WO2023025317A1

WO2023025317A1 - Cleaning robot

Info

Publication number: WO2023025317A1
Application number: PCT/CN2022/115335
Authority: WO
Inventors: 张士松; 钟红风; 钱富; 马一纯; 乔少卿
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2021-08-27
Filing date: 2022-08-27
Publication date: 2023-03-02
Also published as: CN117897081A

Abstract

The present invention relates to a cleaning robot. At least a first cleaning roller brush and a second cleaning roller brush are provided to beat and sweep debris on a surface to be cleaned. That is, beat sweeping is performed on the surface to be cleaned at least twice, thereby effectively preventing omission of debris. Moreover, a high-power fan is used in conjunction to quickly and effectively suction the debris beaten and swept by the cleaning roller brushes into a dust box, thereby greatly improving the cleaning efficiency of the cleaning robot, and obtaining a better cleaning effect.

Description

cleaning robot

technical field

The invention relates to a small household product, in particular to a cleaning robot.

Background technique

With the development of science and technology, robots play an increasingly important role in our lives, especially household robots, which help people free themselves from heavy housework. Among them, cleaning robots are widely favored by users due to their wide applicability .

Existing cleaning robots can move autonomously, do not need human direct control and operation when performing work, and also have functions such as path planning, automatic obstacle avoidance, human-computer interaction, and return charging, which can solve people's daily cleaning needs. When the cleaning robot moves autonomously indoors, it uses the principle of vacuum cleaning to clean the moved surface to be cleaned. At present, the cleaning effect of cleaning robots on the market is average, especially for hard-to-clean carpets or floor mats, and the cleaning efficiency is low. , can not meet the user's cleaning needs.

Contents of the invention

In order to overcome the defects of the prior art, the problem to be solved by the embodiments of the present disclosure is to provide a cleaning robot with better cleaning effect.

A cleaning robot, which includes: a fuselage, which has a front end; a moving mechanism, including at least one driving wheel, configured to support and drive the cleaning robot to move on the ground to be cleaned; a cleaning mechanism, including a rolling brush, configured to Perform cleaning work on the ground to be cleaned; the dust suction mechanism, including a fan, is configured to suck the garbage cleaned by the cleaning mechanism into the fuselage; the dust collection mechanism, including a dust box, is configured to collect the garbage sucked into the fuselage a controller configured to control the cleaning robot to move on the ground to be cleaned so as to realize autonomous cleaning of the ground to be cleaned; wherein the roller brushes include at least a first cleaning roller brush and a second cleaning roller brush, The first cleaning roller brush and the second cleaning roller brush are arranged at the bottom of the fuselage, and at least partially expose the fuselage; the first cleaning roller brush and the second cleaning roller brush are configured as When rotating, the garbage on the ground to be cleaned is cleaned so that the dust suction mechanism can be sucked in; the fan is arranged inside the fuselage, and the power of the fan is greater than or equal to 65W.

As an optional implementation, the power of the fan is greater than or equal to 65W and less than 120W.

As an optional implementation, the value range of the flow rate of the air inlet of the fan when the fan is fully open is 0.7-0.9m ³ /min; the value range of the flow rate of the air inlet of the fan when the fan is fully open is 0.7- 0.9m ³ /min; when the fan is fully blocked, the static pressure at the air inlet is between 6.5 and 12Kpa.

As an optional implementation, the blower fan uses a fan with a rated input power of 80W. Under the rated input power, the vacuum degree of the fan is 7.6-8.2kPa; the test value of the flow rate of the air inlet when the fan is fully open is about 0.72- 0.75m ³ /min.

As an optional implementation, the fan accounts for 0.5%-1% of the total volume of the cleaning robot.

As an optional implementation manner, the fuselage includes a chassis, and the height of the chassis at the position where the fan is located is lower than the height of the chassis at other positions of the fuselage where the fan is not installed.

As an optional implementation, the value range of the chassis height at the position where the fan is located is 8mm-12mm; the value range of the chassis height at other positions of the fuselage where the fan is not installed is 12mm-18mm.

As an optional implementation manner, the rotation speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r/min.

As an optional embodiment, the cleaning mechanism includes a brush motor for driving the first cleaning roller brush and the second cleaning roller brush to rotate, and the power range of the roller brush motor is 30-35W .

As an optional embodiment, the dust suction mechanism also includes a suction port, which is arranged at the bottom of the fuselage; both the first cleaning roller brush and the second cleaning roller brush rotate toward the dust suction port, so as to The garbage in the cleaning area is picked up; the blower sucks the picked up garbage into the fuselage through the dust suction port, and is collected by the dust box.

