WO2022117105A1 - 清洁机器人 - Google Patents

清洁机器人 Download PDF

Info

Publication number
WO2022117105A1
WO2022117105A1 PCT/CN2021/135720 CN2021135720W WO2022117105A1 WO 2022117105 A1 WO2022117105 A1 WO 2022117105A1 CN 2021135720 W CN2021135720 W CN 2021135720W WO 2022117105 A1 WO2022117105 A1 WO 2022117105A1
Authority
WO
WIPO (PCT)
Prior art keywords
mopping
cleaning robot
head
fuselage
obstacle
Prior art date
Application number
PCT/CN2021/135720
Other languages
English (en)
French (fr)
Inventor
钱富
张士松
钟红风
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN202180078902.5A priority Critical patent/CN116490106A/zh
Publication of WO2022117105A1 publication Critical patent/WO2022117105A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum

Definitions

  • the present invention relates to the field of robot technology, in particular to a cleaning robot.
  • cleaning robots can intelligently and automatically help people clean the ground, becoming one of the most common and favorite household robot products.
  • a cleaning robot comprising a body, a mobile unit, a mopping unit provided with a mopping head, and a control unit, wherein the mobile unit is arranged on the body, and is used for cleaning.
  • the mobile unit is arranged on the body, and is used for cleaning.
  • the mopping unit is arranged on the fuselage to perform a preset mopping action;
  • the control unit is used to control the moving unit to automatically
  • the fuselage is driven to move on the surface of the working area, and the mopping unit is controlled to automatically perform the mopping action;
  • the mopping head is movable in the width direction of the fuselage compared with the fuselage.
  • the detection unit While the cleaning robot maximizes the coverage of the robot's moving area, it avoids scratching the wall or furniture due to the collision between the rear side of the machine and the wall or furniture.
  • the fuselage includes a mopping unit mounting area above the mopping head, the mopping head is movable between a first position and a second position, the mopping The work head includes a main mopping area and a mopping compensation area located on one side of the main mopping area.
  • the mopping work head is in the first position, the main mopping area and the mopping unit installation area are in the same position.
  • the distance between the edge of the side of the mopping compensation area away from the fuselage and the most edge of the side corresponding to the fuselage is less than a threshold value.
  • the threshold is 10mm.
  • the vertical projection of the mopping compensation area is at least partially the same as the vertical projection of the mopping unit installation area. overlapping.
  • the vertical projection of the mopping compensation area is completely within the vertical projection of the mopping unit installation area .
  • a straight line extending along the forward direction of the fuselage and passing through the most edge of the fuselage in the width direction is defined as an edge line
  • a side of the edge line close to the fuselage is defined is the inner side of the edge line
  • at least one side of the mopping unit installation area is located inside the edge line of the corresponding side of the fuselage.
  • the fuselage includes a mid-fuselage area located in the middle of the fuselage, and in the forward direction of the fuselage, the mopping unit installation area is located in front of the mid-fuselage area and/or rearward, the outermost edge of the fuselage in the width direction is located in the central area of the fuselage.
  • the mopping head can be moved from the first position to the second position under the action of an external force
  • the cleaning robot further includes a restoring force for the mopping head. , so that it can be restored from the second position to the first position when the external force is removed.
  • the cleaning robot further includes a detection unit for detecting whether there is an obstacle on the side of the installation area of the mopping unit, and a detection unit for driving the mopping head to the first position and the The drive unit moves between the second positions.
  • the mopping head when the detection unit does not detect that there is an obstacle on the side of the installation area of the mopping unit, the mopping head is maintained at the first position; when the detection unit detects When there is an obstacle on the side of the installation area of the mopping unit, the driving unit drives the mopping working head to move from the first position to the second position.
  • the driving unit drives the mopping head to move from the second position to the desired position. the first position.
  • FIG. 1 is a schematic structural diagram of a cleaning robot provided in the first embodiment of the application.
  • FIG. 2 is a schematic structural diagram of a cleaning robot provided in the second embodiment of the application.
  • 3a is a schematic structural diagram of a cleaning robot provided in the third embodiment of the application.
  • Fig. 3b is a schematic structural diagram of a cleaning robot shown in Fig. 3a in another state;
  • FIG. 4 is a schematic structural diagram of a cleaning robot provided in a fourth embodiment of the application.
  • 5a is a schematic structural diagram of a cleaning robot provided in the fifth embodiment of the application.
  • Fig. 5b is a schematic structural diagram of a cleaning robot shown in Fig. 5a in another state;
  • Fig. 5c is a schematic structural diagram of a cleaning robot shown in Fig. 5a in another state;
  • FIG. 5d is a schematic structural diagram of a cleaning robot in the same state as the cleaning robot shown in FIG. 5a in the sixth embodiment of the present application;
  • 5e is a schematic structural diagram of the mop provided in the seventh embodiment of the application.
  • FIG. 6 is a schematic structural diagram of a cleaning robot provided in the eighth embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a cleaning robot provided in the ninth embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a cleaning robot provided in the tenth embodiment of the application.
  • FIG. 9 is a schematic structural diagram of a cleaning robot provided in the eleventh embodiment of the present application.
  • Fig. 10a is a left view structural schematic diagram of a cleaning robot provided in the twelfth embodiment of the application.
  • FIG. 10b is a schematic structural diagram of a left side view of a cleaning robot shown in FIG. 10a in another state;
  • Fig. 10c is a left view structural schematic diagram of a cleaning robot shown in Fig. 10a in another state;
  • Fig. 10d is a left view structural schematic diagram of a cleaning robot shown in Fig. 10a in yet another state;
  • FIG. 11a is a schematic structural diagram of a left side view of a cleaning robot provided in the thirteenth embodiment of the present application.
  • FIG. 11b is a schematic structural diagram of a left side view of a cleaning robot shown in FIG. 11a in another state;
  • FIG. 12a is a schematic structural diagram of a left side view of a cleaning robot provided in the fourteenth embodiment of the present application.
  • Fig. 12b is a schematic structural diagram of a left side view of a cleaning robot shown in Fig. 12a in another state;
  • Fig. 13a is a schematic structural diagram of a left side view of a cleaning robot provided in the fifteenth embodiment of the application;
  • Fig. 13b is a schematic structural diagram of a left side view of a cleaning robot shown in Fig. 13a in another state;
  • FIG. 14a is a schematic structural diagram of a left side view of a cleaning robot provided in the sixteenth embodiment of the application.
  • Fig. 14b is a schematic structural diagram of a left side view of a cleaning robot shown in Fig. 14a in another state;
  • Fig. 14c is a partial cross-sectional structural schematic diagram of a cleaning robot shown in Fig. 14a;
  • Fig. 14d is a schematic partial cross-sectional structure diagram of a cleaning robot shown in Fig. 14c;
  • Fig. 14e is a schematic partial cross-sectional structure diagram of a cleaning robot shown in Fig. 14d in another state;
  • 15a is a schematic structural diagram of a bottom view of a cleaning robot provided in the seventeenth embodiment of the application.
  • Fig. 15b is a left view structural schematic diagram of a cleaning robot shown in Fig. 15a;
  • 16a-16d are schematic bottom views of the cleaning robot cleaning around obstacles in an embodiment of the present application.
  • 17 is a schematic bottom view of the long straight side of the cleaning robot cleaning boundary in an embodiment of the application.
  • 18a-18d are schematic bottom views of the external corner of the cleaning robot cleaning boundary in one embodiment of the present application.
  • 19a-19b are schematic bottom views of the cleaning robot before cleaning the inner corners of the boundary according to an embodiment of the application;
  • 19c-19e are schematic bottom views of the cleaning robot cleaning the inner corners of the boundary according to an embodiment of the application.
  • 19f-19g are schematic bottom views of the cleaning robot after cleaning the inner corner of the boundary in an embodiment of the application.
  • 20a-20c are schematic bottom views of the cleaning robot returning to the base station for maintenance according to an embodiment of the present application.
  • first means “first,” “second,” etc.
  • these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application; the first element and the second element could be the same elements, but also different elements.
  • a cleaning robot 100 including a body 10 , a mobile unit 20 , a mopping unit 40 provided with a mopping head 41 , and a control unit 50 .
  • the mobile unit 20 is arranged on the fuselage 10 to support the fuselage 10 and drive the robot 100 to move on the surface of the working area;
  • the mopping unit 40 is arranged on the fuselage 10 to perform a preset mopping action;
  • the control unit 50 is used to control
  • the moving unit 20 automatically drives the body 10 to move on the surface of the work area, and controls the mopping unit 40 to automatically perform mopping action;
  • the mopping head is movably installed on the body to switch from a first position to a second position in response to an obstacle, wherein the mopping head is in the first position , extends beyond the fuselage in the width direction, and when in the second position, retracts from the first position in the width direction of the fuselage.
  • the direction perpendicular to the fuselage is defined as the vertical direction; when the mopping head is in the first position, the projection of the mopping head in the vertical direction in the width direction exceeds that of the fuselage in the vertical direction On the projection, the mopping head can maintain the first position to perform cleaning tasks to approach obstacles and clean the work area near the obstacles; the mopping head returns from the first position to the second position in response to the obstacle. , Compared with the mopping head in the first position, the mopping head is far away from the obstacle in the width direction, and the mopping head can be maintained in the second position to avoid collision with the obstacle.
  • the obstacle may be furniture in the work area, such as tables, chairs, beds, etc., or the boundaries of the work area, such as walls.
  • the manner of responding to the obstacle may be that the cleaning robot 100 contacts or collides with the obstacle, or the cleaning robot 100 reacts after detecting the existence of the obstacle.
  • the mopping head By setting the mopping head to be movable in the width direction of the fuselage compared to the fuselage, the mopping head has a component moving in the width direction, and the coverage of the mopping head in the moving area of the cleaning robot is maximized. , to avoid the situation where the mopping head collides with the wall or furniture and scratches the wall or furniture.
  • the mopping head when the mopping head is in the first position and the second position, the mopping head both contacts the surface of the work area to continuously perform the cleaning task.
  • the fuselage includes a mopping unit installation area located above the mopping work head, and the mopping work head includes a main mopping area and a mopping compensation area located on at least one side of the main mopping area.
  • the projection of the main mopping area and the installation area of the mopping unit in the vertical direction overlap, and the projection of the mopping compensation area in the vertical direction is the same as the installation area of the mopping unit.
  • the vertical projections of the regions do not overlap, at least in the width direction.
  • the vertical projection of the mopping compensation area at least partially overlaps the vertical projection of the mopping unit installation area. Furthermore, when the mopping head is in the second position, the vertical projection of the mopping compensation area is completely within the vertical projection of the mopping unit installation area.
  • the mopping head 41 by setting the mopping head 41 to be movable in the width direction of the fuselage 10 compared to the fuselage 10 , so that the mopping head has a width direction (W direction shown in FIG. 1 ) ) movement component, it can be defined that the forward direction of the cleaning robot 100 is Oy, and the width direction is perpendicular to Oy.
  • W direction shown in FIG. 1
  • the mopping head 41 can move in a direction away from the obstacle. Therefore, while the cleaning robot 100 provided in this embodiment maximizes the coverage rate of the moving area of the robot, it avoids scratching the wall or furniture due to the collision between the rear side of the machine and the wall or furniture.
  • the detection unit includes an edge sensor 301 and a distance limiting module 302 , and the edge sensor 301 is disposed on the fuselage 10 , and Distributed on the right front side of the fuselage along the first direction, used to detect the minimum distance value between the cleaning robot 100 and the obstacle, the first direction is the forward direction of the cleaning robot 100; the distance limiting module 302 is arranged in The fuselage 10 is distributed on the right rear side of the fuselage 10 along the first direction, and is arranged at intervals from the edge sensor 301 to define the minimum distance value between the cleaning robot 100 and the obstacle; wherein, the The mobile unit is configured to:
  • the distance limiting module 302 acts to limit the minimum distance value between the cleaning robot 100 and the obstacle to be within a second preset distance range, and the maximum value of the second preset distance range is less than or equal to the first preset distance range.
  • the minimum value of the first preset distance threshold is greater than or equal to the maximum value of the first preset distance range.
  • the preliminary detection of the minimum distance value between the robot and the edge of the obstacle by setting the edge sensor can provide preparation for the action of the distance limiting module;
  • the minimum distance value to the edge of the obstacle is accurately detected and limited. While maximizing the coverage of the robot's moving area, it avoids scratching the wall or furniture due to the collision between the rear side of the machine and the wall or furniture.
  • the distance limiting module includes a contact roller 3021, a connecting rod 3022 and a signal detector 3023.
  • the point roller 3021 is connected to the fuselage 10 via the connecting rod 3022; wherein, when the real-time minimum distance value between the cleaning robot 100 and the obstacle is within the first preset distance range, the contact roller 3021 takes the connecting rod 3022 as the The rotating shaft rotates in a direction close to the fuselage 10, and when the contact roller 3021 contacts the signal detector 3023, the signal detector 3023 is triggered to generate a first distance limiting signal, so as to control the mobile unit 20 to stop and/or move away from the obstacle moving in the direction of , and the minimum distance value between the cleaning robot 100 and the obstacle is limited to be within the second preset distance range.
  • the distance limiting module includes a contact sensor 3024 , and the contact sensor 3024 is used to generate a second contact based on the contact of the obstacle 400 .
  • the distance limit signal is used to control the mobile unit 20 to stop and/or move away from the obstacle 400, and the minimum distance value between the cleaning robot 100 and the obstacle 400 is limited to be within the second preset distance range.
  • the distance limiting module includes a non-contact distance measuring element and/or a mop moving motor; the non-contact distance measuring element is used to generate outgoing light and receive the reflected light after the outgoing light encounters the obstacle, and calculate the real-time distance value of the obstacle according to the generation time of the outgoing light and the reception time of the reflected light; wherein, the mobile unit is configured to: when the real-time distance value is within the first preset distance range, stop and/or move in a direction away from the obstacle to define a minimum distance between the cleaning robot and the obstacle The distance value is within the second preset distance range; the mop moving motor is configured to: if the real-time distance value is within the first preset distance range, act and drive the mop of the cleaning robot to move away from The direction of the obstacle moves.
  • the outgoing light includes at least one of structured light, laser light or infrared light.
  • the mop moving motor may be a DC servo motor
  • the cleaning robot further includes a cleaning unit, the cleaning unit is used for moving the robot on the surface, and the cleaning unit at least Upon partial contact with the surface, a preset cleaning action is performed.
  • the fuselage 10 includes a mopping unit installation area 11 located above the mopping work head, so The mopping head is movable between a first position and a second position.
  • the mopping head has a first position for normal mopping and a second position for avoiding obstacles.
  • Fig. 5a shows that the mopping head is in the first position
  • Fig. 5b shows that the mopping head moves in the width direction indicated by the arrow
