front impact base 21 , And the second detection device 172 can be centered on the bottom surface, so that the detection range of the first detection device 171 and the second detection device 172 can be increased. Specifically, as shown in FIG. 8, the first detection device 171 can detect the environmental information of the upper space and the upper space of the cleaning robot 100. For example, the first detection device 171 detects the upper environmental information and the upper part of the cleaning robot 100. Environmental information, and then work in coordination with the navigation device 5, so that the sweeping robot 100 can be positioned more accurately, so that after charging, it can return to the position before charging more accurately, thereby improving the cleaning of the sweeping robot 100 Efficiency and cleaning effect. For example, as shown in FIG. 9, the second detection device 172 can detect information on the ground so that the sweeping robot 100 can identify obstacles. For example, the second detection device 172 can identify power cords, rags, socks, etc., after the second detection device 172 identifies , The sweeping robot 100 may not clean obstacles to prevent socks, wires, etc. from getting stuck in the sweeping robot 100, thereby causing the sweeping robot 100 to be unable to perform cleaning work.

Optionally, the visual detection device 17 includes a third detection device 173, which is provided on the front surface of the front impact base 21, whereby, as shown in FIG. 10, the third detection device 173 is fitted on the front impact base. Behind the front surface of the seat 21, the third detection device 173 can detect the front environment information of the sweeping robot 100, so that the third detection device 173 can simultaneously realize the function of recognizing obstacles and the function of assisting positioning, and can also reduce sweeping. The manufacturing cost of the robot 100.

Optionally, the front impact base 21 includes: a base body 211 and a base mounting body 212. The visual detection device 17 is provided on the base mounting body 212, wherein the base mounting body 212 is adjustable around the length of the base body 211. Rotation, that is, the base mounting body 212 can rotate at any angle around the axis of the base body 211. When the visual inspection device 17 is fitted on the base mounting body 212, the base mounting body 212 surrounds the base body 211 The axis of rotation can increase the detection range of the visual inspection device 17, so that the visual inspection device 17 can detect the surrounding environment of the sweeping robot 100 in all directions, thereby protecting the sweeping robot 100 and improving the cleaning efficiency of the sweeping robot 100. Cleaning effect.

As shown in FIGS. 1 to 10, the sweeping robot 100 may include: a host 1, a front impact assembly 2, a dust box 3, two driving wheel motors 4 and a roller brush motor 8.

Specifically, the host 1 includes a straight section 11 and an arc-shaped section 12 in the front and rear direction on a horizontal projection. The outer contour of the straight section 11 is formed as a part of a rectangle, and the outer contour of the arc-shaped section 12 is formed as a part of a semicircle. , The straight section 11 and the arc-shaped section 12 are butted with each other to form a closed outer contour, that is, the straight section 11 can be connected with both ends of the arc-shaped section 12, so that the horizontal projection of the host 1 can be formed as The D shape, for example, as shown in FIG. 2, in the forward direction of the cleaning robot 100, the straight section 11 is located at the front end of the arc section 12, so that when the cleaning robot 100 cleans a corner (for example, a corner), the host 1 is straight The corners of the section 11 can better match the corners of the cleaning area, so that the cleaning robot 100 can clean the corners, thereby improving the cleaning effect of the cleaning robot 100.

The front impact assembly 2 is arranged on the side of the straight section 11 of the host 1 away from the arc section 12, that is, as shown in FIG. When 100 collides with an obstacle, the front impact component 2 will first contact the obstacle and collide and squeeze, thereby preventing the host 1 from being damaged. At the same time, after the forward collision component 2 is triggered due to the collision, the sweeping robot 100 can receive the collision signal, so that the sweeping robot 100 can effectively avoid obstacles, thereby preventing the sweeping robot 100 from continuously colliding with the obstacles.

The dust box 3 is arranged on the host 1 and is located in the middle of the host 1, that is to say, the dust box 3 can be fitted on the host 1, and the dust box 3 can be located at the geometric center of the host 1, so that the dust box 3 can accommodate garbage Afterwards, its center of gravity can be at the center of the host 1, so that the dust box 3 will not greatly change the position of the center of gravity of the sweeping robot 100 after the dust box 3 contains garbage, so that the sweeping robot 100 will have a relatively stable center of gravity during the cleaning process. , So that the cleaning robot 100 can walk more stably, preventing the cleaning robot 100 from turning over.

Two driving wheel motors 4 are arranged on the host 1 and respectively adjacent to the left and right sides of the host 1. For example, as shown in FIG. 3, a driving wheel motor 4 is respectively provided on the left and right sides adjacent to the host 1. After being fitted on the host 1, the two drive wheels 41 can be connected to the two drive wheel motors 4 respectively, so that the two drive wheel motors 4 can drive the connected drive wheels 41 respectively, so that the drive wheels 41 can rotate to The driving wheel 41 can drive the host 1 to move, so that the cleaning robot 100 can move and perform cleaning work. At the same time, the two driving wheels 41 can also carry the weight of the entire cleaning robot 100 to prevent the cleaning robot 100 from turning over, so that the cleaning robot 100 can walk, clean, etc. more stably.

The brush motor 8 is arranged on the host 1 and below the front impact assembly 2, that is, the brush motor 8 is fitted to the front end of the host 1. Specifically, the brush motor 8 is fitted to the front impact assembly provided at the front end of the host 1. The lower end of 2 enables the front impact assembly 2 to protect the roller brush motor 8 and prevent the roller brush motor 8 from colliding with obstacles, so that the roller brush motor 8 can work more stably. At the same time, by arranging the roller brush motor 8 below the front impact assembly, after the roller brush 81 is connected to the output end of the roller brush motor 8, the roller brush 81 can be opposite to the base surface to be cleaned, so that the roller brush 81 can be better. Clean the base surface.

Therefore, according to the sweeping robot 100 according to the embodiment of the present invention, by arranging the front impact assembly 2 on the side of the straight section 11 of the host 1 away from the arc section 12, when the sweeping robot 100 collides with an obstacle At this time, the front impact component 2 will first contact the obstacle and collide and squeeze, so as to prevent the host 1 from being damaged. In addition, by arranging the dust box 3 on the host 1 and in the middle of the host 1, the center of gravity of the dust box 3 can be at the center of the host 1 after the dust box 3 receives garbage. It is stable, so that the cleaning robot 100 can walk more stably, preventing the cleaning robot 100 from turning over. In addition, by arranging the roller brush motor 8 on the host 1 and below the front impact assembly 2, the front impact assembly 2 can protect the roller brush motor 8 and prevent the roller brush motor 8 from colliding with obstacles, thereby making the roller brush motor 8 Can work more stably.

In some embodiments of the present invention, the bottom of the host 1 has an extension 19 extending forward, and the front impact component 2 is provided on the extension 19, for example, as shown in FIG. The straight section 11 is on a side away from the arc-shaped section 12 and extends in a direction away from the straight section 11, and the extension 19 may be formed in a rectangular shape. Further, after the front impact component 2 is fitted on the extension part 19, the extension part 19 can support the front impact component 2, so that after the front impact component 2 collides with an obstacle, the front impact component 2 will not be removed from the sweeping robot 100. Fall off.