As an optional implementation, the dust suction port is located between the first cleaning roller brush and the second cleaning roller brush, the rotation direction of the first cleaning roller brush is the first direction, and the second cleaning roller brush The rotation direction of the roller brush is the second direction, and the first direction is opposite to the second direction.

As an optional embodiment, the first cleaning roller brush and the second cleaning roller brush are arranged along the advancing direction of the fuselage, and the rotation axis of the first cleaning roller brush and the rotation axis of the second cleaning roller brush The axes are parallel to each other, and the rotation axis of the first cleaning roller brush and the rotation axis of the second cleaning roller brush are perpendicular to the forward direction of the cleaning robot; wherein, the first cleaning roller brush and the second cleaning roller brush The value range of at least one length of the roller brush in the direction along the rotation axis is 190-195mm.

As an optional implementation manner, the first cleaning roller brush is a hard roller brush, and the second cleaning roller brush is a bristle roller brush.

As an optional embodiment, the value range of the interference degree of the first cleaning roller brush is 1.5 mm to 2.5 mm; the value range of the interference degree of the second cleaning roller brush is 3 to 5 mm; Wherein, the degree of interference refers to the depth at which the cleaning portion of the roller brush protrudes into the surface of the ground to be cleaned.

As an optional embodiment, the hard roller brush is a rubber roller brush, and the fur roller brush at least includes bristles.

As an optional implementation manner, the first cleaning roller brush is located in front of the second cleaning roller brush along the advancing direction of the fuselage.

As an optional implementation manner, the cleaning robot further includes: a power supply mechanism, including a rechargeable battery, configured to provide energy for the cleaning robot.

As an optional implementation, the battery has a capacity of 140-200Wh.

As an optional implementation manner, the ratio of the capacity of the battery to the power of the cleaning robot is greater than or equal to 2500 J/W.

As an optional embodiment, the ratio of the capacity of the battery to the volume of the cleaning robot is 0.017-0.024 Wh/cm3; or, the ratio of the capacity of the battery to the height of the cleaning robot is 1.2-2.1 Wh/mm.

As an optional implementation, for the cleaning robot whose rated input power PE is greater than or equal to 100W, the number of cycles of the battery is 640-960.

As an optional implementation manner, the ratio of the volume of the battery to the volume of the cleaning robot is at least 1/25.

As an optional implementation manner, the battery is columnar, and the battery is arranged on the body along an installation direction during installation, wherein the installation direction refers to a direction in which the axis of the battery is perpendicular to the horizontal plane.

As an optional implementation manner, the percentage of the battery in the total weight of the cleaning robot is greater than or equal to 10%.

As an optional implementation manner, the cleaning robot further includes a drive motor for driving the moving mechanism, and the power of the drive motor ranges from 4W to 6W.

As an optional implementation manner, the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the preset moving speed ranges from 0.1 m/s to 0.2 m/s.

As an optional implementation manner, the moving mechanism is configured to: drive the cleaning robot to move at a first moving speed when the ground to be cleaned is a soft ground; , driving the cleaning robot to move at a second moving speed; wherein, the first moving speed is lower than the second moving speed.

As an optional implementation manner, the value range of the first moving speed is 0.24m/s-0.36m/s; the value range of the second moving speed is 0.12m/s-0.18m/s.

As an optional implementation manner, the energy input per unit area of the cleaning robot is at least 4000J/m2.

As an optional implementation, the ratio of the energy input per unit area of the cleaning robot to the height of the cleaning robot is greater than or equal to 11.7 Wh/m3; or, the ratio of the energy input per unit area of the cleaning robot to the volume of the cleaning robot is greater than or equal to Equal to 158.7Wh/m5.

As an optional implementation manner, the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the ratio of the power of the cleaning robot to the preset moving speed is at least 50 J/m.

As an optional implementation manner, the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the power of the fan is the same as the power of the rolling brush motor used to drive the rolling brush to rotate The ratio of the sum to said preset movement speed is at least 45 J/m.

As an optional implementation, the cleaning robot further includes a driving motor, which is arranged in the body and is configured to drive the moving mechanism to rotate, wherein the power of the fan is the same as that used to drive the roller brush The ratio of the sum of the powers of the rotating brush motors to the power of the drive motor is at least 15.

As an optional implementation, for a standard test carpet, the cleaning efficiency of the cleaning robot is greater than or equal to 80%.

As an optional embodiment, for the standard test carpet, the ratio of the cleaning efficiency of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m; or, for the standard test carpet, the ratio of the volume of the cleaning robot is greater than or equal to 72.7/m ³ .

As an optional implementation manner, for a standard test carpet, the ratio of the cleaning efficiency of the cleaning robot to the power of the cleaning robot is greater than or equal to 0.004/W.

As an optional implementation manner, the power of the cleaning robot is at least 100W.