  • the The mopping head moves to the second position; the The mopping head includes a main mopping area 101 and a mopping compensation area 12 located on at least one side of the main mopping area 101.
  • the mopping head is in the first position (as shown in FIG. 5a)
  • the The projection of the mopping main area 101 and the mopping unit installation area 11 in the direction perpendicular to the surface of the work area overlaps, and the projection of the mopping compensation area 12 in the direction perpendicular to the surface of the work area overlaps the installation area of the mopping unit.
  • the projection of zone 11 in the vertical direction, at least in the width direction does not overlap, so as to maximize the coverage of the moving area of the robot, while avoiding scratching the wall or furniture due to the collision between the rear side of the machine and the wall or furniture happensing.
  • the mopping compensation area 12 is arranged on the side of the main mopping area 101 close to the obstacle.
  • the mopping compensation area 12 is provided on both sides of the main mopping area 101 in the width direction of the fuselage 10 .
  • the cleaning robot 100 is observed from an upward perspective, and the mopping compensation area 12 of the mopping head 41 is close to the obstacle and protrudes completely or partially from the mopping unit installation area 11 in the width direction. The side close to the obstacle.
  • the mopping head 41 is in the second position, observe the cleaning robot 100 from an upward perspective, and the side of the mopping compensation area 12 of the mopping head 41 close to the obstacle is fully or partially retracted to the mopping unit installation area in the width direction. 11 The side close to the obstacle.
  • the mopping unit installation area 11 is disposed on the bottom surface of the fuselage 10, and the maximum width D1 of the mopping unit installation area 11 is less than or equal to the maximum width D2 of the fuselage.
  • the edge between the edge of the mopping compensation area 12 on the side away from the fuselage 10 and the most edge of the side corresponding to the fuselage 10 The distance d is within the active range.
  • the range of motion is greater than 0 and less than or equal to 20mm.
  • the range of motion is greater than or equal to 5 mm and less than or equal to 20 mm. .
  • the projection of the mopping compensation area 12 in the direction perpendicular to the surface of the work area is at least Part of it overlaps with the projection of the mopping unit installation area 11 in the vertical direction.
  • the projection of the mopping compensation area in the vertical direction can be set completely within the projection of the mopping unit installation area 11 in the vertical direction, so that The mopping head is completely covered by the fuselage in the second position.
  • a straight line L1 extending along the forward direction of the fuselage and passing through the most edge of the fuselage in the width direction is defined as an edge line, and it is defined as an edge line.
  • the side of the edge line close to the fuselage is the inner side of the edge line, and at least one side of the mopping unit installation area 11 is located inside the edge line of the corresponding side of the fuselage, so as to avoid the corners of the fuselage. The sharp corners will damage the objects it touches.
  • the fuselage includes a mid-fuselage area located in the middle of the fuselage, and in the forward direction of the fuselage, the mopping unit installation area is located in the fuselage Front and/or rear of the mid-body area, the outermost edge of the fuselage in the width direction is located in the mid-fuselage area or in front of the mid-fuselage area.
  • the most edge of the fuselage 10 in the width direction is the widest area of the fuselage, and the widest area of the fuselage may be set in the central area of the fuselage, or may be set in front of the central area of the fuselage.
  • the cleaning robot moves along a movement trajectory, and when the cleaning robot encounters or detects an obstacle on its movement trajectory, the mopping head moves from the first position to the second position in response to the movement of the obstacle position and maintain it in the second position to perform cleaning tasks to avoid collision with the obstacle.
  • the mopping head when there is no obstacle on the movement track, the mopping head is in the first position, and is maintained in the first position to perform the cleaning task to clean the working area near the obstacle.
  • the cleaning robot 100 includes a connecting member that movably connects the mopping head 41 to the body 10 , and the mopping head 41 can move from the first position under the action of an external force exerted by an obstacle. to the second position.
  • the cleaning robot 100 also includes a reset element, the reset element is connected to at least one of the mopping head 41 and the body 10, and the reset element provides a restoring force for the work head when the external force is removed, so that the mopping work head 41 can be The second position is moved to the first position.
  • the mopping head 41 is connected to the fuselage 10 through a connecting part, and can move relative to the fuselage 10 in the width direction.
  • the movement of the mopping head 41 may be that an obstacle exerts an external force on the mopping head 41, such as
  • the mopping head 41 collides with furniture or a wall, and the mopping head 41 is pushed from the first position to the second position, so as to prevent obstacles from interfering with the movement of the cleaning robot 100, and make the mopping head 41 clean as much as possible. Work area near obstacles.
  • the mopping head 41 When the push of the obstacle is lost, the mopping head 41 should move from the second position back to the first position to continue cleaning, and the reset element acts on the mopping head 41 when the external force exerted by the obstacle disappears to make the mopping head 41
  • the reset element may be an elastic member such as a compression spring, a tension spring, a torsion spring, etc., which has a restoring ability when an external force is applied or loses the action of the external force.
  • the cleaning robot further includes a limiting structure, and the limiting structure is disposed on at least one of the body and the mopping head to prevent the mopping head from continuing to move toward the obstacle when it is in the first position.
  • the limiting structure may be a stopper provided on the fuselage, and the stopper prevents the mopping head from continuing to move in the direction of approaching the obstacle when the mopping head moves to the first position, thereby disengaging the connecting part and losing connection with the fuselage.
  • the mopping head can be moved from the first position to the second position under the action of an external force
  • the cleaning robot further includes a device for providing the mopping head with
  • the restoring force is a restoring member that restores the second position to the first position when the external force is removed.
  • the cleaning robot further includes a detection unit for detecting whether there is an obstacle on the side of the fuselage, and a detection unit for driving the mopping head to the first position and all moving the drive unit between the second positions.
  • the driving unit may be one of a motor and a solenoid.
  • control unit controls the driving unit to drive the mopping head to move between the first position and the second position based on the detection signal of the detection unit.
  • the mopping head when the detection unit does not detect that there is an obstacle on the side of the installation area of the mopping unit, the mopping head is maintained at the first position; When the unit detects that there is an obstacle on the side of the installation area of the mopping unit, the driving unit drives the mopping head to move from the first position to the second position.
  • the detection unit detects that there is an obstacle on the side of the fuselage 10
  • the cleaning robot 100 identifies the scene to be cleaned where the obstacle is located, and drives the unit to drive according to the scene to be cleaned where the obstacle is located.
  • the mopping head 41 moves between a first position and a second position.
  • the cleaning robot 100 can set the position of the mopping head 41 according to the scene to be cleaned described by the obstacle.
  • the detection unit can be a lidar that is responsible for real-time mapping and navigation on the host, a visual sensor, such as a monocular or binocular RGB camera, or a ranging sensor, such as an infrared ranging sensor, TOF ranging sensor, structured light
  • the ranging sensor may be a striker plate disposed on the fuselage 10 that directly collides with the obstacle, or may be any combination of the above-mentioned detection elements.
  • the cleaning robot 100 includes a connecting member connecting the body 10 and the mopping head 41, and the connecting member includes an eccentric structure disposed on the mopping head 41 or the body 10, and the eccentric structure is driven by the driving unit. Movement to drive the mopping head 41 to move between the first position and the second position.
  • the driving unit drives the mopping head 41 to move to the first position.
  • the mopping head 41 when the cleaning robot 100 cleans the work area near the obstacle, the mopping head 41 is in the first position under the driving of the driving unit, the mopping head 41 extends beyond the body 10 in the width direction, and the mopping head 41 is in the first position.
  • the side of the ground working head 41 close to the obstacle protrudes in the width direction or at least partially protrudes from the side of the fuselage 10 close to the obstacle, so that the mopping head 41 is closer to the obstacle, so as to be as close as possible to the obstacle and Clean the work surface near the obstacle, while maximizing the coverage rate of the robot's moving area, while avoiding the mopping head 41 of the cleaning robot 100 to collide with and scratch the obstacle.
  • the scene to be cleaned where the obstacle is located is, for example, the cleaning robot 100 cleaning the table around the legs of the chair.
  • the working area includes a boundary
  • the boundary is an obstacle preventing the cleaning robot from continuing to travel.
  • the driving unit drives the mopping head 41 to move to the first a location.
  • the cleaning robot 100 may encounter the boundary of the work area.
  • the boundary of the work area is a wall with long straight sides and corners.
  • the scene to be cleaned where the obstacle is located is The long straight side of the wall
  • the cleaning robot 100 needs to clean the long straight side of the wall as much as possible
  • the driving unit drives the mopping head 41 to move to the first position
  • the side of the mopping head 41 close to the obstacle is in the width direction
  • the side of the fuselage 10 close to the obstacle is protruded upward or at least partially, so that the mopping head 41 is closer to the wall and cleans the long straight side of the wall.
  • the driving unit drives the mopping head 41 to move to the first position, and the side of the mopping head 41 close to the obstacle protrudes in the width direction or at least partially Extend the side of the fuselage 10 close to the obstacle, so that the mopping compensation area 12 of the mopping head 41 is closer to the wall, and the outside corner of the wall is cleaned.
  • the detection unit detects the distance between the fuselage 10 and the obstacle
  • the control unit moving unit 20 drives the fuselage 10 to move, so as to control the distance between the side of the fuselage 10 close to the obstacle and the obstacle, which is greater than that of mopping the floor
  • the distance between the edge of the side away from the fuselage of the mopping compensation area 12 and the most edge of the corresponding side of the fuselage Please refer to FIG.
  • the lateral distance d1 of the mopping compensation area 12 protruding from the mopping unit installation area 11 on the side of the fuselage 10 cannot exceed the side of the fuselage 10 close to the obstacle and the obstacle Whether the distance d2 between the objects will interfere with the walking of the cleaning robot 100.
  • the working area includes a boundary, and the boundary is the obstacle preventing the cleaning robot from continuing to travel.
  • the driving unit drives the mopping head 41 to move to the first Second position.
  • the obstacle is the wall of the boundary of the working area, an angle will be formed between the two walls, and the inner angle is the acute or right angle formed between the two walls, and the scene to be cleaned where the obstacle is located is the wall
  • the drive unit drives the mopping head 41 to move to the second position, and the side of the mopping head 41 close to the obstacle is retracted or at least partially retracted in the width direction.
  • the driving unit drives the mopping head 41 to move to the first position.
  • the driving unit drives the mopping head 41 to move to the first position.
  • the cleaning robot 100 cleans the long straight side of the boundary before and after passing through the inner corner.
  • the cleaning robot 100 cleans the long straight side of the boundary, it drives The unit drives the mopping head 41 to move to the first position.
  • the cleaning robot also includes an in-position detection unit that is arranged on the body and detects whether the mopping head is in the first position or the second position.
  • the control unit controls the drive unit to drive the mopping head to stop at the position according to the signal detected by the in-position detection unit. first position or second position.
  • the in-position detection unit can be a micro switch or an in-position detection sensor, for example, a Hall sensor, a photoelectric sensor, etc., to avoid the mopping head moving to the first position or the second position and being driven by the driving unit to continue to move, causing mopping. Consequences of the disengagement of the working head from the fuselage.
  • the driving unit drives the mopping head 41 to move to the second position.
  • the cleaning robot 100 when the cleaning robot 100 returns to the base station 200 for maintenance, the driving unit drives the mopping head 41 to move to the second position.
  • the cleaning robot 100 when the cleaning robot 100 returns to the base station 200 for maintenance, it may need to enter the base station 200.
  • the structure of the base station 200 needs to be as compact as possible so that the volume of the base station 200 is not too large, and the space for the base station 200 to accommodate the entry and stop of the cleaning robot 100 also needs to be strictly Therefore, in order to prevent the cleaning robot 100 from entering the base station 200 and the mopping head 41 from interfering with the casing of the base station 200, when the driving unit drives the mopping head 41 to move to the second position, the mopping head 41 is close to a part of the obstacle.
  • the side retracts or at least partially retracts the side of the body 10 close to the obstacle in the width direction, so that the cleaning robot 100 can smoothly enter the interior of the base station 200 .
  • the timing when the driving unit drives the mopping head 41 to move to the second position may be any timing before the cleaning robot 100 moves to the interior of the base station 200 . Further, the mopping head 41 can be accurately disassembled or docked into a corresponding maintenance module in the base station 200 for maintenance.
  • the fuselage 10 has a fuselage centerline L1 in the longitudinal direction
  • the mopping head 41 has a mopping head centerline L2 in the longitudinal direction.
  • the drive unit drives The mopping head 41 moves to a position where the center line L1 of the body and the center line L2 of the mopping head coincide or are within a preset distance.
  • the working area includes an intermediate area, and when the cleaning robot 100 cleans the intermediate area, the mopping head 41 moves to the first position and maintains the first position.
  • the working area includes an intermediate area, and when the cleaning robot 100 cleans the intermediate area, the mopping head 41 moves to the second position and maintains the second position. Further, in an embodiment of the present application, when the detection unit detects that the obstacle on the side of the installation area of the mopping unit disappears, the driving unit drives the mopping head to be driven by the first The second position is moved to the first position.
  • the mopping unit includes a mopping cloth 42, and the edge of the mopping cloth 42 and the outline of the fuselage 10 are in contact with each other. The edges are aligned with or partially beyond the edges of the outline of the fuselage 10 .
  • the mopping unit further includes a mopping board (not shown) and a sliding assembly (not shown), the mopping board is connected to the fuselage via the sliding assembly to limit the sliding direction and distance of the mopping board, and the sliding stroke of the mopping board relative to the fuselage is limited to Within 30 mm, preferably 10 to 30 mm, more preferably 5 to 20 mm, for example, the stroke can be set to 5 mm, 10 mm, 15 mm, 20 mm, 25 mm, or 30 mm.
  • the size of the mopping board in the width direction of the fuselage is approximately equal to the width of the fuselage minus the sliding stroke of the mopping board.
  • the outer contour of the mop board 42 or the contour of the rear of the fuselage 10 at least partially protrudes from a circle whose center is the center of rotation of the fuselage 10 in situ, and the diameter is the width of the fuselage.
  • the planar shape of the mopping board is roughly a rectangle with at least two right angles and obvious chamfering features. When the mopping board contacts an obstacle, the mopping board slides in the direction away from the obstacle, while maximizing the coverage of the mopping cloth, avoiding scratches due to the collision between the rear side of the machine and the wall or furniture wall or furniture condition.
  • the shape of the fuselage is one of a circle, a D shape, a rectangle or a chamfered D shape.
  • the shape of the fuselage 10 is a chamfered D shape, so as to improve the ability of the robot 100 to avoid obstacles on the rear side.