Optionally, the arc section 12, the straight section 11, and the extension 19 of the host 1 can be formed as an integral structure, so that the steps of assembling the arc section 12, the straight section 11 and the extension 19 can be omitted, thereby improving The assembly efficiency of the sweeping robot 100 can also improve the efficiency of the production integrated structure and reduce the production cost.

Optionally, the roller brush motor 8 is arranged at the position of the extension 19, that is, the roller brush motor 8 can be arranged on the host 1 adjacent to the front end of the cleaning robot 100, and further, the roller brush 81 can be combined with the roller brush motor. 8 is connected to the output shaft, the rolling brush motor 8 can drive the rolling brush 81 to move. After the rolling brush 81 is connected to the rolling brush motor 8, the rolling brush 81 can be fitted on the extension 19, and the rolling brush 81 can be oriented as shown in Figure 2. Extending in the left and right directions shown so that it can be adjacent to the left and right sides of the extension 19, so that the extension length of the roller brush 81 can be increased, so that the contact area between the roller brush 81 and the cleaning base surface can be increased, and the roller brush 81 can be improved. Cleaning efficiency, thereby improving the cleaning efficiency of the sweeping robot 100.

In some embodiments of the present invention, the two drive wheel motors 4 are respectively located on the left and right sides of the dust box 3. For example, as shown in FIG. 3, the two drive wheel motors 4 are respectively located on the left and right sides of the dust box 3. The left and right driving wheels 41 can support the weight of the dust box 3 more stably after the dust box 3 is stored in the rear side, preventing the sweeping robot 100 from unstable center of gravity, and turning left, right, forward, etc. Phenomena such as backward tilting affects the cleaning operation of the cleaning robot 100. Further, the two driving wheel motors 4 are symmetrical about the vertical center line of the host 1, so that the two driving wheels 41 can support the cleaning robot 100 more stably, and the cleaning robot 100 can perform cleaning work better.

In one embodiment, the sweeping robot 100 further includes a side brush motor 9. The side brush motor 9 and the roller brush motor 8 are arranged laterally opposite to each other and are located on both sides of the longitudinal centerline of the host 1. For example, as shown in FIG. 3, the side brush motor 9 can be Set on the right side of the main machine 1, the rolling brush motor 8 can be set on the left side of the main machine 1, so that the rolling brush motor 8 and the side brush motor 9 can work independently of each other and prevent the two from interacting with each other during operation.

In an example, the side brush motor 9 and the rolling brush motor 8 are distributed on the left and right sides of the host 1, and are symmetrical about the longitudinal center line of the host 1. In addition, the side brush 10 is connected to the side brush motor 9, and the side brush 10 is located at The front side of the roller brush 81, so that the side brush 10 can sweep out garbage at corners, walls, etc., so that the roller brush 81 on the rear side of the side brush 10 can clean the garbage more conveniently and transport the garbage to the dust box Within 3, the cleaning effect of the cleaning robot 100 can be improved, and the cleaning area of the cleaning robot 100 per unit time can be increased, and the cleaning efficiency of the cleaning robot 100 can be improved.

Optionally, the side brush motor 9 is located at the first corner of the straight section 11, and the rolling brush motor 8 is located at the second corner of the straight section 11. For example, as shown in FIGS. 3 and 4, the side brush motor 9 may be located at the sweeping floor. At the right corner of the front end of the robot 100, the roller brush motor 8 can be located at the left corner of the front end of the cleaning robot 100. Therefore, the side brush motor 9 and the roller brush motor 8 are symmetrical about the center line of the host 1, so that The weight distribution on the left and right sides of the host 1 is relatively even, preventing the sweeping robot 100 from turning left (or right) sideways. Further, the rolling brush motor 8 is connected to the rolling brush 81, the rolling brush motor 8 can drive the rolling brush 81 to move, the side brush motor 9 can be connected to the side brush 10, and the side brush motor 9 can drive the side brush 10 to move. The brush 10 can be distributed at the front right corner of the cleaning robot 100. During the cleaning process of the cleaning robot 100, the side with the side brush 10 can be placed against the wall, so that the side brush 10 can clean the corners, corners, etc. The cleaning effect of the cleaning robot 100 can be improved.

Wherein, after the roller brush motor 8 is set at the second corner, the roller brush 81 connected to it can be arranged adjacent to the front end of the cleaning robot 100, so that the roller brush 81 can clean the walking area of the cleaning robot 100 in advance, so that the cleaning robot 100 is turning At this time, the roller brush 81 can clean the corners in advance, thereby improving the cleaning effect of the cleaning robot 100.

In some embodiments of the present invention, the sweeping robot 100 further includes: a fan motor 13 and a battery 14. The fan motor 13 is arranged at the bottom of the arc section 12, and the battery 14 and the fan motor 13 are respectively located on the longitudinal center line of the host 1. Side arrangement, that is, the fan motor 13 can be fitted to the arc section 12 of the host 1, that is, the rear end of the sweeping robot 100. After the fan motor 13 is fitted on the arc section 12, the fan can be set toward the dust box 3. When the fan motor 13 drives the fan to rotate, the fan can draw air so that negative pressure can be generated in the dust box 3, so that the garbage at the dust suction port 6 can better enter the dust box 3, thereby improving the garbage storage capacity Therefore, the cleaning efficiency of the cleaning robot 100 can be further mentioned.

Therefore, after the first auxiliary wheel 15 is arranged in the first area, the first auxiliary wheel 15 can assist in supporting the left rear area of the arc segment, and prevent the sweeping robot 100 from tilting to the left and rear side. After the second auxiliary wheel 16 is arranged in the second area, the second auxiliary wheel 16 can assist in supporting the right rear area of the arc segment, and prevent the sweeping robot 100 from tilting back to the right. Therefore, after the first auxiliary wheel 15 and the second auxiliary wheel 16 are fitted on the main machine 1, the first auxiliary wheel 15 and the second auxiliary wheel 16 can be symmetrical about the center line of the main machine 1, so that they can better assist The host 1 is supported, so that the sweeping robot 100 can walk and clean more stably.

Optionally, by setting the first auxiliary wheel 15 and the second auxiliary wheel 16 as universal wheels, the walking flexibility of the cleaning robot 100 can be improved, so that the cleaning efficiency and the cleaning effect of the cleaning robot 100 can be improved. Of course, the first auxiliary wheel 15 and the second auxiliary wheel 16 can also have other wheel-like structures, which are not limited here.