  • the cleaning unit further includes a sweeping unit 30 and a control unit 50 , and the sweeping unit 30 is disposed on the fuselage 10 for When the robot 100 moves on the surface of the area to be cleaned and the sweeping unit 30 contacts the surface, a preset sweeping action is performed; the control unit 50 is connected to the moving unit 20 , the sweeping unit 30 and the mopping unit 40 , and the control unit 50 It is configured to: control the sweeping unit and/or the mopping unit to contact the surface according to the acquired function selection control signal, and control the moving unit to drive the robot to move, so as to realize the single-machine execution based on the user's control.
  • the functions of "sweeping alone”, “sweeping alone” or “sweeping and mopping together” improve cleaning performance while avoiding user intervention in the machine. Since the detection unit 300 can detect the real-time minimum distance value between the cleaning robot 100 and the obstacle, and define the minimum distance value between the cleaning robot 100 and the obstacle according to the real-time minimum distance value, in order to maximize the robot efficiency While mopping the coverage of the floor area, avoid scratching the wall or furniture due to the collision between the rear side of the machine and the wall or furniture.
  • a cleaning robot further comprising a communication unit and/or an operation unit, the communication unit is connected with the control unit, and the control unit communicates with the control unit via the communication unit.
  • the mobile terminal is connected to obtain the function selection control signal from the mobile terminal, so as to realize the remote intelligent control of the cleaning robot;
  • the operation unit is connected to the control unit, and the control unit locally receives data from the user via the operation unit.
  • the function selects the control signal to realize the local control of the cleaning robot.
  • a cleaning robot 100 is provided, further comprising a communication unit 60 , the communication unit 60 is connected to the control unit 50 , and the control unit 50 communicates with the mobile terminal via the communication unit 60 200 connection to obtain the function selection control signal from the mobile terminal 200, to realize the control of the single machine based on the function selection control signal input by the user to perform the functions of "sweeping alone", “sweeping the floor alone” or “sweeping and mopping together", improving the cleaning performance
  • the mobile terminal 200 may be at least one of a remote control, a mobile phone, a tablet computer, a computer, or a smart wearable device.
  • a cleaning robot 100 is provided, further comprising an operation unit 70 , the operation unit 70 is connected with the control unit 50 , and the control unit 50 locally receives data from the The user's function selection control signal realizes the control of the single machine based on the function selection control signal input by the user to perform the functions of "sweeping alone", “sweeping the floor” or “sweeping and mopping together", which improves the cleaning performance and avoids the user switching.
  • the operation unit 70 may be an equivalent device that can input signals, such as a physical button, a touch screen, or a voice control unit.
  • the mopping unit includes a mopping plate, a mopping cloth and a second lifting component, and the first surface of the mopping plate is connected to the fuselage;
  • the mopping cloth is arranged on a second surface of the mopping plate opposite to the first surface, and the mopping cloth is used for contacting the surface to perform a preset mopping action;
  • the second lifting component is connected to the
  • the control unit is connected to perform a second preset action based on the control of the control unit, so as to drive the mop on the mop board to contact or leave the surface of the working area of the cleaning robot.
  • the cleaning robot further includes a side brush and a roller brush.
  • the side brush and the roller brush together constitute a sweeping width.
  • the sum of the widths of the main mopping area and the mopping compensation area of the mopping head of the cleaning robot is greater than or equal to the sweeping cleaning width.
  • the mobile unit of the cleaning robot has a wheel base.
  • the sum of the widths of the main mopping area and the mopping compensation area of the mopping head of the cleaning robot is greater than the wheel base.
  • a cleaning robot 100 is provided, and the sweeping unit includes a side brush assembly (not shown in Figs. 10a-10d ). shown), the roller brush assembly 32 and the first lifting component (not shown in FIG. 10a-FIG.
  • one end of the side brush assembly is provided on the fuselage 10, and the other end of the side brush assembly is provided with a first cleaning part, such as One end of the roller brush assembly 32 is provided on the body 10, and the other end of the roller brush assembly 32 is provided with a second cleaning part, such as a cleaning head; wherein, the first cleaning part and the second cleaning part are used for in contact with the surface of the working area of the cleaning robot 100 to perform a preset cleaning action; the first lifting component is connected to the control unit for performing a first preset action based on the control of the control unit, so as to The first cleaning part and/or the second cleaning part are driven to contact or leave the surface.
  • a first cleaning part such as One end of the roller brush assembly 32 is provided on the body 10
  • a second cleaning part such as a cleaning head
  • At least two side brush assemblies may be arranged symmetrically distributed on both sides of the fuselage 10, and the rolling brush assemblies 32 are arranged in the middle of the fuselage 10 and are located on both sides of the fuselage.
  • the components can reduce the volume of the fuselage while optimizing the structural layout of the cleaning robot.
  • the first lifting component includes a first motor 35 and a first cam 36 , the first motor 35 is connected to the control unit; the first cam 36 is used to follow the rotation of the first motor, and the free end of the first cam 36 and the roller brush assembly 32 are far away from the second cleaning part (not shown) according to the received single drag control signal, the control unit controls the first motor to rotate along a preset first direction, and drives the first cam 36 to rotate, so as to lift the roller brush assembly 32 and make the The second cleaning part leaves the surface of the working area of the cleaning robot 100; according to the received control signal for single sweeping and/or the integrated sweeping and mopping control signal, the control unit controls the first motor 35 to move in a predetermined second direction Rotate and drive the first cam 36 to move down, so as to drive the roller brush assembly 32 to move down, so that the second cleaning part (not shown) contacts the surface of the working area
  • the first lifting component further includes a cam sleeve, and the cam sleeve covers at least a part of the first cam and is connected with the first cam.
  • a cam is connected for following the rotation of the first cam and driving the roller brush assembly to move up or down.
  • the first lifting component further includes a cam sleeve 37.
  • the cam sleeve 37 It covers the first cam 36 and is connected with the first cam 36 for following the rotation of the first cam 36 and driving the roller brush assembly 32 to ascend or descend.
  • FIG. 10a shows that the cleaning robot 100 works in the “sweeping and mopping integrated” state, that is, both the sweeping unit and the mopping unit 40 of the cleaning robot 100 are in contact with the surface of the working area of the cleaning robot 100, and the moving unit 20 drives the cleaning robot 100 to move to At the same time, the preset cleaning action and the preset mopping action are executed.
  • FIG. 10b shows that the cleaning robot 100 works in a “single mopping” state, that is, the mopping units 40 of the cleaning robot 100 are all in contact with the surface of the working area of the cleaning robot 100, and the moving unit 20 drives the cleaning robot 100 to move to perform preset mopping action.
  • control unit can be configured to control the first motor to rotate along a preset first direction according to the received single-drag control signal, and drive the first cam 36 to rotate, so as to lift the roller brush assembly 32 and The second cleaning part leaves the surface of the working area of the cleaning robot 100, the control unit controls the mopping unit 40 to contact the surface of the working area of the cleaning robot 100, and controls the moving unit 20 to drive the cleaning robot 100 to move, so as to Perform a preset mopping action.
  • FIG. 10c illustrates that the cleaning robot 100 operates in a "single sweep" state, ie, the sweeping unit of the cleaning robot 100 is in contact with the surface of the working area of the cleaning robot 100, and the mopping unit 40 moves away from the surface.
  • the control unit controls the first motor 35 to rotate along a preset second direction according to the received single-scan control signal and drives the first cam 36 to move down, so as to drive the roller brush assembly 32 to move down, so that the second cleaning
  • the part (not shown) contacts the surface of the working area of the cleaning robot 100, the control unit controls the mopping unit 40 to leave the surface, and controls the moving unit 20 to drive the cleaning robot 100 to move to perform a preset cleaning action.
  • the control unit controls the moving unit 20 to drive the cleaning robot 100 to move, and controls both the sweeping unit and the mopping unit 40 to leave the surface of the working area of the cleaning robot 100 . That is, the cleaning robot 100 only moves but does not perform a preset cleaning action or a preset mopping action.
  • the first lifting component further includes a second cam 310 and a shaft sleeve 311, the second cam 310 uses In order to follow the rotation of the first motor (not shown in FIG. 11a and FIG.
  • the shaft sleeve 311 can be set to be cylindrical, and one end of the shaft sleeve 311 is connected to the end of the side brush assembly 31 away from the first cleaning part, and the shaft The other end of the sleeve 311 is connected to the free end of the second cam 310; when the first motor rotates in the first direction, the second cam 310 rotates with the first motor and drives the shaft sleeve 311 to rotate, so as to drive The side brush assembly 31 rotates, so that the first cleaning part located at the free end of the side brush assembly 31 leaves the surface of the working area of the cleaning robot 100; when the first motor rotates in the second direction, the second cam 310 follows the The first motor rotates and drives the shaft sleeve 311 to rotate, so as to drive the side brush assembly 31 to rotate, so that the first cleaning part located at the free end of the side brush assembly 31 contacts the surface of the working area of the cleaning robot 100 .
  • a cleaning robot 100 provided in an embodiment of the present application further includes a shifting block 312 , and one end of the shifting block 312 is away from the side brush assembly 31 from the shaft sleeve 311 .
  • One end is connected, and the other end of the dial 312 is connected with the free end of the second cam 310 ; when the second motor rotates in the first direction and drives the second cam 310 to rotate, the dial 312 rotates following the second cam 310 And drive the shaft sleeve 311 to rotate, so that the side brush assembly 31 follows the rotation and drives the first cleaning part to leave the surface of the working area of the cleaning robot 100; when the second motor rotates in the second direction and drives the second cam When 310 rotates, the dial 312 rotates following the second cam 310 and drives the shaft sleeve 311 to rotate, so that the side brush assembly 31 rotates along with it and drives the first cleaning part to contact the surface of the working area of the cleaning robot 100 .
  • the first lifting component further includes a second motor (not shown in FIGS. 12a and 12b ) and a motor bushing 313, the second motor is connected to the control unit;
  • the motor bushing 313 is cylindrical, used to follow the second motor and rotate around a preset axis 314, the axis 314 is related to the work of the cleaning robot 100
  • the surface of the area forms a first preset angle, and one end of the side brush assembly 31 away from the first cleaning portion is connected with the motor bushing 313; wherein, the control unit is configured to:
  • the second motor is controlled to rotate along a preset third direction by a second preset angle and drive the motor shaft sleeve 313 to rotate, so as to drive the side brush assembly 31 to rotate by a third preset angle, causing the first cleaning part to leave the surface of the working area of the cleaning robot 100;
  • the second motor is controlled to rotate along the fourth preset direction by the second preset angle, and the motor shaft sleeve 313 is driven to rotate, so as to The side brush assembly 31 is driven to rotate by the third preset angle, so that the first cleaning part contacts the surface of the working area of the cleaning robot 100 , and the fourth direction is opposite to the third direction.
  • the first lifting component includes an electromagnetic assembly 315, and the electromagnetic assembly 315 is connected to the control unit; wherein , the end of the roller brush assembly 32 close to the electromagnetic assembly 315 is at least partially made of magnetic metal material, and the metal includes at least one of iron, nickel or cobalt; the control unit is configured as:
  • control the electromagnetic assembly 315 to energize and attract the roller brush assembly 32 to leave the surface of the working area of the cleaning robot 100;
  • the electromagnetic assembly 315 is controlled to be powered off and the roller brush assembly 32 is released, so that the second cleaning part contacts the surface of the working area of the cleaning robot 100 .
  • the second lifting component further includes a third motor (not shown in the figure) (shown), the fixed shaft 44, the mop board support 45, the fixed shaft sleeve 46 and the third cam 47, the middle of the fixed shaft 44 is connected with the chassis of the fuselage 10; the fixed shaft 44 is connected with the mop board support 45 via the fixed shaft sleeve 46; The fixed bushing 46 is used to define the moving direction and/or the moving distance of the mop board support 45 .
  • the fixed bushing 46 is used to limit the movement of the mopping board bracket 45 in the upper and lower directions and its upward or downward movement the distance.
  • the free end of the third cam 47 is connected with the surface of the mopping plate bracket 45 away from the mopping cloth 42, and the third cam 47 is used to follow the rotation of the third motor; wherein, the control unit is configured as:
  • the third motor is controlled to rotate in a preset fifth direction, and the third cam 47 is driven to rotate, so as to lift the mop plate bracket 45 to move up and make the mop 42 leave the cleaning robot 100 . the surface of the area;
  • the third motor is controlled to rotate along a preset sixth direction and drives the third cam 47 to move down, so as to drive the mopping plate bracket 45 to move down Move and make the mop 42 contact the surface of the working area of the cleaning robot 100, the sixth direction is opposite to the fifth direction.
  • the sweeping unit partially overlaps the mopping unit; the control unit is configured to:
  • the mobile unit is controlled to move and drive the cleaning robot to a preset mopping cloth loading area, and the preset mopping cloth loading area is provided with Self-adhesive mop with preset shapes and sizes;
  • the first cleaning part of the side brush assembly is controlled to move down and connect with the self-adhesive mop, so that the side brush assembly contacting the surface via the self-adhesive mop;
  • the moving unit is controlled to drive the cleaning robot to move.
  • control unit is further configured to control the rolling brush assembly to leave the surface according to the acquired single drag control signal, so as to avoid the rolling brush assembly when mopping the ground alone
  • the dust-adhered second cleaning portion contaminates the surface to be scrubbed.
  • the moving unit includes a driving wheel set 21 and a sensor set (not shown), and the driving wheel set 21 connected with the control unit; the sensor group is connected with the control unit for collecting position information and/or obstacle information; wherein the control unit is further configured to:
  • Real-time control information is generated according to the received position information and/or the obstacle information, so as to control the driving wheel set to drive the cleaning robot to perform actions, and the actions include positioning, path planning, recharging or obstacle avoidance. at least one.
  • a cleaning robot 100 provided in an embodiment of the present application further includes a dust holding device 34 and a fan system 60, and the fan system 60 is connected to the control unit; Wherein, the control unit is further configured to:
  • the fan system is controlled to work and generate suction, so as to suck the sundries on the surface into the dust holding device 34 .
  • the mopping unit further includes a water tank and a mopping assembly, and the mopping assembly is in communication with the water tank; wherein, the mopping assembly Used to make contact with the surface to perform a preset mopping action.
  • a cleaning robot provided in an embodiment of the present application further includes a filter, which is arranged in the fan system and is used to filter the sundries entering the fan system.
  • a cleaning robot system comprising the cleaning robot described in any of the embodiments of the present application and a base station, the base station is used to provide communication and/or communication for the cleaning robot
  • the maintenance services include at least one of charging, providing mopping, adding water or dusting.
  • the maintenance service includes at least one of charging, providing mopping, adding water or dusting, so that the cleaning robot can move to the base station for installation/replacement of the mop according to the needs of the work. , or perform maintenance operations such as charging, adding water, or dusting.

Abstract

本申请涉及一种清洁机器人，所述机器人包括机身、移动单元、设有拖地工作头的拖地单元及控制单元，移动单元设置于所述机身，用于支撑所述机身并带动所述机器人在工作区域的表面移动；所述拖地单元设置于所述机身，用于执行预设的拖地动作；控制单元用于控制所述移动单元自动带动所述机身在工作区域表面移动，并控制所述拖地单元自动执行拖地动作；所述拖地工作头相较于所述机身在所述机身的宽度方向上可移动。本申请在最大限度提高机器人移动区域覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。

Description

清洁机器人
本申请要求了申请日为2020/12/04，申请号为202011403286X，发明名称为“清洁机器人”和申请日为2020/12/04，申请号为2020228763688，发明名称为“清洁机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及机器人技术领域，特别是涉及一种清洁机器人。
背景技术
随着人工智能技术的快速发展，各种机器人出现在人们的日常生活中。例如，清洁机器人能够智能地、自动地帮助人们清洁地面，成为人们最常见、喜爱的家用机器人产品之一。
然而，传统的家用清洁动机器在清洁的过程中，很难保证较高的“地面覆盖率”，导致未清洁死角区域的存在；由于机器人本身很难做成标准的圆形，在机器转弯时，机器后侧容易与墙壁或家具发生碰撞，存在刮花墙壁或家具的风险。
发明内容
基于此，有必要提供一种提高区域覆盖率且能够避免刮花墙壁或家具的清洁机器人。
为实现上述目的及其他目的，本申请的一方面提供一种清洁机器人，包括机身、移动单元、设有拖地工作头的拖地单元及控制单元，移动单元设置于所述机身，用于支撑所述机身并带动所述机器人在工作区域的表面移动；所述拖地单元设置于所述机身，用于执行预设的拖地动作；控制单元用于控制所述移动单元自动带动所述机身在工作区域表面移动，并控制所述拖地单元自动执行拖地动作；所述拖地工作头相较于所述机身在所述机身的宽度方向上可运动。
于上述实施例中的清洁机器人中，通过设置拖地工作头相较于所述机身在所述机身的宽度方向上可运动，使得拖地工作头具有宽度方向上移动的分量，检测单元清洁机器人在最大限度提高机器人移动区域覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。
在其中一个实施例中，所述机身包括位于所述拖地工作头上方的拖地单元安装区，所述拖地工作头在第一位置和第二位置之间可运动，所述拖地工作头包括拖地主区和位于所述拖地主区一侧的拖地补偿区，当所述拖地工作头位于所述第一位置时，所述拖地主区与所述拖地单元安装区在垂直方向上的投影重叠，所述拖地补偿区在垂直方向上的投影与所述拖地单元安装区在垂直方向上的投影，至少在所述宽度方向上不重叠。
在其中一个实施例中，所述拖地补偿区的远离所述机身的一侧的边缘与所述机身对应侧的最边缘之间的距离小于阈值。
在其中一个实施例中，所述阈值为10mm。
在其中一个实施例中，当所述拖地工作头位于所述第二位置时，所述拖地补偿区在垂直方向上的投影至少部分与所述拖地单元安装区在垂直方向上的投影重叠。
在其中一个实施例中，当所述拖地工作头位于所述第二位置时，所述拖地补偿区在垂直 方向上的投影完全位于所述拖地单元安装区在垂直方向上的投影内。
在其中一个实施例中，定义沿所述机身的前进方向延伸且经过所述机身在宽度方向上的最边缘的直线为边缘线，定义位于所述边缘线靠近所述机身的一侧为所述边缘线的内侧，所述拖地单元安装区至少一侧边位于所述机身对应侧的边缘线的内侧。
在其中一个实施例中，所述机身包括位于所述机身中部的机身中区，在所述机身的前进方向上，所述拖地单元安装区位于所述机身中区的前方和/或后方，所述机身在所述宽度方向上的最边缘位于所述机身中区。
在其中一个实施例中，所述拖地工作头在外力作用下，可由所述第一位置运动到所述第二位置，所述清洁机器人还包括用于给所述拖地工作头提供恢复力，以使其在外力消除时由所述第二位置恢复到所述第一位置的恢复件。
在其中一个实施例中，所述清洁机器人还包括用于检测所述拖地单元安装区的侧边是否存在障碍物的检测单元及用于驱动所述拖地工作头在所述第一位置和所述第二位置之间运动的驱动单元。
在其中一个实施例中，当所述检测单元未检测到所述拖地单元安装区的侧边存在障碍物时，所述拖地工作头维持在所述第一位置；当所述检测单元检测到所述拖地单元安装区的侧边存在障碍物时，所述驱动单元驱动所述拖地工作头由所述第一位置运动到所述第二位置。
在其中一个实施例中，当所述检测单元检测到所述拖地单元安装区的侧边的障碍物消失时，所述驱动单元驱动所述拖地工作头由所述第二位置运动到所述第一位置。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本申请第一实施例中提供的一种清洁机器人的结构示意图；
图2为本申请第二实施例中提供的一种清洁机器人的结构示意图；
图3a为本申请第三实施例中提供的一种清洁机器人的结构示意图；
图3b为图3a中示意的一种清洁机器人于另一状态下的结构示意图；
图4为本申请第四实施例中提供的一种清洁机器人的结构示意图；
图5a为本申请第五实施例中提供的一种清洁机器人的结构示意图；
图5b为图5a中示意的一种清洁机器人于另一状态下的结构示意图；
图5c为图5a中示意的一种清洁机器人于又一状态下的结构示意图；
图5d为本申请第六实施例中与图5a中示意的一种清洁机器人于相同状态下的结构示意图；
图5e为本申请第七实施例中提供的拖布的结构示意图；
图6为本申请第八实施例中提供的一种清洁机器人的结构示意图；
图7为本申请第九实施例中提供的一种清洁机器人的结构示意图；
图8为本申请第十实施例中提供的一种清洁机器人的结构示意图；
图9为本申请第十一实施例中提供的一种清洁机器人的结构示意图；
图10a为本申请第十二实施例中提供的一种清洁机器人的左视图结构示意图；
图10b为图10a中示意的一种清洁机器人于另一状态下的左视图结构示意图；
图10c为图10a中示意的一种清洁机器人于又一状态下的左视图结构示意图；
图10d为图10a中示意的一种清洁机器人于再一状态下的左视图结构示意图；
图11a为本申请第十三实施例中提供的一种清洁机器人的左视图结构示意图；
图11b为图11a中示意的一种清洁机器人于另一状态下的左视图结构示意图；
图12a为本申请第十四实施例中提供的一种清洁机器人的左视图结构示意图；
图12b为图12a中示意的一种清洁机器人于另一状态下的左视图结构示意图；
图13a为本申请第十五实施例中提供的一种清洁机器人的左视图结构示意图；
图13b为图13a中示意的一种清洁机器人于另一状态下的左视图结构示意图；
图14a为本申请第十六实施例中提供的一种清洁机器人的左视图结构示意图；
图14b为图14a中示意的一种清洁机器人于另一状态下的左视图结构示意图；
图14c为图14a中示意的一种清洁机器人的局部剖面结构示意图；
图14d为图14c中示意的一种清洁机器人的局部剖面结构示意图；
图14e为图14d中示意的一种清洁机器人于另一状态下的局部剖面结构示意图；
图15a为本申请第十七实施例中提供的一种清洁机器人的仰视图结构示意图；
图15b为图15a中示意的一种清洁机器人的左视图结构示意图；
图16a-图16d为本申请一个实施例中清洁机器人清洁障碍物四周的仰视示意图；
图17为本申请一个实施例中清洁机器人清洁边界的长直边的仰视示意图；
图18a-图18d为本申请一个实施例中清洁机器人清洁边界的阳角的仰视示意图；
图19a-图19b为本申请一个实施例中清洁机器人清洁边界的阴角前的仰视示意图；
图19c-图19e为本申请一个实施例中清洁机器人清洁边界的阴角时的仰视示意图；
图19f-图19g为本申请一个实施例中清洁机器人清洁边界的阴角后的仰视示意图；
图20a-图20c为本申请一个实施例中清洁机器人回归基站进行维护时的仰视示意图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳的实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
在使用本文中描述的“包括”、“具有”和“包含”的情况下，除非使用了明确的限定用语，例如“仅”、“由……组成”等，否则还可以添加另一部件。除非相反地提及，否则单数形式的术语可以包括复数形式，并不能理解为其数量为一个。
应当理解，尽管本文可以使用术语“第一”、“第二”等来描述各种元件，但是这些元件不应受这些术语的限制。这些术语仅用于将一个元件和另一个元件区分开。例如，在不脱离本申请的范围的情况下，第一元件可以被称为第二元件，并且类似地，第二元件可以被称为第一元件；第一元件与第二元件可以为相同的元件，也可以为不同的元件。
在本申请中，除非另有明确的规定和限定，术语“相连”、“连接”等术语应做广义理解，例如，可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
请参考图1，在本申请的一个实施例中，提供了一种清洁机器人100，包括机身10、移动单元20、设有拖地工作头41的拖地单元40及控制单元50，移动单元20设置于机身10，用于支撑机身10并带动机器人100在工作区域的表面移动；拖地单元40设置于机身10，用于执行预设的拖地动作；控制单元50用于控制移动单元20自动带动机身10在工作区域表面移动，并控制拖地单元40自动执行拖地动作；拖地工作头41相较于机身10在机身10的宽度方向上可移动。
在本申请的一个实施例中，拖地工作头可活动的安装于机身，以响应于障碍物而由一第 一位置切换到一第二位置，其中，拖地工作头在第一位置时，在宽度方向上超出机身，在第二位置时，在机身的宽度方向上从第一位置回退。
在本申请的一个实施例中，定义与机身垂直的方向为垂直方向；拖地工作头在第一位置时，拖地工作头在垂直方向上的投影在宽度方向超出于机身在垂直方向上的投影，拖地工作头可维持在第一位置执行清洁任务，以靠近障碍物并清洁障碍物附近的工作区域；拖地工作头响应于障碍物由第一位置回退至第二位置时,其相较于处于第一位置拖地工作头在宽度方向上远离障碍物，拖地工作头可维持在第二位置，以避免与障碍物碰撞。需要说明的是，障碍物可以是工作区域中存在家具，例如桌、椅、床等等，也可以是工作区域的边界，例如墙壁。响应障碍物的方式可以是清洁机器人100与障碍物接触、碰撞，或者清洁机器人100检测到障碍物的存在后作出的反应。通过设置拖地工作头相较于机身在机身的宽度方向上可运动，使得拖地工作头具有宽度方向上移动的分量，最大限度提高拖地工作头在清洁机器人移动区域覆盖率的同时，避免产生拖地工作头与墙壁或家具发生碰撞而刮花墙壁或家具情况。
优选的，拖地工作头处于第一位置和第二位置时，拖地工作头均接触工作区域表面以持续执行清洁任务。
在本申请的一个实施例中，机身包括位于拖地工作头上方的拖地单元安装区，拖地工作头包括拖地主区和位于拖地主区至少一侧的拖地补偿区，当拖地工作头响应于障碍物由第一位置回退至第二位置时，拖地主区与拖地单元安装区在垂直方向上的投影重叠，拖地补偿区在垂直方向上的投影与拖地单元安装区在垂直方向上的投影，至少在宽度方向上不重叠。
优选的，当拖地工作头处于第二位置时，拖地补偿区在垂直方向上的投影至少部分与拖地单元安装区在垂直方向上的投影重叠。更进一步的，当拖地工作头处于第二位置时，拖地补偿区在垂直方向上的投影完全位于拖地单元安装区在垂直方向上的投影内。
作为示例，请继续参考图1，通过设置拖地工作头41相较于机身10在机身10的宽度方向上可移动，使得拖地工作头具有宽度方向上(图1所示的W方向)移动的分量，可以定义清洁机器人100的前进方向为Oy，宽度方向与Oy垂直。当拖地工作头41的边缘超出机身10的边缘接触障碍物例如墙壁或家具时，拖地工作头41可以向远离障碍物的方向移动。因此，本实施例提供的清洁机器人100在最大限度提高机器人移动区域覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。
进一步地，请参考图2，在本申请的一个实施例中提供的一种清洁机器人100中，所述检测单元包括沿边传感器301及距离限定模组302，沿边传感器301设置于机身10，且沿第一方向分布于所述机身的右前侧，用于检测清洁机器人100与障碍物之间的最小距离值，所述第一方向为清洁机器人100的前进方向；距离限定模组302设置于机身10，且沿所述第一方向分布于机身10的右后侧，与沿边传感器301间隔设置，用于限定清洁机器人100与所述障碍物之间的最小距离值；其中，所述移动单元被配置为：
当所述实时最小距离值小于或等于第一预设距离阈值时，继续向靠近所述障碍物的方向移动，当所述实时最小距离值位于第一预设距离范围内时，距离限定模组302动作，以限定清洁机器人100与所述障碍物之间的最小距离值位于第二预设距离范围内，所述第二预设距离范围的最大值小于或等于所述第一预设距离范围的最小值，所述第一预设距离阈值大于或等于所述第一预设距离范围的最大值。
于上述实施例中的清洁机器人中，通过设置沿边传感器对机器人到障碍物边缘的最小距离值的初步检测，可以为距离限定模组的动作提供准备；通过设置距离限定模组配合沿边传感器对机器人到障碍物边缘的最小距离值进行精准检测及限定，在最大限度提高机器人移动区域覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。
进一步地，请参考图3a和图3b，在本申请的一个实施例中提供的一种清洁机器人100中，所述距离限定模组包括触点滚轮3021、连杆3022及信号检测器3023，触点滚轮3021经由连杆3022与机身10连接；其中，当清洁机器人100与障碍物之间的实时最小距离值位于所述第一预设距离范围内时，触点滚轮3021以连杆3022为转轴向靠近机身10的方向旋转， 及当触点滚轮3021接触信号检测器3023时触发信号检测器3023生成第一距离限定信号，以控制移动单元20停止及/或向远离所述障碍物的方向移动，限定清洁机器人100与所述障碍物之间的最小距离值位于所述第二预设距离范围内。
进一步地，请参考图4，在本申请的一个实施例中提供的一种清洁机器人100中，所述距离限定模组包括接触传感器3024，接触传感器3024用于基于障碍物400的接触生成第二距离限定信号，以控制移动单元20停止及/或向远离障碍物400的方向移动，限定清洁机器人100与障碍物400之间的最小距离值位于所述第二预设距离范围内。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述距离限定模组包括非接触测距元件及/或拖布移动电机；所述非接触测距元件用于生成出射光并接收所述出射光遇到所述障碍物后的反射光，及根据所述出射光的生成时刻及所述反射光的接收时刻计算所述障碍物的实时距离值；其中，所述移动单元被配置为：当所述实时距离值位于所述第一预设距离范围内时，停止及/或向远离所述障碍物的方向移动，限定所述清洁机器人与所述障碍物之间的最小距离值位于所述第二预设距离范围内；所述拖布移动电机被配置为：若所述实时距离值位于所述第一预设距离范围内，动作并带动所述清洁机器人的拖布向远离所述障碍物的方向移动。在本申请的一个实施例中，所述出射光包括结构光、激光或红外光中的至少一种。所述拖布移动电机可以为直流伺服电机。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述清洁机器人还包括清洁单元，所述清洁单元用于在所述机器人在所述表面移动、且所述清洁单元至少部分接触所述表面时，执行预设的清洁动作。