Optionally, one side of the battery 14 coincides with the longitudinal centerline of the host 1. For example, as shown in FIG. 3, the battery 14 fits on the right side of the longitudinal centerline of the host 1. The longitudinal centerline of the fan motor 13 can be matched to the left side of the longitudinal centerline of the host 1, and the side of the fan motor 13 does not coincide with the longitudinal centerline, so that the weight distribution of the left and right areas of the arc section 12 can be more uniform. The cleaning robot 100 is prevented from tilting toward the area of the battery 14, so that the cleaning robot 100 can walk and clean more stably.

It should be noted that the weight of the battery 14 configured on the cleaning robot 100 is relatively large, and the installation position of the battery 14 can be designed so that the weight of the battery 14 can be balanced with the weight of other structures, so that the overall performance of the cleaning robot 100 The weight can be evenly distributed, so that the movement of the entire cleaning robot 100 can be controlled more conveniently, so that the cleaning effect and cleaning efficiency of the cleaning robot 100 can be improved.

In some embodiments of the present invention, there is a predetermined distance L between the center point of the whole machine of the cleaning robot 100 and the lateral center lines of the two driving wheel motors 4, and the predetermined distance L ranges from 1 to 25 mm, that is, There may be a certain distance between the center point of the whole machine of the cleaning robot 100 and the midpoint of the axes of the two driving wheels 41. The distance may be denoted as L, and the value range of L may be limited to between 1 and 25 mm, for example, L can be 5mm, 10mm, 18mm, 23mm, etc., and there is no limitation here. By limiting L to between 1-25 mm, the two driving wheels 41 can support the sweeping robot 100 more stably, preventing it from tilting, turning over, and the like. It can be understood that the distance between the center point of the entire machine of the cleaning robot 100 and the midpoint of the axes of the two driving wheels 41 can also be expressed by other variables, such as A, a, X, etc., which are not limited here.

Optionally, the center point of the entire machine of the cleaning robot 100 is located on the rear side of the transverse center lines of the two driving wheel motors 4, that is, the machine center point of the cleaning robot 100 is located at the midpoint of the axis of the two driving wheels 41 The rear side, therefore, the two driving wheels 41 can better support the weight of the sweeping robot 100, preventing it from turning forward during walking, cleaning, etc., so that the sweeping robot 100 can move more stable and reliable. , It is also convenient to control the movement of the sweeping machine to improve its cleaning ability.

It should be noted that the center point of the whole machine of the sweeping robot 100 is not the center of gravity of the whole machine. The center point of the whole machine is usually biased to the front side of the whole machine. On the other hand, the two driving wheels 41 can be adjacent to the center of gravity of the whole machine, so that the driving wheels 41 can stably support the sweeping robot 100 for walking, cleaning, etc.

As shown in FIGS. 1 to 10, the cleaning robot 100 may include: a host 1 and a front impact assembly 2. Specifically, the front impact assembly 2 is arranged at the front end of the host 1, wherein the front impact assembly 2 includes a cylindrical main body, the axis of the cylindrical main body is parallel to the horizontal plane, and the main body is provided with a visual detection device 17 for obtaining visual signals.

That is to say, the front impact assembly 2 can be fitted to the front end of the host 1, that is, the front impact assembly 2 is provided at the front end of the moving direction of the cleaning robot 100, so that when the cleaning robot 100 collides with an obstacle, the front impact The component 2 will first contact the obstacle and collide and squeeze, so as to prevent the host 1 from being damaged. After the front collision component 2 collides with the obstacle, the front collision component 2 is triggered, so that the sweeping robot 100 can receive the trigger signal After that, the obstacle can be effectively avoided, and the sweeping robot 100 can be prevented from continuously colliding with the obstacle. Further, by forming the outer shape of the front impact component 2 into a cylindrical shape, when the sweeping robot 100 collides with an obstacle, the contact between the front impact component 2 and the obstacle is a point contact or a line contact, then under the same impact force condition Below, the pressure of the point contact or the line contact is relatively larger than the pressure of the surface contact, so that the sensitivity of the cleaning robot 100 can be improved.

In addition, by providing a visual detection device 17 on the host 1, the visual detection device 17 can detect whether there are obstacles in the area to be cleaned, and then feedback the detected visual information to the host 1. If there is an obstacle, the sweeping robot 100 can Deceleration is used to reduce the impact force generated by the sweeping robot 100 and obstacles, and to prevent the sweeping robot 100 from being damaged. The vision detection device 17 can also detect the surrounding environment information. For example, when the cleaning robot 100 needs to be charged, the vision detection device 17 can detect the current location information of the environment where the cleaning robot 100 is currently located, determine the current location, and feed it back After charging the host 1, the cleaning robot 100 can automatically de-charge. After the charging is completed, the cleaning robot 100 can return to the position it was at before charging based on the position information detected by the visual detection device 17, so that the cleaning robot 100 can continue cleaning work , So that the cleaning robot 100 can continue to clean the uncleaned area, which can prevent some areas from being repeatedly cleaned and some uncleaned areas, thereby improving the intelligence of the cleaning robot 100 and also improving the cleaning of the cleaning robot 100 Effect and cleaning efficiency.

Therefore, according to the sweeping robot 100 of the embodiment of the present application, by arranging the front impact assembly 2 at the front end of the host 1, when the sweeping robot 100 collides with an obstacle, the front impact assembly 2 will first contact the obstacle. The collision and squeezing can prevent the host 1 from being damaged. Further, by forming the front collision assembly 2 into a cylindrical shape, the sensitivity of the sweeping robot 100 when colliding with obstacles can be improved, so that a smaller collision sweeping robot 100 can be achieved. Obstacles can be identified, so that the sweeping robot 100 can effectively avoid the obstacles.

In addition, by providing the visual detection device 17 on the host 1, the cleaning robot 100 can detect the surrounding environment information, so that the cleaning robot 100 can locate its position, thereby improving the intelligence of the cleaning robot 100. Therefore, the cleaning robot 100 can distinguish the cleaned area and the uncleaned area, and the cleaning effect and cleaning efficiency of the cleaning robot 100 can be improved.

In some embodiments of the present application, the host 1 is also provided with a laser navigation device that transmits and receives laser signals, and the laser navigation device is provided on the top of the host 1. Therefore, the laser navigation device emits and receives laser signals to sweep the ground. The robot 100 can detect and locate the current position, and at the same time enable the cleaning robot 100 to record its movement path, so that the cleaning robot 100 can distinguish between cleaned areas and uncleaned areas, thereby improving the intelligence of the cleaning robot 100. In addition, the laser navigation device and the visual inspection device 17 work in coordination with each other, so that the cleaning robot 100 can obtain its cleaning path more accurately, so that the cleaning robot 100 can more accurately distinguish the cleaned area from the uncleaned area. At the same time, the laser navigation device and the visual inspection device 17 work in coordination with each other, so that the sweeping robot 100 can more accurately determine its position information, so that after the charging is completed, it can return to the position it was at before charging based on the recorded position information. , Thereby making the cleaning robot 100 more intelligent and reliable.