进一步地，请参考图5a、图5b、图5c、图5d及图5e，在本申请的一个实施例中，机身10包括位于所述拖地工作头上方的拖地单元安装区11，所述拖地工作头在第一位置和第二位置之间可运动。所述拖地工作头具有正常拖地的第一位置和规避障碍物的第二位置。例如，图5a示意所述拖地工作头位于第一位置，图5b示意所述拖地工作头沿箭头示意的宽度方向移动，图5c示意所述拖地工作头移动至第二位置；所述拖地工作头包括拖地主区101和位于所述拖地主区101至少一侧的拖地补偿区12，当所述拖地工作头位于所述第一位置时(如图5a所示)，所述拖地主区101与所述拖地单元安装区11在垂直工作区域表面的方向上的投影重叠，所述拖地补偿区12在垂直工作区域表面的方向上的投影与所述拖地单元安装区11在垂直方向上的投影，至少在所述宽度方向上不重叠，以在最大限度提高机器人移动区域覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。
进一步的，拖地补偿区12设置在拖地主区101靠近障碍物的一侧。
或者，在机身10的宽度方向上拖地补偿区12设置拖地主区101的两侧。拖地工作头41处于第一位置时，以仰视视角观察清洁机器人100，拖地工作头41的拖地补偿区12靠近障碍物的一侧在宽度方向上完全或部分突出拖地单元安装区11靠近障碍物的一侧。拖地工作头41处于第二位置时，以仰视视角观察清洁机器人100，拖地工作头41的拖地补偿区12靠近障碍物的一侧在宽度方向上完全或部分缩回拖地单元安装区11靠近障碍物的一侧。
优选的，请参考图16a，拖地单元安装区11设置于机身10的底面，拖地单元安装区11的最大宽度D1小于或等于机身的最大宽度D2。
进一步地，请参考图5d，在本申请的一个实施例中，所述拖地补偿区12的远离所述机身10的一侧的边缘与所述机身10对应侧的最边缘之间的距离d处于活动范围内。活动范围大于0小于等于20mm。优选的，活动范围大于等于5mm小于等于20mm。。
进一步地，请参考图5c，在本申请的一个实施例中，当所述拖地工作头位于所述第二位置时，所述拖地补偿区12在垂直工作区域表面的方向上的投影至少部分与所述拖地单元安装区11在垂直方向上的投影重叠。例如，可以设置当所述拖地工作头位于所述第二位置时，所述拖地补偿区在垂直方向上的投影完全位于所述拖地单元安装区11在垂直方向上的投影内，使得拖地工作头在所述第二位置时完全被机身覆盖。
进一步地，请参考图6，在本申请的一个实施例中，定义沿所述机身的前进方向延伸且 经过所述机身在宽度方向上的最边缘的直线L1为边缘线，定义位于所述边缘线靠近所述机身的一侧为所述边缘线的内侧，所述拖地单元安装区11至少一侧边位于所述机身对应侧的边缘线的内侧，以避免机身拐角处的尖角对触碰的物体产生损伤。
进一步地，在本申请的一个实施例中，所述机身包括位于所述机身中部的机身中区，在所述机身的前进方向上，所述拖地单元安装区位于所述机身中区的前方和/或后方，所述机身在所述宽度方向上的最边缘位于所述机身中区或者位于机身中区的前方。机身10在宽度方向的最边缘是机身最宽的区域，机身最宽的区域可以设置在机身中区，也可以设置在机身中区的前方。
在本申请的一个实施例中，清洁机器人沿一运动轨迹移动，清洁机器人碰到或检测到其运动轨迹上有障碍物时，拖地工作头响应于障碍物运动由第一位置运动至第二位置，并维持在所述第二位置以执行清洁任务避免与所述障碍物碰撞。
进一步的，运动轨迹上无障碍物时，拖地工作头处于第一位置，并维持在第一位置以执行清洁任务清洁障碍物附近的工作区域。
在本申请的一个实施例中，清洁机器人100包括将拖地工作头41可活动的连接于机身10的连接部件，拖地工作头41在障碍物施加的外力作用下，可由第一位置运动到所述第二位置。进一步的，清洁机器人100还包括复位元件，复位元件至少连接于拖地工作头41和机身10之一，复位元件在外力作用消除时为工作头提供恢复力，使拖地工作头41由所述第二位置运动至所述第一位置。拖地工作头41通过连接部件连接于机身10，并可相对于机身10在宽度方向上运动，拖地工作头41的运动可以是障碍物对拖地工作头41施加了外力作用，例如拖地工作头41碰撞到家具或者墙壁，拖地工作头41由第一位置被推至第二位置，避免障碍物干扰清洁机器人100的移动，又能尽可能的使拖地工作头41清洁到靠近障碍物的工作区域。当失去障碍物的推动时，拖地工作头41要由第二位置运动回第一位置继续清扫，复位元件在障碍物施加的外力消失时作用在拖地工作头41上使拖地工作头41移动回第一位置，需要说明的是，复位元件可以是在被施予外力或失去外力作用时具有恢复能力的压簧、拉簧、扭簧等弹性件。
进一步的，清洁机器人还包括限位结构，限位结构至少设置于机身和拖地工作头之一，以阻止拖地工作头处于第一位置时继续向靠近障碍物的方向运动。限位结构可以是设置在机身上的止挡件，止挡件避免拖地工作头运动第一位置时继续相靠近障碍物的方向运动，进而脱开连接部件，与机身失去连接。
在本申请的一个实施例中，所述拖地工作头在外力作用下，可由所述第一位置移动到所述第二位置，所述清洁机器人还包括用于给所述拖地工作头提供恢复力，以使其在外力消除时由所述第二位置恢复到所述第一位置的恢复件。
在本申请的一个实施例中，所述清洁机器人还包括用于检测所述机身的侧边是否存在障碍物的检测单元及用于驱动所述拖地工作头在所述第一位置和所述第二位置之间运动的驱动单元。所述驱动单元可以为电机、螺线管中的一种。
进一步的，控制单元基于检测单元的检测信号控制驱动单元驱动拖地工作头在第一位置和第二位置之间运动。
在本申请的一个实施例中，当所述检测单元未检测到所述拖地单元安装区的侧边存在障碍物时，所述拖地工作头维持在所述第一位置；当所述检测单元检测到所述拖地单元安装区的侧边存在障碍物时，所述驱动单元驱动所述拖地工作头由所述第一位置移动到所述第二位置。
在本申请的一个实施例中，检测单元检测到所述机身10的侧边存在障碍物，清洁机器人100识别障碍物所处的待清洁场景，根据障碍物所处的待清洁场景驱动单元驱动拖地工作头41在第一位置和第二位置之间运动。清洁机器人100可以根据障碍物所述的待清洁场景设置拖地工作头41所处的位置。检测单元可以是主机上负责实时建图和导航的激光雷达，可以是视觉类传感器，例如单目或者双目RGB摄像头，可以是测距传感器，例如红外测距传感器、 TOF测距传感器、结构光测距传感器，可以是设置在机身10上与障碍物直接碰撞接触的撞板，也可以是上述各个检测元件的任意组合。优选的，清洁机器人100包括连接机身10和拖地工作头41的连接部件，连接部件包括设置在所述拖地工作头41或者机身10上的偏心结构，偏心结构在驱动单元的驱动下运动以带动拖地工作头41在第一位置和第二位置之间移动。
在其中一个实施例中，清洁机器人100清洁障碍物附近的工作区域时，驱动单元驱动拖地工作头41运动至所述第一位置。请参考图16a-16d，清洁机器人100清洁障碍物的附近的工作区域时，拖地工作头41在驱动单元的驱动下处于第一位置，拖地工作头41在宽度方向超出机身10，拖地工作头41靠近障碍物的一侧在宽度方向上伸出或至少部分伸出机身10靠近障碍物的一侧面，以使拖地工作头41更靠近障碍物，以尽可能靠近障碍物并清洁障碍物附近的工作表面，最大限度提高机器人移动区域覆盖率的同时，避免清洁机器人100的拖地工作头41碰撞刮花障碍物，障碍物所处的待清洁场景例如是清洁机器人100清洁桌椅腿的四周。
在其中一个实施例中，工作区域包括边界，边界为阻止清洁机器人继续行进的障碍物，清洁机器人100清洁边界的长直边或边界的阳角时，驱动单元驱动拖地工作头41运动至第一位置。请参考图17，清洁机器人100在对工作区域进行清洁时，可能会遇到工作区域的边界，工作区域的边界例如是具有长直边和拐角的墙壁等，障碍物所处的待清洁场景是墙壁的的长直边，清洁机器人100需要尽可能的清洁到墙壁的长直边，驱动单元驱动拖地工作头41运动至第一位置，拖地工作头41靠近障碍物的一侧在宽度方向上伸出或至少部分伸出机身10靠近障碍物的一侧面，以使拖地工作头41更加靠近墙壁，清洁墙壁的长直边。请参考图18a-图18d，障碍物是工作区域边界的墙壁时，两面墙壁支架会形成夹角，阳角为两面墙壁之间形成的钝角，障碍物所处的待清洁场景是墙壁的阳角，清洁机器人100需要转弯并尽可能的清洁该钝角区域时，驱动单元驱动拖地工作头41运动至第一位置，拖地工作头41靠近障碍物的一侧在宽度方向上伸出或至少部分伸出机身10靠近障碍物的一侧面，以使拖地工作头41的拖地补偿区12更加靠近墙壁，清洁墙壁的阳角。
优选的，检测单元检测机身10与障碍物之间的距离，控制单元移动单元20带动机身10移动，以控制机身10靠近障碍物的一侧与障碍物之间的距离，大于拖地工作头41处于第一位置时拖地补偿区12的远离机身的一侧的边缘与机身对应侧的最边缘之间的距离。请参考图17，拖地工作头41处于第一位置时拖地补偿区12伸出机身10侧面的拖地单元安装区11的横向距离d1不能超过机身10靠近障碍物的一侧与障碍物之间的距离d2，否能会干扰清洁机器人100的行走。
在其中一个实施例中，工作区域包括边界，所述边界为阻止所述清洁机器人继续行进的所述障碍物，清洁机器人100清洁边界的阴角时，驱动单元驱动拖地工作头41运动至第二位置。请参考图19c-图19e，障碍物是工作区域边界的墙壁时，两面墙壁之间会形成夹角，阴角为两面墙壁之间形成的锐角或直角，障碍物所处的待清洁场景是墙壁的阴角，清洁机器人100需要转弯通过阴角，驱动单元驱动拖地工作头41运动至第二位置，拖地工作头41靠近障碍物的一侧在宽度方向上缩回或至少部分缩回机身10靠近障碍物的一侧，以使拖地工作头41更加远离墙壁，避免清洁机器人100在通过阴角时拖地工作头41与墙壁碰撞产生干扰。进一步的，当检测单元检测到清洁机器人100通过阴角前，驱动单元驱动拖地工作头41运动至第一位置。当检测单元检测到清洁机器人100通过阴角后，驱动单元驱动拖地工作头41运动至第一位置。请参考图19a-19b、19f-19g，清洁机器人100在通过阴角之前和通过阴角之后，是在清洁边界的长直边，如上所述，清洁机器人100清洁边界的长直边时，驱动单元驱动拖地工作头41运动至第一位置。
进一步的，清洁机器人还包括设置于机身并检测拖地工作头是否处于第一位置或第二位置的到位检测单元，控制单元根据到位检测单元检测的信号控制驱动单元驱动拖地工作头停于第一位置或第二位置。到位检测单元可以是微动开关或到位检测传感器，例如是，霍尔传感器、光电传感器等等，避免拖地工作头运动至第一位置或第二位置之后被驱动单元继续驱动运动，造成拖地工作头与机身脱开的后果。
在其中一个实施例中，清洁机器人100回归基站200进行维护时，驱动单元驱动拖地工作头41运动至第二位置。请参考图20a-图20c，清洁机器人100在回归基站200进行维护时，可能需要进入基站200内部。考虑到基站200在工作区域占据的面积过大，会影响用户的使用体验，基站200的结构需要尽量紧凑使基站200的体积不要过大，基站200容纳清洁机器人100进入及停靠的空间也需要严格控制，因此为了避免清洁机器人100进入基站200内部拖地工作头41与基站200的外壳产生干扰，驱动单元驱动拖地工作头41运动至第二位置时，拖地工作头41靠近障碍物的一侧在宽度方向上缩回或至少部分缩回机身10靠近障碍物的一侧，使清洁机器人100顺利进入基站200内部。驱动单元驱动拖地工作头41运动至第二位置的时机可以是清洁机器人100移动至基站200内部前的任意时刻。进一步可以将拖地工作头41准确拆卸或停靠至基站200内对应的维护模块中进行维护。
或者，机身10的长度方向上具有机身中心线L1，所述拖地工作头41在所述长度方向具有拖地工作头中心线L2，清洁机器人100回归基站200进行维护时，驱动单元驱动拖地工作头41运动至机身中心线L1与拖地工作头中心线L2重合或在预设距离内的位置。
在其中一个实施例中，所述工作区域包括中间区域，清洁机器人100清洁中间区域时，拖地工作头41运动至第一位置并维持在第一位置。
在其中一个实施例中，所述工作区域包括中间区域，清洁机器人100清洁中间区域时，拖地工作头41运动至第二位置并维持在第二位置。进一步地，在本申请的一个实施例中，当所述检测单元检测到所述拖地单元安装区的侧边的障碍物消失时，所述驱动单元驱动所述拖地工作头由所述第二位置移动到所述第一位置。
进一步地，请参考图5a、图5b和图5c，在本申请的一个实施例中提供的一种清洁机器人100中，所述拖地单元包括拖布42，拖布42的边缘与机身10轮廓的边缘对齐或部分超出机身10轮廓的边缘。
进一步地，请继续参考图5a、图5b和图5c，在本申请的一个实施例中提供的一种清洁机器人100中，所述拖地单元还包括拖布板(未图示)及滑移组件(未图示)，所述拖布板经由所述滑移组件与所述机身连接，用于限定所述拖布板滑移的方向及距离，所述拖布板相对机身滑移的行程限定在30mm以内，优选10～30mm，进一步优选5～20mm，例如，行程可设置为5mm、10mm、15mm、20mm、25mm或30mm等。所述拖布板的在机身宽度方向上的尺寸大致等于机身宽度减去拖布板滑移行程。所述拖布板42的外轮廓或者机身10尾部的轮廓，至少部分突出于以机身10原地自转的旋转中心为圆心，以机身宽度为直径的圆。所述拖布板的平面形状大致为至少两个直角具有明显倒角特征的矩形。当所述拖布板接触障碍物时，所述拖布板向远离所述障碍物的方向滑移，在最大限度提高拖布覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。
在本申请的一个实施例中，所述机身的形状为圆形、D形、矩形或倒角D形中的一种。
作为示例，请参考图6，在本申请的一个实施例中，机身10的形状为倒角D形，以提升机器人100后侧避障的能力。