In some embodiments of the present application, the main body includes a front impact base 21 and a front impact housing 22. The front impact base 21 is provided at the front end of the host 1, and the visual detection device 17 is provided on the front impact base 21. Therefore, the visual detection device 17 can obtain the environmental information in front of the cleaning robot 100 more clearly and accurately, that is, the environmental information of the area to be cleaned, and then feedback the visual information to the host 1, which can process the visual information after receiving the visual information. Therefore, the cleaning robot 100 can analyze the situation of the area to be cleaned in advance. For example, the visual detection device 17 can obtain whether there are obstacles in front, whether it has reached a corner, etc., so that the cleaning robot 100 can be more intelligent and reliable, and the cleaning robot can be improved. The practicability of 100 can also improve the cleaning efficiency of the sweeping robot 100.

The front impact housing 22 covers the exterior of the front impact base 21, and the front impact housing 22 corresponding to the visual inspection device 17 is formed as a light-transmissive structure, so that the front-mounted housing covers the outside of the front impact base 21, so that The front impact housing 22 can protect the front impact base 21, so that the front impact base 21 can work more stably. In addition, by forming at least a part of the front impact housing 22 as a light-transmitting structure, the structure or working conditions of the front impact base 21 corresponding to the light-transmitting area of the front impact housing 22 can be seen from the outside. The external environment can be seen on the front impact base 21 corresponding to the light-transmitting area of the housing 22. For example, by arranging the visual detection device 17 on the front impact base 21 corresponding to the light-transmitting area of the front impact housing 22, the visual detection device 17 can more clearly detect the environmental information around the cleaning robot 100, and at the same time, the front impact housing 22 The visual inspection device 17 can be protected so that it can perform inspection operations more stably, so that the cleaning robot 100 can perform cleaning operations more stably, and thereby the cleaning efficiency and cleaning effect of the cleaning robot 100 can be improved.

It is understandable that the light-transmitting structure can be a transparent plastic structure, or a glass structure, and of course, it can also be other structures that can transmit light, which is not limited here.

Optionally, the front impact housing 22 includes: a housing main body 221 and a baffle 222 detachably connected to the housing main body 221. The baffle 222 is provided corresponding to the visual detection device 17 and formed into a light-transmissive structure, that is, the baffle The 222 can be connected to the housing main body 221. After the blocking piece 222 is connected to the housing main body 221, the blocking piece 222 can also be detached from the housing main body 221. Further, the baffle 222 may be a light-transmitting structure and cover the outside of the visual inspection device 17. Therefore, the visual detection device 17 can detect the external environment through the baffle 222, and the baffle 222 can protect the visual detection device 17 from collision with other objects. When the visual detection device 17 is damaged, the baffle 222 can be removed from The housing main body 221 is disassembled, so that the visual inspection device 17 can be replaced more conveniently, so that the cleaning robot 100 can quickly return to the working state, so that the cleaning efficiency of the cleaning robot 100 can be improved.

Optionally, the blocking piece 222 is arranged in the middle of the housing main body 221, and the blocking piece 222 is connected to the housing main body 221 through a buckle and a slot structure. That is, the blocking piece 222 can be arranged in the middle of the housing main body 221. The detection device 17 can be correspondingly arranged at the middle position of the front impact base 21, so that a single visual detection device 17 can detect a larger range, and thus the sweeping robot 100 can obtain a larger range of environmental information.

In an example, a plurality of buckles are provided on the baffle 222, a plurality of buckles may be provided on the housing main body 221, and the plurality of buckles and the plurality of buckles are arranged one by one. The snap fit is in the plurality of grooves, so that the housing main body 221 and the blocking piece 222 can be more firmly fitted together.

In another example, a plurality of card slots are provided on the baffle plate 222, a plurality of buckles are provided on the baffle plate 222, and the plurality of card slots and the plurality of buckles are arranged one by one. The snap fit is in the plurality of grooves, so that the housing main body 221 and the blocking piece 222 can be more firmly fitted together.

As a result, the blocking piece 222 can be quickly connected to the housing body 221 through the cooperation of a plurality of buckles and a plurality of grooves, which not only reduces the difficulty of installing the blocking piece 222, but also reduces the difficulty of removing the blocking piece 222. Therefore, the assembly efficiency and removal efficiency of the baffle 222 can be improved. At the same time, after the blocking piece 222 is fitted on the housing main body 221, the overall structure of the cleaning robot 100 is more beautiful.

In an example, the first detection device 171 may be provided on the upper surface of the front impact base 21, the first detection device 171 may be centered on the upper surface, and the second detection device 172 may be provided on the bottom surface of the front impact base 21 , And the second detection device 172 can be centered on the bottom surface, so that the detection range of the first detection device 171 and the second detection device 172 can be increased. Specifically, as shown in FIG. 8, the first detection device 171 can detect the environmental information of the upper space and the upper space of the cleaning robot 100. For example, the first detection device 171 detects the upper environmental information and the upper part of the cleaning robot 100. Environmental information, and then work in coordination with the laser navigation device, so that the sweeping robot 100 can be positioned more accurately, so that after charging, it can return to the position before charging more accurately, thereby improving the cleaning of the sweeping robot 100 Efficiency and cleaning effect. For example, as shown in FIG. 9, the second detection device 172 can detect information on the ground so that the sweeping robot 100 can identify obstacles. For example, the second detection device 172 can identify power cords, rags, socks, etc., after the second detection device 172 identifies , The sweeping robot 100 may not clean obstacles to prevent socks, wires, etc. from getting stuck in the sweeping robot 100, thereby causing the sweeping robot 100 to be unable to perform cleaning work.

In one embodiment, as shown in FIG. 10, the visual inspection device 17 includes a third inspection device 173, which is provided on the front surface of the front impact base 21, so that the third inspection device 173 fits in the front After hitting the front surface of the base 21, the third detection device 173 can detect the front environment information of the sweeping robot 100, so that the third detection device 173 can simultaneously realize the function of recognizing obstacles and the function of assisting positioning. The manufacturing cost of the cleaning robot 100 is reduced.

Optionally, the base body 211 is further provided with a detection device 7 for obtaining a collision signal of the cleaning robot 100. The detection device 7 includes a plurality of detection devices 7 arranged on the base body 211 at intervals. The detection device 7 is arranged on the base body 211, so that the detection device 7 can detect and obtain the environmental information on the front side of the movement direction of the cleaning robot 100. When the front end of the cleaning robot 100 collides with an obstacle, the detection device 7 can obtain The collision signal and the collision signal are fed back to the host 1. After receiving and processing the signal, the host 1 can control the activities of the sweeping robot 100 so that the sweeping robot 100 can avoid obstacles, thereby preventing the sweeping robot 100 from continuously hitting the obstacles. The cleaning robot 100 is damaged.

Further, by providing a plurality of detection devices 7 on the base body 211, and the plurality of detection devices 7 are separated from each other by a certain distance, so that the plurality of detection devices 7 can detect and obtain the collision signal of the cleaning robot 100 in all directions, and Through the detection device 7 that receives the collision signal, the orientation of the obstacle relative to the cleaning robot 100 can be determined, so that the cleaning robot 100 can avoid the obstacle quickly.

In a specific example, such as shown in Figures 6 and 7, the detection device 7 includes: an upper detection device 71, a front detection device 72, and a side detection device 73. The upper detection device 71 is provided on the upper surface of the base body 211 The front detection device 72 is provided on the front surface of the base body 211, and the side detection device 73 is provided on the side plane portion of the base body 211. In this way, the cleaning robot 100 can detect the space environment information of the left, right, front, right front, and left front, so that the cleaning robot 100 can detect whether there are obstacles in a large range, so that the cleaning robot 100 can collide with the obstacle. The specific position of the obstacle can be detected, so that the cleaning robot 100 can move to avoid obstacles. During the obstacle avoidance activity of the cleaning robot 100, the detection device 7 can continue to detect, so that the cleaning robot 100 can move faster. Avoid obstacles, so that the cleaning robot 100 can resume cleaning work quickly.

Further, the base mounting body 212 is arranged in the middle of the base body 211, that is, the base body 211 can be divided into two parts, and the two parts can be respectively fitted on the left and right sides of the base mounting body 212, and make The two parts can be connected to the base mounting body 212 in sequence. Specifically, as shown in FIG. 8 and FIG. Mounted on the body 212, so that the visual inspection device 17 can detect the environment on the left and right sides of the cleaning robot 100 at the same time, so that the detection range of the visual inspection device 17 can be increased, so that the cleaning robot 100 can perform cleaning work more reliably. .

As shown in FIGS. 1 to 10, the cleaning robot 100 may include: a host 1, a front impact base 21 and a front impact housing 22.

Specifically, the front impact base 21 is provided at the front end of the host 1, and the front impact base 21 extends in the left-right direction. That is to say, the front impact base 21 can be fitted at the front end of the host 1 as shown in FIG. After the collision base 21 is fitted to the front end of the host 1, the front collision base 21 is located at the front side of the cleaning robot 100 in the cleaning direction. Further, the front collision base 21 is provided with a detection device 7 for acquiring the collision signal of the sweeping robot 100. Therefore, by arranging the detection device 7 on the front collision base 21, the detection device 7 can first detect and obtain the sweeping floor. The environment information on the front side of the robot 100 movement direction. When the front end of the cleaning robot 100 collides with an obstacle, the detection device 7 can obtain the collision signal and feed back the collision signal to the control center, and the control center can control the movement of the cleaning robot 100. In order to make the cleaning robot 100 move to avoid obstacles, it is possible to prevent the cleaning robot 100 from continuously hitting the obstacles and causing damage to the cleaning robot 100.

Optionally, the detection device 7 includes a plurality of detection devices, that is, a plurality of detection devices 7 may be provided on the front impact base 21, and the plurality of detection devices 7 may be respectively arranged on the upper side and the lower side of the front impact base 21. On at least one of the side, left, right, and front sides, and at the same time, a detection device 7 may be provided on each side of the front impact base 21, and each side may also be provided with multiple detection devices 7, where There are no specific restrictions, as long as the actual needs are met. By arranging multiple detection devices 7 on the front impact base 21, the detection device 7 can more accurately and omni-directionally inspect and obtain the surrounding environment information of the cleaning robot 100, so that the cleaning robot 100 can be effectively cleaned during the cleaning process. Avoid obstacles, so as to protect the sweeping robot 100. It is understandable that the directions of up, down, left, right, and front here are not specific, and the drawings are for reference only.

Wherein, the end of the front impact base 21 can be formed to fit a corner (for example, a corner of a wall), so that when the sweeping robot 100 cleans the corner area, the end of the front impact base 21 can be matched with the corner, so that the sweeping robot 100 can clean the corner area, so that the cleaning effect of the cleaning robot 100 can be improved. The specific shape of the front impact base 21 is not limited here, as long as it meets the needs.

The front impact housing 22 covers the outside of the front impact base 21, wherein the front impact housing 22 is movable relative to the front impact base 21. In one example, the front impact housing 22 may completely cover the outside of the front impact base 21, When the cleaning robot 100 collides with an obstacle, the front impact housing 22 collides with the obstacle, and the front impact base 21 does not contact the obstacle, so that the front impact housing 22 can protect the front impact base 21. In another example, the front impact housing 22 may cover at least a part of the front impact base 21. For example, the front impact housing 22 may cover the area where the front impact base 21 is provided with the detection device 7 outside of it, so that When the cleaning robot 100 collides with an obstacle, the front impact housing 22 can protect the detection device 7 to prevent the detection device 7 from being damaged when the cleaning robot 100 collides with the obstacle.

In addition, when the sweeping robot 100 hits an obstacle, the obstacle squeezes the front impact housing 22 to make the front impact housing 22 move relative to the front impact base 21. Specifically, the front impact housing 22 can move toward the detection device 7. The detection device 7 can be triggered after the collision with the shell 22 moves, so that the detection device 7 can detect obstacles, so that the sweeping robot 100 can effectively avoid obstacles. At the same time, the front impact shell 22 moves relative to the front impact base 21, that is, the front impact shell 22 moves in a direction away from the obstacle, which can prevent the front impact shell 22 from being crushed and damaged by impact.

In one example, the front impact housing 22 is detachably covered on the outside of the front impact base 21. By disassembling the front impact housing 22, the front impact base 21 can be easily inspected, inspected, repaired, cleaned, etc. The device 7 and other structures can improve the cleaning efficiency and cleaning effect of the cleaning robot 100, and can also enable the damaged cleaning robot 100 to be quickly restored to use.

Optionally, the front-mounted housing can be formed in an arc shape and cover the exterior of the front impact base 21, so that when the sweeping robot 100 collides with an obstacle, the front impact housing 22 contacts the obstacle by point contact or line contact. Under the same impact force, the pressure of the point contact or the line contact is relatively larger than the pressure of the surface contact, and the sensitivity of the cleaning robot 100 can be improved. Among them, the front end can be understood as the direction in which the cleaning robot 100 moves.

Therefore, according to the cleaning robot 100 of the embodiment of the present application, the front impact base 21 is extended in the left-right direction, and the front impact base 21 is provided with the detection device 7 for obtaining the collision signal of the cleaning robot 100, and the front impact housing 22 covers The front impact base 21 is formed in an arc shape, so that when the sweeping robot 100 collides with an obstacle, the front impact housing 22 is in point contact or line contact with the obstacle. Under the same impact force condition, the point contact Or the pressure of the line contact is relatively larger than the pressure of the surface contact, so that a small impact force can trigger the detection device 7 inside the housing 22, so that the detection device 7 can detect obstacles, thereby improving the sweeping robot The sensitivity of 100 can also prevent the cleaning robot 100 and objects (for example, furniture) colliding with the cleaning robot 100 from being damaged.