进一步地，请参考图7，在本申请的一个实施例中提供的一种清洁机器人100中，所述清洁单元还包括扫地单元30及控制单元50，扫地单元30设置于机身10，用于在机器人100在待清洁区域的表面移动、且扫地单元30接触所述表面时，执行预设的清扫动作；控制单元50与移动单元20、扫地单元30及拖地单元40均连接，控制单元50被配置为：根据获取的功能选择控制信号控制所述扫地单元及/或所述拖地单元与所述表面接触，并控制所述移动单元带动所述机器人移动，实现单机基于用户的控制执行“单独扫地”、“单独拖地”或“扫拖一体”的功能，提升清洁性能的同时避免用户干预机器。由于检测单元300能够检测清洁机器人100与障碍物之间的实时最小距离值，并根据所述实时最小距离值限定清洁机器人100与所述障碍物之间的最小距离值，以在最大限度提高机器人拖地区域覆盖率的同时，避免产生因机器后侧与墙壁或家具发生碰撞而刮花墙壁或家具情况。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述功能选择控制信号 包括单扫控制信号、单拖控制信号及扫拖一体控制信号；所述控制单元被配置为：
根据获取的所述单扫控制信号，控制所述扫地单元与所述表面接触，并控制所述移动单元带动所述机器人移动，以执行预设的清扫动作；
根据获取的所述单拖控制信号，控制所述拖地单元与所述表面接触，并控制所述移动单元带动所述机器人移动，以执行预设的拖地动作；
根据获取的所述扫拖一体控制信号，控制所述扫地单元及所述拖地单元均与所述表面接触，并控制所述移动单元带动所述机器人移动，以同时执行预设的清扫动作及预设的拖地动作。
进一步地，在本申请的一个实施例中，提供了一种清洁机器人，还包括通讯单元及/或操作单元，所述通讯单元与所述控制单元连接，所述控制单元经由所述通讯单元与移动终端连接，以获取来自所述移动终端的功能选择控制信号，实现对清洁机器人的远程智能控制；所述操作单元与所述控制单元连接，所述控制单元经由所述操作单元本地接收来自用户的功能选择控制信号，实现对清洁机器人的本地控制。
作为示例，请参考图8，在本申请的一个实施例中，提供了一种清洁机器人100，还包括通讯单元60，通讯单元60与控制单元50连接，控制单元50经由通讯单元60与移动终端200连接，以获取来自移动终端200的功能选择控制信号，实现单机基于用户输入的功能选择控制信号的控制执行“单独扫地”、“单独拖地”或“扫拖一体”的功能，提升清洁性能的同时，避免了用户在切换清洁机器人工作模式的过程中需要手动更换机器人的工作模块。在本实施例中，移动终端200可以为遥控器、手机、平板电脑、电脑或智能可穿戴设备中的至少一种。
作为示例，请参考图9，在本申请的一个实施例中，提供了一种清洁机器人100，还包括操作单元70，操作单元70与控制单元50连接，控制单元50经由操作单元70本地接收来自用户的功能选择控制信号，实现单机基于用户输入的功能选择控制信号的控制执行“单独扫地”、“单独拖地”或“扫拖一体”的功能，提升清洁性能的同时，避免了用户在切换清洁机器人工作模式的过程中需要手动更换机器人的工作模块。在本实施例中，操作单元70可以为实体按键、触摸屏或声控单元等可以输入信号的等效设备。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述拖地单元包括拖布板、拖布及第二升降部件，所述拖布板的第一表面与所述机身连接；所述拖布设置于所述拖布板的与所述第一表面相对的第二表面，所述拖布用于与所述表面接触以执行预设的拖地动作；所述第二升降部件与所述控制单元连接，用于基于所述控制单元的控制执行第二预设的动作，以带动所述拖布板上的所述拖布接触或离开所述清洁机器人的工作区域的表面。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述清洁机器人还包括边刷和滚刷。所述边刷和所述滚刷共同组成扫地清洁宽度。所述清洁机器人的所述拖地工作头的拖地主区和所述拖地补偿区的宽度之和大于等于扫地清洁宽度。所述清洁机器人的所述移动单元具有轮距。所述清洁机器人的所述拖地工作头的拖地主区和所述拖地补偿区的宽度之和大于所述轮距。所述清洁机器人的所述拖地工作头处于第二位置时，所述移动单元的投影在所述拖地工作头宽度范围之内。
进一步地，请参考图10a、图10b、图10c及图10d，在本申请的一个实施例中，提供了一种清洁机器人100，所述扫地单元包括边刷组件(图10a-图10d中未示出)、滚刷组件32及第一升降部件(图10a-图10d中未示出)，边刷组件的一端设置于机身10，边刷组件的另一端设置有第一清洁部，例如是刷毛；滚刷组件32的一端设置于机身10，滚刷组件32的另一端设置有第二清洁部，例如是清洁头；其中，所述第一清洁部及所述第二清洁部用于与清洁机器人100的工作区域的表面接触以执行预设的清扫动作；所述第一升降部件与所述控制单元连接，用于基于所述控制单元的控制执行第一预设的动作，以带动所述第一清洁部及/或所述第二清洁部接触或离开所述表面。在本申请的一个实施例中，可以设置至少两个边刷组件对称地分布于机身10的两侧，并将滚刷组件32设置于机身10的中部且位于机身两侧的边刷组件，在优化清洁机器人的结构布局的同时，能够减小机身的体积。
进一步地，请参考图10a、图10b、图10c及图10d，在本申请的一个实施例中提供的一种清洁机器人100中，所述第一升降部件包括第一电机35及第一凸轮36，第一电机35与所述控制单元连接；第一凸轮36用于跟随所述第一电机旋转，第一凸轮36的自由端与滚刷组件32远离所述第二清洁部(未图示)的一端连接；根据接收的所述单拖控制信号，所述控制单元控制所述第一电机沿预设的第一方向旋转，带动第一凸轮36旋转，以抬升滚刷组件32并使得所述第二清洁部离开清洁机器人100的工作区域的表面；根据接收的所述单扫控制信号及/或所述扫拖一体控制信号，所述控制单元控制第一电机35沿预设的第二方向旋转并带动第一凸轮36下移，以带动滚刷组件32下移，使得所述第二清洁部(未图示)接触清洁机器人100的工作区域的表面，所述第二方向与所述第一方向相反。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述第一升降部件还包括凸轮套，所述凸轮套至少包覆所述第一凸轮的部分，并与所述第一凸轮连接，用于跟随所述第一凸轮旋转并带动所述滚刷组件上升或下移。
作为示例，请继续参考图10a、图10b、图10c及图10d，在本申请的一个实施例中提供的一种清洁机器人100中，所述第一升降部件还包括凸轮套37，凸轮套37包覆第一凸轮36，并与第一凸轮36连接，用于跟随第一凸轮36旋转并带动滚刷组件32上升或下移。
图10a示意清洁机器人100工作于“扫拖一体”状态，即，清洁机器人100的扫地单元及拖地单元40均与清洁机器人100的工作区域的表面接触，移动单元20带动清洁机器人100移动，以同时执行预设的清扫动作及预设的拖地动作。
图10b示意清洁机器人100工作于“单拖”状态，即，清洁机器人100的拖地单元40均与清洁机器人100的工作区域的表面接触，移动单元20带动清洁机器人100移动，以执行预设的拖地动作。在本实施例中，可以设置所述控制单元根据接收的所述单拖控制信号控制所述第一电机沿预设的第一方向旋转，带动第一凸轮36旋转，以抬升滚刷组件32并使得所述第二清洁部离开清洁机器人100的工作区域的表面，所述控制单元控制拖地单元40与清洁机器人100的工作区域的表面接触的同时，控制移动单元20带动清洁机器人100移动，以执行预设的拖地动作。
图10c示意清洁机器人100工作于“单扫”状态，即，清洁机器人100的扫地单元与清洁机器人100的工作区域的表面接触，且拖地单元40离开所述表面。所述控制单元根据接收的所述单扫控制信号控制第一电机35沿预设的第二方向旋转并带动第一凸轮36下移，以带动滚刷组件32下移，使得所述第二清洁部(未图示)接触清洁机器人100的工作区域的表面，所述控制单元控制拖地单元40离开所述表面的同时，控制移动单元20带动清洁机器人100移动，以执行预设的清扫动作。
图10d示意清洁机器人100工作于“往返”状态，所述控制单元控制移动单元20带动清洁机器人100移动的同时，控制扫地单元及拖地单元40均离开清洁机器人100的工作区域的表面。即，所述清洁机器人100仅移动但不执行预设的清扫动作或预设的拖地动作。
进一步地，请参考图11a和图11b，在本申请的一个实施例中提供的一种清洁机器人100中，所述第一升降部件还包括第二凸轮310及轴套311，第二凸轮310用于跟随所述第一电机(图11a和图11b中未示出)旋转；可以设置轴套311为柱状，轴套311的一端与边刷组件31远离所述第一清洁部的一端连接，轴套311的另一端与第二凸轮310的自由端连接；当所述第一电机沿所述第一方向旋转时，第二凸轮310跟随所述第一电机旋转并带动轴套311旋转，以带动边刷组件31旋转，使得位于边刷组件31的自由端的第一清洁部离开清洁机器人100的工作区域的表面；当所述第一电机沿所述第二方向旋转时，第二凸轮310跟随所述第一电机旋转并带动轴套311旋转，以带动边刷组件31旋转，使得位于边刷组件31的自由端的第一清洁部接触清洁机器人100的工作区域的表面。
进一步地，请继续参考图11a和图11b，在本申请的一个实施例中提供的一种清洁机器人100中，还包括拨块312，拨块312的一端与轴套311远离边刷组件31的一端连接，拨块312的另一端与第二凸轮310的自由端连接；当所述第二电机沿所述第一方向旋转并带动第 二凸轮310旋转时，拨块312跟随第二凸轮310旋转并带动轴套311旋转，使得边刷组件31跟随旋转并带动所述第一清洁部离开清洁机器人100的工作区域的表面；当所述第二电机沿所述第二方向旋转并带动第二凸轮310旋转时，拨块312跟随第二凸轮310旋转并带动轴套311旋转，使得边刷组件31跟随旋转并带动所述第一清洁部接触清洁机器人100的工作区域的表面。
进一步地，请参考图12a和图12b，在本申请的一个实施例中提供的一种清洁机器人100中，所述第一升降部件还包括第二电机(图12a和图12b中未示出)及电机轴套313，所述第二电机与所述控制单元连接；电机轴套313为柱状，用于跟随所述第二电机并绕预设的轴线314旋转，轴线314与清洁机器人100的工作区域的表面形成第一预设角度，边刷组件31远离所述第一清洁部的一端与电机轴套313连接；其中，所述控制单元被配置为：
根据接收的所述单拖控制信号，控制所述第二电机沿预设的第三方向旋转第二预设角度并带动电机轴套313旋转，以带动边刷组件31旋转第三预设角度，使得所述第一清洁部离开清洁机器人100的工作区域的表面；及
根据接收的所述单扫控制信号及/或所述扫拖一体控制信号，控制所述第二电机沿预设的第四方向旋转所述第二预设角度并带动电机轴套313旋转，以带动边刷组件31旋转所述第三预设角度，使得所述第一清洁部接触清洁机器人100的工作区域的表面，所述第四方向与所述第三方向相反。
进一步地，请参考图13a和图13b，在本申请的一个实施例中提供的一种清洁机器人100中，所述第一升降部件包括电磁组件315，电磁组件315与所述控制单元连接；其中，滚刷组件32靠近电磁组件315的一端至少部分为磁性金属材料制成，所述金属包括铁、镍或钴中的至少一种；所述控制单元被配置为：
根据接收的所述单拖控制信号，控制电磁组件315通电并吸引滚刷组件32离开清洁机器人100的工作区域的表面；
根据接收的所述单扫控制信号及/或所述扫拖一体控制信号，控制电磁组件315断电并释放滚刷组件32，以使得所述第二清洁部接触清洁机器人100的工作区域的表面。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，请参考图14a、图14b、图14c、图14d及图14e，所述第二升降部件还包括第三电机(未图示)、固定轴44、拖布板支架45、固定轴套46及第三凸轮47，固定轴44的中部与机身10的底盘连接；固定轴44经由固定轴套46与拖布板支架45连接；固定轴套46用于限定拖布板支架45的移动方向及/或移动距离。
在本申请的一个实施例中，请继续参考图14a、图14b、图14c、图14d及图14e，固定轴套46用于限定拖布板支架45在上、下方向上移动及其上升或下移的距离。第三凸轮47的自由端与拖布板支架45远离拖布42的表面连接，第三凸轮47用于跟随所述第三电机旋转；其中，所述控制单元被配置为：
根据接收的所述单扫控制信号，控制所述第三电机沿预设的第五方向旋转，带动第三凸轮47旋转，以抬升拖布板支架45上移并使得拖布42离开清洁机器人100的工作区域的表面；
根据接收的所述单拖控制信号及/或所述扫拖一体控制信号，控制所述第三电机沿预设的第六方向旋转并带动第三凸轮47下移，以带动拖布板支架45下移并使得拖布42接触清洁机器人100的工作区域的表面，所述第六方向与所述第五方向相反。
进一步地，在本申请的一个实施例中，所述扫地单元与所述拖地单元部分重叠；所述控制单元被配置为：
根据获取的所述单拖控制信号及/或所述扫拖一体控制信号，控制所述移动单元移动并带动所述清洁机器人至预设的装拖布区域，所述预设的装拖布区域设置有预设形状大小的自粘拖布；
当所述自粘拖布位于所述机身底部下方预设的拖布定位区域范围内时，控制所述边刷组件的第一清洁部下移并与所述自粘拖布连接，使得所述边刷组件经由所述自粘拖布与所述表 面接触；
控制所述移动单元带动所述清洁机器人移动。
进一步地，在本申请的一个实施例中，所述控制单元还被配置为根据获取的所述单拖控制信号控制所述滚刷组件离开所述表面，以避免在单独拖地时滚刷组件的粘有灰尘的第二清洁部污染待擦洗的表面。
进一步地，请参考图15a及图15b，在本申请的一个实施例中提供的一种清洁机器人100中，所述移动单元包括驱动轮组21及传感器组(未图示)，驱动轮组21与所述控制单元连接；传感器组与所述控制单元连接，用于采集位置信息及/或障碍物信息；其中，所述控制单元还被配置为：
根据接收的所述位置信息及/或所述障碍物信息生成实时控制信息，以控制所述驱动轮组带动所述清洁机器人动作，所述动作包括定位、路径规划、回充或避障中的至少一种。
进一步地，请继续参考图15a及图15b，在本申请的一个实施例中提供的一种清洁机器人100中，还包括容尘装置34及风机系统60，风机系统60与所述控制单元连接；其中，所述控制单元还被配置为：
根据获取的功能选择控制信号控制所述风机系统工作并产生吸力，以将所述表面的杂物吸入容尘装置34。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，所述拖地单元还包括水箱及拖地组件，所述拖地组件与所述水箱连通；其中，所述拖地组件用于与所述表面接触以执行预设的拖地动作。
进一步地，在本申请的一个实施例中提供的一种清洁机器人中，还包括过滤器，所述过滤器设置于所述风机系统，用于过滤进入风机系统的杂物。
进一步地，在本申请的一个实施例中，提供了一种清洁机器人系统，包括任一本申请实施例中所述的清洁机器人及基站，所述基站用于为所述清洁机器人提供通信及/或维护服务，所述维护服务包括充电、提供拖布、加水或除尘中的至少一种。通过设置基站为清洁机器人提供通信及/或维护服务，所述维护服务包括充电、提供拖布、加水或除尘中的至少一种，便于清洁机器人根据工作的需要移动至所述基站进行安装/更换拖布，或实施充电、加水或除尘等维护操作。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (26)

  1. 一种清洁机器人，其特征在于，包括：
    机身，具有宽度方向；
    移动单元，设置于所述机身，用于支撑所述机身并带动所述机器人在工作区域的表面移动；
    设有拖地工作头的拖地单元，所述拖地单元设置于所述机身，用于执行预设的拖地动作；
    控制单元，用于控制所述移动单元自动带动所述机身在工作区域表面移动，并控制所述拖地单元自动执行拖地动作；
    所述拖地工作头可活动的安装于所述机身，以响应于障碍物而由一第一位置切换到一第二位置，其中，所述拖地工作头在所述第一位置时，在宽度方向上超出所述机身，在第二位置时，在所述机身的宽度方向上从所述第一位置回退。
  2. 根据权利要求1所述的清洁机器人，其特征在于，定义与所述机身垂直的方向为垂直方向；所述拖地工作头在所述第一位置时，所述拖地工作头在所述垂直方向上的投影在所述宽度方向超出于所述机身在所述垂直方向上的投影，所述拖地工作头可维持在所述第一位置执行清洁任务，以靠近所述障碍物并清洁所述障碍物附近的工作区域；所述拖地工作头响应于所述障碍物由所述第一位置回退至所述第二位置时,其相较于处于所述第一位置所述拖地工作头在所述宽度方向上远离所述障碍物，所述拖地工作头可维持在所述第二位置，以避免与所述障碍物碰撞。
  3. 根据权利要求2所述的清洁机器人，其特征在于，所述机身包括位于所述拖地工作头上方的拖地单元安装区，所述拖地工作头包括拖地主区和位于所述拖地主区至少一侧的拖地补偿区，当所述拖地工作头响应于所述障碍物由所述第一位置回退至所述第二位置时，所述拖地主区与所述拖地单元安装区在所述垂直方向上的投影重叠，所述拖地补偿区在所述垂直方向上的投影与所述拖地单元安装区在所述垂直方向上的投影，至少在所述宽度方向上不重叠。
  4. 根据权利要求3所述的清洁机器人，其特征在于，当所述拖地工作头处于所述第二位置时，所述拖地补偿区在所述垂直方向上的投影至少部分与所述拖地单元安装区在所述垂直方向上的投影重叠。
  5. 根据权利要求4所述的清洁机器人，其特征在于，当所述拖地工作头处于所述第二位置时，所述拖地补偿区在所述垂直方向上的投影完全位于所述拖地单元安装区在所述垂直方向上的投影内。
  6. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人沿一运动轨迹移动，所述清洁机器人碰到或检测到其运动轨迹上有所述障碍物时，所述拖地工作头响应于所述障碍物运动由所述第一位置运动至所述第二位置，并维持在所述第二位置以执行清洁任务避免与所述障碍物碰撞。
  7. 根据权利要求6所述的清洁机器人，其特征在于，所述运动轨迹上无障碍物时，所述拖地工作头处于所述第一位置，并维持在所述第一位置以执行清洁任务清洁所述障碍物附近的工作区域。
  8. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人包括将所述拖地工作头可活动的连接于所述机身的连接部件，所述拖地工作头在所述障碍物施加的外力作用下，可由所述第一位置运动至所述第二位置。
  9. 根据权利要求8所述的清洁机器人，其特征在于，所述清洁机器人还包括复位元件，所述复位元件至少连接于所述拖地工作头和所述机身之一，所述复位元件在所述外力作用消除时为所述工作头提供恢复力，使所述拖地工作头由所述第二位置运动至所述第一位置。
  10. 根据权利要求8或9所述的清洁机器人，其特征在于，所述清洁机器人还包括限位结构，所述限位结构至少设置于所述机身和所述拖地工作头之一，以阻止所述拖地工作头处于所述第一位置时继续向靠近所述障碍物的方向运动。
  11. 根据权利要求1所述的清洁机器人，其特征在于，所述清洁机器人还包括用于检测所述机身的侧边是否存在所述障碍物的检测单元及用于驱动所述拖地工作头在所述第一位置和所述第二位置之间运动的驱动单元，所述控制单元基于所述检测单元的检测信号控制所述驱动单元驱动所述拖地工作头在所述第一位置和所述第二位置之间运动。
  12. 根据权利要求11所述的清洁机器人，其特征在于，所述检测单元检测到所述机身的侧边存在所述障碍物，所述清洁机器人识别所述障碍物所处的待清洁场景，根据所述障碍物所处的待清洁场景所述驱动单元驱动所述拖地工作头在所述第一位置和所述第二位置之间运动。
  13. 根据权利要求12所述的清洁机器人，其特征在于，所述检测单元检测到所述清洁机器人清洁所述障碍物附近的工作区域时，所述驱动单元驱动所述拖地工作头运动至所述第一位置。
  14. 根据权利要求12所述的清洁机器人，其特征在于，所述工作区域包括边界，所述边界为阻止所述清洁机器人继续行进的所述障碍物，所述检测单元检测到所述清洁机器人清洁所述边界的长直边或者所述边界的阳角时，所述驱动单元驱动所述拖地工作头运动至所述第一位置。
  15. 根据权利要求12所述的清洁机器人，其特征在于，所述工作区域包括边界，所述边界为阻止所述清洁机器人继续行进的所述障碍物，所述检测单元检测到所述清洁机器人清洁所述边界的阴角时，所述驱动单元驱动所述拖地工作头运动至所述第二位置。
  16. 根据权利要求15所述的清洁机器人，其特征在于，所述检测单元检测到所述清洁机器人通过所述阴角后，所述驱动单元驱动所述拖地工作头由所述第二位置运动到所述第一位置。
  17. 根据权利要求15所述的清洁机器人，其特征在于，所述检测单元检测到所述清洁机器人通过所述阴角前，所述驱动单元驱动所述拖地工作头运动至第一位置。
  18. 根据权利要求11-17中任意一项所述的清洁机器人，其特征在于，所述清洁机器人还包括设置于所述机身并检测所述拖地工作头是否处于所述第一位置或所述第二位置的到位检测单元，所述控制单元根据所述到位检测单元检测的信号控制所述驱动单元驱动所述拖地工作头停于所述第一位置或所述第二位置。
  19. 根据权利要求11所述的清洁机器人，其特征在于，所述清洁机器人回归基站进行维护时，所述驱动单元驱动所述拖地工作头运动至所述第二位置；或者，所述机身的长度方向 上具有机身中心线，所述拖地工作头在所述长度方向具有拖地工作头中心线，所述清洁机器人回归所述基站进行维护时，所述驱动单元驱动所述拖地工作头运动至所述机身中心线与所述拖地工作头中心线重合或在预设距离内的位置。
  20. 根据权利要求1所述的清洁机器人，其特征在于，所述工作区域包括中间区域，所述清洁机器人清洁所述中间区域时，所述拖地工作头运动至所述第一位置并维持在所述第一位置以执行清洁任务清洁所述中间区域。
  21. 根据权利要求1所述的清洁机器人，其特征在于，所述工作区域包括中间区域，所述清洁机器人清洁所述中间区域时，所述拖地工作头运动至所述第二位置并维持在所述第二位置以执行清洁任务清洁所述中间区域。
  22. 根据权利要求3所述的清洁机器人，其特征在于，在所述机身的宽度方向上，所述拖地补偿区的远离所述机身的一侧的边缘与所述机身对应侧的最边缘之间的距离处于活动范围内。
  23. 根据权利要求22所述的清洁机器人，其特征在于，所述活动范围大于0小于等于20mm。
  24. 根据权利要求3-5中任意一项所述的清洁机器人，其特征在于，定义沿所述机身的前进方向延伸且经过所述机身在宽度方向上的最边缘的直线为边缘线，定义位于所述边缘线靠近所述机身的一侧为所述边缘线的内侧，所述拖地单元安装区至少一侧边位于所述机身对应侧的边缘线的内侧。
  25. 根据权利要求24所述的清洁机器人，其特征在于，所述机身包括位于所述机身中部的机身中区，在所述机身的前进方向上，所述拖地单元安装区位于所述机身中区的前方和/或后方，所述机身在所述宽度方向上的最边缘位于所述机身中区或者位于所述机身中区的前方。
  26. 根据权利要求2所述的清洁机器人，其特征在于，所述拖地工作头处于所述第一位置和所述第二位置时，所述拖地工作头均接触所述工作区域表面以持续执行清洁任务。
PCT/CN2021/135720 2020-12-04 2021-12-06 清洁机器人 WO2022117105A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202180078902.5A CN116490106A (zh) 2020-12-04 2021-12-06 清洁机器人