In addition, a plurality of detection devices 7 are respectively arranged on the front impact base 21, so that the detection device 7 can more accurately and omni-directionally inspect and obtain the surrounding environment information of the cleaning robot 100, so that the cleaning robot 100 can be cleaned during the cleaning process. Obstacles can be effectively avoided, and the sweeping robot 100 can be protected.

In some embodiments of the present application, the front impact base 21 is integrally connected to the front end of the host 1. For example, as shown in FIG. 5, the bottom wall of the host 1 may include an extension 19 that extends to the bottom of the front impact base 21. 19 is formed as a plane. By forming the front impact base 21 and the extension 19 into an integral structure, the step of cooperating and installing the front impact base 21 and the extension 19 can be omitted, thereby reducing the difficulty of assembling the sweeping robot 100 , The assembly efficiency of the cleaning robot 100 is improved, and at the same time, the front collision base 21 is prevented from being separated from the cleaning robot 100 when the cleaning robot 100 collides with an obstacle.

In one example, the front impact base 21 is detachably provided at the front end of the host 1, that is, the front impact base 21 can be detached from the main body. When the front impact base 21 is damaged, it can be removed from the main body. After being disassembled, the front impact base 21 can be replaced more conveniently, so that the sweeping robot 100 can be quickly restored to use, and at the same time, the damaged front impact base 21 can be easily repaired.

Optionally, the front impact base 21 includes an outer circumferential surface and two side planes formed at the ends of the outer circumferential surface, and a plurality of detection devices 7 are respectively arranged on the outer circumferential surface and the two side planes. For example, as shown in FIG. 5, the front impact The base 21 may extend horizontally in the left-right direction while surrounding the axis of the extending direction to form an outer peripheral surface. Further, a left side plane may be formed at the left end of the outer peripheral surface, and a right side plane may be formed at the right end of the outer peripheral surface. Therefore, the outer peripheral surface of the front impact base 21 cooperates with the side plane to make the front impact base The seat 21 can be matched with a corner (for example, a wall corner). After a cleaning module is arranged on the lower side of the front impact base 21, the cleaning module can clean the corner area, thereby improving the cleaning effect of the cleaning robot 100.

In one embodiment, the front impact base 21 is provided with a detection device 7 on the outer peripheral surface. The detection device 7 can detect obstacles on the front side of the sweeping robot 100, so that the sweeping robot 100 can better avoid its front. Obstacles on the side. In addition, detection devices 7 can be respectively provided on the two side planes, so that the detection device 7 provided on the left side plane can detect obstacles on the left side of the robot 100, and the detection device 7 provided on the right side plane can detect obstacles on the left side of the robot 100. Obstacles on the right side of the robot 100 are detected, so that the sweeping robot 100 can better avoid obstacles on the left and right sides of the robot 100. It can be understood that one detection device 7 may be provided on the outer peripheral surface, the left plane and the right plane respectively, or a plurality of detection devices 7 may be provided on the outer peripheral surface, the left plane and the right plane respectively, where There are no restrictions on the number of two or more than two.

In some embodiments of the present application, the front impact base 21 includes multiple base bodies 211 arranged side by side in the left-right direction, the multiple base bodies 211 are connected in sequence, and the outer peripheral surfaces of two adjacent base bodies 211 have different outer diameters. In other words, there may be multiple base bodies 211 in the front impact base 21, and the multiple base bodies 211 may be arranged in the left-right direction, and two adjacent base bodies 211 may be connected to each other to make the front The structure of the collision base 21 is more compact, so that the overall structure of the sweeping robot 100 is more compact, so that the sweeping robot 100 can clean the ground in a smaller space.

In one example, the front impact base 21 includes a multi-segment base body 211 arranged side by side in the left-right direction, the multi-segment base main body 211 is connected in sequence, and the multi-segment base main body 211 can be an integrally formed structure. The multi-segment base body 211 is fitted to the front end of the body, thereby reducing the difficulty of assembly and improving the efficiency of assembling the sweeping robot 100.

In another example, the impact base includes multiple base bodies 211 arranged side by side in the left-right direction, the multiple base bodies 211 are connected in sequence, and the multiple base bodies 211 are detachably connected in sequence, so that when one of the base bodies When the 211 is damaged, the base body 211 can be easily replaced with a new one. In addition, by detachably connecting the multi-segment base main body 211, one or some of the multi-segment base main body 211 can be easily replaced with a base main body 211 of other sizes, specifications, functions, etc., so as to meet actual needs. The flexibility and practicability of the sweeping robot 100 can be improved.

For example, as shown in FIGS. 5 and 7, the front impact base 21 may include a left base body 211, a right base body 211, and a base mounting body 212. The left base body 211 is provided on the front impact base 21. On the left side of the forward direction, the right base body 211 can be arranged on the right side of the forward direction of the front impact base 21, and the base mounting body 212 can be fitted at the middle position of the forward impact base 21, that is, the base mounting body 212 The left side of the base is matingly connected to the left base body 211, and the right side of the base mounting body 212 is matingly connected to the right base body 211. By designing the outer diameter of the outer peripheral surface of the base mounting body 212 to be smaller than the outer diameter of the outer peripheral surfaces of the left base body 211 and the right base body 211, the upper space of the base mounting body 212 can be formed with mounting space. It can be understood that the size of the installation space depends on the difference between the outer diameter of the outer peripheral surface of the base mounting body 212 and the outer diameter of the outer peripheral surface of the left base body 211 and the right base main body 211. The size of the space depends on the outer diameter of the outer peripheral surface of the base mounting body 212 and the outer diameter of the outer peripheral surface of the left base body 211 and the right base main body 211 when the difference is larger, the installation space is greater Larger, conversely, the smaller the installation space. Of course, the size of the installation space can be designed in combination with the specific size of the sweeping robot 100, which is not limited here.

In some embodiments of the present application, the front impact shell 22 includes a plurality of shell bodies 221 arranged in a one-to-one correspondence with the multi-segment base body 211, and each shell body 221 covers the outside of the corresponding base body 211, that is, In other words, the front impact housing 22 may include a plurality of housing main bodies 221, and one housing main body 221 may be correspondingly arranged in cooperation with one base main body 211. Specifically, each housing main body 221 may cover the outside of its corresponding base main body 211, so that the housing main body 221 can better protect the corresponding base main body 211. In addition, by forming the front impact housing 22 into a plurality of housing main bodies 221, when one or some of the front device housings are damaged, the damaged housing main body 221 can be replaced, and the undamaged housing main body 221 does not need to be replaced. This not only saves raw materials, but also improves the efficiency of maintenance, so that the sweeping robot 100 can be quickly restored to use.

Optionally, the housing main body 221 located on the left and right sides includes: a first arc-shaped main body portion 2211 and a straight end portion, the first arc-shaped main body portion 2211 covers the outer peripheral surface of the corresponding base main body 211, and the straight end portion The portion is connected to the side portion of the first arc-shaped main body portion 2211 and outwardly exceeds the outside of the side plane.

For example, as shown in FIGS. 5-7, the housing body 221 may include a left housing body 221, a right housing body 221, and a baffle 222. Specifically, the left housing body 221 includes a first arc-shaped body portion 2211 and The left straight end and the right housing main body 221 include a first arc-shaped main body 2211 and a right straight end. Further, the outer peripheral surface of the left base main body 211 is covered by the first arc-shaped main body 2211 of the left housing main body 221, and the left flat end of the left housing main body 221 is covered on the left base main body 211 The left side of the housing body 221 can better protect the left base body 211; the first arc-shaped body portion 2211 of the right housing body 221 covers the outer peripheral surface of the right base body 211 The right flat end of the right housing body 221 covers the outside of the right side plane of the right base body 211, so that the right housing body 221 can better protect the right base body 211.

Optionally, the housing main body 221 in the middle includes a second arc-shaped main body portion 2221, and the second arc-shaped main body portion 2221 is configured to cover the outside of the base main body 211 in the middle, wherein the second arc-shaped main body portion 2221 is detachable The ground is connected to the first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 adjacent thereto.

Thus, the second arc-shaped main body 2221 of the blocking piece 222 covers the outside of the base mounting body 212 so that the blocking piece 222 can protect the base mounting body 212. In an example, the left and right sides of the second arc-shaped main body portion 2221 may be detachably connected to the adjacent first arc-shaped main body portion 2211. In another example, the left and right sides of the second arc-shaped main body portion 2221 may be detachably connected to the adjacent second arc-shaped main body portion 2221. In some other examples, both sides of the second arc-shaped main body portion 2221 may be detachably connected to the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 respectively. Further, by detachably connecting the second arc-shaped main body portion 2221 with the first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221, it can be replaced more conveniently when the second arc-shaped main body portion 2221 is damaged. The damaged second arc-shaped main body portion 2221 can reduce the impact on the other second arc-shaped main body portion 2221 and the first arc-shaped main body portion 2211, and at the same time, it is also convenient for the lower part of the second arc-shaped main body portion 2221. The base mounting body 212 is individually designed, controlled, maintained, and so on.

In some embodiments of the present application, both sides of each second arc-shaped main body portion 2221 are detachably connected to the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221, that is to say, The sheet 222 may include a plurality of second arc-shaped main body portions 2221, and the plurality of second arc-shaped main body portions 2221 are detachably connected to each other, and the second arc-shaped main body portion 2221 is adjacent to the first arc-shaped main body portion 2211. They can also be detachably connected. Therefore, when one or some of the second arc-shaped main body portions 2221 are damaged, the damaged second arc-shaped main body portion 2221 can be replaced more conveniently, so that the mutual relationship between the second arc-shaped main body portions 2221 can be reduced. The influence of the second arc-shaped main body 2221 on the first arc-shaped main body can also be reduced.

Therefore, the second arc-shaped main body portion 2221 is connected with the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 through the cooperation of a plurality of buckles and a plurality of grooves, which not only lowers the second arc The difficulty of installing the main body 2221 also reduces the difficulty of disassembling the second arc-shaped main body 2221, thereby improving the assembly efficiency and removal efficiency of the second arc-shaped main body 2221. At the same time, after the second arc-shaped main body 2221 is installed, its appearance is neat and beautiful.

It can be understood that there are two or more than two, which is not limited.

Of course, it is also understandable that the second arc-shaped main body portion 2221 and the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 may also be adjacent to each other in other ways, which is not limited here. For example, the second arc-shaped main body portion 2221 and the adjacent first arc-shaped main body portion 2211 or the second arc-shaped main body portion 2221 may be connected by a supporting rod and a supporting hole in cooperation.

In some embodiments of the present application, the detection device 7 is provided on the base body 211 located on the left and right sides, that is, the detection device 7 can be provided on the left base body 211 and the right base body 211 respectively. , And multiple detection devices 7 can be provided on the left base body 211 and the right base body 211, respectively, so that the detection device 7 can not only detect the environment on the left and right sides of the cleaning robot 100, but also The sweeping robot 100 is left front, right front, and directly in front, so that the detection device 7 can detect the environmental information around the sweeping robot 100 in a larger range, thereby preventing the sweeping robot 100 from colliding with greater intensity, thereby protecting the sweeping robot 100.

It should be noted that the number of detection devices 7 can be increased to achieve large-scale detection of environmental information around the cleaning robot 100. However, increasing the number of detection devices 7 not only increases the cost of the cleaning robot 100, but also increases Difficulty in assembly and design of the sweeping robot 100. However, a larger range can be detected by using fewer detection devices 7, which is a technical problem that needs to be solved at present.

Optionally, the cleaning robot 100 further includes a plurality of elastic stoppers 18, and the plurality of elastic stoppers 18 are arranged in one-to-one correspondence with the plurality of detection devices 7, and each elastic stopper 18 is extended from the base body 211 The natural length is greater than the length of the detection device 7 extending from the base body 211.

That is to say, an elastic stopper 18 is arranged adjacent to a detection device 7. Specifically, the elastic stopper 18 can trigger the detection device 7, that is, when the elastic stopper 18 is triggered, the elastic stopper 18 can be triggered. Action, so that the detection device 7 adjacent to it can be triggered, so that the detection device 7 can detect collision information. Further, the length of each elastic stopper 18 protruding from the base body 211 is greater than the length of the detecting device 7 protruding from the base body 211. Therefore, when the sweeping robot 100 collides with an obstacle, it hits the housing forward. 22 will first contact the elastic stopper 18 and squeeze the elastic stopper 18 so that the elastic stopper 18 can move away from the obstacle, so that the elastic stopper 18 can trigger the detection device 7. After 7 is triggered, the collision information can be received, so that the detection device 7 can send a signal to the control center, so that the sweeping robot 100 can move to avoid obstacles.

It can be understood that the length of each elastic stopper 18 protruding from the base body 211 is greater than the length of the detection device 7 protruding from the base body 211. When the front impact housing 22 collides with an obstacle, the The movement of the elastic stopper 18 to trigger the detection device 7 can prevent the detection device 7 from being damaged or reduce its detection accuracy, so as to effectively protect the detection device 7.

Optionally, the detection device 7 provided on a base body 211 includes: an upper detection device 71, a front detection device 72, and a side detection device 73. The upper detection device 71 is provided on the upper surface of the base body 211, and the front detection device The device 72 is provided on the front surface of the base body 211, and the side detection device 73 is provided on the side plane of the base body 211.