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202011403286.X 2020-12-04
CN202022876368 2020-12-04
CN202011403286 2020-12-04
CN202022876368.8 2020-12-04

Publications (1)

Publication Number Publication Date
WO2022117105A1 true WO2022117105A1 (zh) 2022-06-09

Family

ID=81853852

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/135720 WO2022117105A1 (zh) 2020-12-04 2021-12-06 清洁机器人

Country Status (2)

Country Link
CN (2) CN217137954U (zh)
WO (1) WO2022117105A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103027634A (zh) * 2011-10-06 2013-04-10 三星电子株式会社 机器人吸尘器
US20140102476A1 (en) * 2011-04-21 2014-04-17 Nilfisk-Advance, Inc. Scrub deck retraction apparatus
CN103845002A (zh) * 2012-11-30 2014-06-11 三星电子株式会社 清洁机器人及其控制方法
CN108209758A (zh) * 2018-03-05 2018-06-29 湖南大学 一种家用智能清洁机器人
CN111067437A (zh) * 2018-10-22 2020-04-28 东北林业大学 一种家用模块化清扫机器人
CN211749332U (zh) * 2020-01-17 2020-10-27 红品晶英科技（深圳）有限公司 一种智能无死角扫地机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140102476A1 (en) * 2011-04-21 2014-04-17 Nilfisk-Advance, Inc. Scrub deck retraction apparatus
CN103027634A (zh) * 2011-10-06 2013-04-10 三星电子株式会社 机器人吸尘器
CN103845002A (zh) * 2012-11-30 2014-06-11 三星电子株式会社 清洁机器人及其控制方法
CN108209758A (zh) * 2018-03-05 2018-06-29 湖南大学 一种家用智能清洁机器人
CN111067437A (zh) * 2018-10-22 2020-04-28 东北林业大学 一种家用模块化清扫机器人
CN211749332U (zh) * 2020-01-17 2020-10-27 红品晶英科技（深圳）有限公司 一种智能无死角扫地机器人

Also Published As

Publication number Publication date
CN217137954U (zh) 2022-08-09
CN116490106A (zh) 2023-07-25

Similar Documents

Publication Publication Date Title
CN111345741B (zh) 一种清洁机器人、清洁方法
KR102614979B1 (ko) 로봇청소기 및 그 제어 방법과 지면 처리 시스템
TWI732091B (zh) 移動式機器人
AU2012319325B2 (en) Robot cleaner
WO2019233493A1 (zh) 清洁机器人及其控制方法、清洁机器人系统
AU2013203861B2 (en) Method of controlling automatic cleaner
CN100409795C (zh) 机器人吸尘器
WO2021037065A1 (zh) 清洁机器人及其控制方法
JP7416916B2 (ja) 自律モバイルロボットのための画像捕捉デバイス、ならびに関連するシステムおよび方法
US11819174B2 (en) Cleaning control method and device, cleaning robot and storage medium
EP4292498A1 (en) Regional map drawing method and apparatus, medium, and electronic device
US20230404351A1 (en) Cleaning robot, cleaning system, and cleaning method
WO2022171144A1 (zh) 自动清洁设备控制方法及装置、介质及电子设备
WO2022117105A1 (zh) 清洁机器人
US10278561B2 (en) Intelligent floor mopping apparatus
CN112842158A (zh) 自移动机器人及水箱尘盒组件
CN111657709A (zh) 便于清洁底下地面的智能沙发及清洁方法
CN217744290U (zh) 清洁机器人和清洁系统
CN115462709B (zh) 清洁方法、清洁机器人及清洁系统
WO2024037640A1 (zh) 清洁设备
CN117617829A (zh) 清洁机器人及其控制方法
CN117652933A (zh) 清洁机器人及其控制方法
KR20140125541A (ko) 흡입 방식 청소로봇
CN117814696A (zh) 清洁机器人及其控制方法
CN115104941A (zh) 清洁机器人及其控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21900127

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 202180078902.5

Country of ref document: CN

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21900127

Country of ref document: EP

Kind code of ref document: A1