That is, for example, as shown in FIGS. 5 and 6, the upper detection device 71, the front detection device 72, and the side detection device 73 may be provided on the left base body 211, and the right base body 211 may also be provided. There are an upper detection device 71, a front detection device 72, and a side detection device 73. The upper detection device 71, the front detection device 72 and the side detection device 73 on the left base body 211 and the right base body 211 can be symmetrical, respectively. Therefore, the cleaning robot 100 can detect the space environment information of the left, right, front, right front, and left front, so that the cleaning robot 100 can detect whether there are obstacles in a large range, and thus can make the cleaning robot 100 and the obstacles After the collision, the specific position of the obstacle can be detected, so that the sweeping robot 100 can move to avoid obstacles. During the obstacle avoidance activity of the sweeping robot 100, the detection device 7 can continue to detect, so that the sweeping robot 100 can compare Avoid obstacles quickly, so that the cleaning robot 100 can resume cleaning work quickly.

The sweeping robot 100 and the operation according to the embodiment of the present application are known to those of ordinary skill in the art, and will not be described in detail here.

In the description of this specification, the description with reference to the terms "some embodiments", "optionally", "further" or "some examples" etc. means specific features, structures, materials, or materials described in conjunction with the embodiments or examples. The features are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A sweeping robot, which includes:

A host, a dust suction port is provided at the bottom of the host, and a rolling brush is provided in the dust suction port;

A front impact component, the front impact component is arranged at the front end of the host, and the front impact component is provided with a detection device for obtaining a collision signal of the sweeping robot;

A dust box, the dust box is arranged on the host, and the inner cavity of the dust box is in communication with the dust suction port;

The driving wheel is arranged on the host.
The sweeping robot according to claim 1, wherein the host includes a straight section and an arc-shaped section in the front-to-rear direction on a horizontal projection, the outer contour of the straight section is formed as a part of a rectangle, and the arc-shaped section The outer contour is formed as a part of a semicircle, the straight section and the arc-shaped section are butted with each other to enclose a closed outer contour, and the forward impact component is arranged far away from the straight section of the host One side of the arc segment.
The sweeping robot according to claim 1, wherein the dust box is located in the middle of the host, the driving wheels are two, and the two driving wheels are respectively located on the left and right sides of the dust box.
The sweeping robot according to claim 3, further comprising two drive wheel motors, and the two drive wheel motors are arranged on the host and are respectively arranged adjacent to the left and right sides of the host to connect the two For the driving wheels, the transverse center lines of the two driving wheel motors are located on the rear side of the transverse center lines of the two driving wheels.
The sweeping robot according to claim 1, wherein the host is provided with a navigation device that transmits and receives navigation signals.
The sweeping robot according to claim 1, further comprising:

A rolling brush motor, the rolling brush motor is arranged on the host and located below the front impact assembly, the rolling brush motor is used to drive the rolling brush to rotate, and the bottom of the host has an extension extending forward The forward impact component is arranged on the extension part, and the roller brush motor is arranged at the position where the extension part is located.
The sweeping robot according to claim 6, further comprising:

A side brush motor, the side brush motor and the rolling brush motor are arranged transversely opposite to each other and are located on both sides of the longitudinal centerline of the host;

The side brush is connected to the side brush motor, and the side brush is located on the front side of the dust suction port.
The sweeping robot according to claim 2, further comprising:

A fan motor, the fan motor is arranged at the bottom of the arc section;

The battery and the fan motor are respectively arranged on both sides of the longitudinal center line of the host.
The sweeping robot according to claim 8, further comprising:

A first auxiliary wheel, the first auxiliary wheel being arranged in a first area enclosed by the fan motor, the driving wheel motor adjacent to the fan motor, and the outer edge of the arc section;

The second auxiliary wheel is arranged in a second area enclosed by the battery, the driving wheel motor adjacent to the battery, and the outer edge of the arc section.
The cleaning robot according to claim 3, wherein the center point of the whole machine of the cleaning robot is a predetermined distance L between the horizontal center lines of the two driving wheels, and the predetermined distance L ranges from 1 to 25 mm , The center point of the whole machine of the cleaning robot is located on the rear side of the lateral center lines of the two driving wheels.
The cleaning robot according to claim 3 or 10, wherein the center of gravity of the whole machine of the sweeping robot is adjacent to the whole machine centerline of the sweeping robot or located in front of the whole machine centerline.
The sweeping robot according to claim 1, wherein the forward impact component comprises:

A front impact base, the front impact base is arranged at the front end of the host, the front impact base extends in the left-right direction, the detection device is provided on the front impact base, and the detection device includes a plurality of A plurality of the detection devices are respectively arranged on the arc surface and the two side planes of the forward impact base;

A front impact housing, the front impact housing covering the exterior of the front impact base, wherein the front impact housing is movable relative to the front impact base.
The sweeping robot according to claim 12, wherein the front impact base is integrally connected to the front end of the host, and the front impact base includes an outer peripheral surface and two side planes formed at the ends of the outer peripheral surface , A plurality of the detection devices are respectively arranged on the outer peripheral surface and the two side planes.
The sweeping robot according to claim 13, wherein the front impact base comprises a plurality of base bodies arranged side by side in the left-right direction, and the plurality of base bodies are connected in sequence, and the outer peripheral surfaces of two adjacent base bodies The outer diameter is different.
The sweeping robot according to claim 14, wherein the front impact shell comprises a plurality of shell bodies arranged in a one-to-one correspondence with a plurality of sections of the base body, and each shell body covers the corresponding base body. The outside of the main body.
The sweeping robot according to claim 15, wherein the housing main body located at the left and right ends comprises:

A first arc-shaped main body portion, the first arc-shaped main body portion being configured to cover the outer peripheral surface of the corresponding base main body;

A straight end, the straight end is connected to the side of the first arc-shaped main body and outwardly exceeds the outside of the side plane;
The cleaning robot according to claim 16, wherein the housing main body located in the middle part comprises:

The second arc-shaped main body part is configured to cover the outside of the base main body located in the middle part, and the second arc-shaped main body part is detachably connected to the first arc adjacent to it. The main body part or the second arc-shaped main body part is connected,

Wherein, two sides of each second arc-shaped main body portion are detachably connected with the first arc-shaped main body portion or the second arc-shaped main body portion adjacent thereto.
The sweeping robot according to any one of claims 15-17, wherein the front impact base is further provided with a visual detection device for obtaining visual signals;

The front impact housing further includes a baffle connected to the housing main body, the baffle is arranged corresponding to the visual detection device and formed into a light-transmissive structure, the baffle is provided in the middle of the housing main body, and The baffle is connected with the main body of the housing through a buckle and a slot structure.
The sweeping robot according to claim 18, wherein the visual inspection device comprises:

A first detection device, the first detection device is provided on the upper surface of the forward impact base; and/or

A second detection device, the second detection device is provided on the bottom surface of the forward impact base; and/or

The third detection device is arranged on the front surface of the front impact base.
The sweeping robot according to claim 18 or 19, wherein the front collision base comprises:

A base body and a base mounting body, the visual inspection device is provided on the base mounting body, wherein the base mounting body is rotatable around the length direction of the base body, and a plurality of the detection devices are mutually The base body is spaced apart, and the base mounting body is arranged in the middle of the base body.