As an optional implementation manner, the ratio of the power of the cleaning robot to the volume of the cleaning robot is at least 0.01 W/cm ³ .

As an optional implementation, the cleaning robot has a hard floor cleaning mode and a soft floor cleaning mode;

Wherein, the power of the cleaning robot in the hard floor cleaning mode is less than or equal to the power of the cleaning robot in the soft floor cleaning mode.

As an optional implementation, the power of the cleaning robot in the soft floor cleaning mode is 105-155W; the power of the cleaning robot in the hard floor cleaning mode is 60-100W.

As an optional implementation, the ratio of the power of the cleaning robot in the soft floor cleaning mode to the power in the hard floor cleaning mode is 1.55-1.75.

As an optional implementation manner, the cleaning robot further includes a floor detection mechanism for detecting a floor type of the floor to be cleaned.

As an optional implementation manner, the controller is configured to control the cleaning robot to switch to a corresponding floor cleaning mode according to the floor type of the floor to be cleaned.

The present application also provides a cleaning robot, including: a fuselage with a front end; a moving mechanism that supports and drives the cleaning robot to move on the ground to be cleaned; a beating mechanism that performs beating work on the ground to be cleaned; a dust suction mechanism that The rubbish slapped by the beating mechanism is sucked into the fuselage; the dust collecting mechanism collects the sucked rubbish; the power supply mechanism provides energy for the cleaning robot; the cleaning robot has the first cleaning effect, and the second A cleaning effect is used to characterize the cleaning effect achieved by the cleaning robot cleaning the ground to be cleaned once through the beating mechanism and the dust suction mechanism driven by the moving mechanism; wherein, the first The cleaning effect is characterized by single-pass cleaning efficiency; for standard test carpets, the ratio of the single-pass cleaning efficiency of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m.

The beneficial effect of the present invention is that: the cleaning robot of the present application is provided with at least the first cleaning roller brush and the second cleaning roller brush to pat and clean the garbage on the surface to be cleaned, which is equivalent to at least twice pat and clean the surface to be cleaned, effectively Prevent the omission of garbage, and at the same time cooperate with the fan with a power greater than 65W to quickly and effectively suck the garbage swept by the cleaning roller brush into the dust box, which greatly improves the cleaning efficiency of the cleaning robot and achieves better cleaning Effect.

The above description is only an overview of the technical solutions of the present invention. In order to understand the technical means of the present invention more clearly and implement them according to the contents of the description, the preferred implementation modes of the present invention and accompanying drawings are described in detail below.

Description of drawings

The purpose, technical solutions and beneficial effects of the present invention described above can be clearly obtained through the following detailed description of the specific embodiments capable of realizing the present invention, combined with the description of the accompanying drawings.

The same reference numerals and symbols are used in the drawings and the specification to denote the same or equivalent elements.

FIG. 1 is a bottom view of a cleaning robot in an embodiment provided by the present application;

Fig. 2 is a schematic diagram of the internal structure of the cleaning robot shown in Fig. 1;

Figure 3a is a side view of the cleaning roller brush and the first drive assembly of the cleaning robot in one embodiment of the present application;

Fig. 3b is another perspective view of the cleaning roller brush and the first drive assembly of the cleaning robot shown in Fig. 3a;

Fig. 4a is a side view of the cleaning roller brush and the first driving assembly of the cleaning robot in an embodiment of the present application;

Fig. 4b is another perspective view of the cleaning roller brush and the first drive assembly of the cleaning robot shown in Fig. 4a;

FIG. 5 is a schematic diagram of a cleaning robot docked at a base station for wired charging in an embodiment of the present application;

FIG. 6 is a schematic diagram of a cleaning robot docked at a base station for wireless charging in an embodiment of the present application;

Fig. 7 is a schematic diagram of the path of the cleaning robot moving twice to clean the second type of surface in an embodiment of the present application;

Fig. 8 is the graph of the cleaning efficiency of the cleaning robot setting a single cleaning roller brush and setting two cleaning roller brushes on the carpet during the experiment of the present application;

Fig. 9 is a comparison chart of the cleaning efficiency on the carpet with a single cleaning roller brush and two cleaning roller brushes set by the cleaning robot during the experiment of the present application, at the same speed, different materials and different fan powers;

Fig. 10a sets the cleaning roller brush of single first material (bracket mark) for the cleaning robot in the experimental process of the present application, and the impact curve of the rotating speed of cleaning roller brush and the power of blower fan on the cleaning efficiency on carpet;

Fig. 10b is that the cleaning robot is provided with a cleaning roller brush of a single second material (marked in brackets) during the experiment of the present application, and the impact curve of the rotating speed of the cleaning roller brush and the power of the blower fan on the cleaning efficiency on the carpet;

Fig. 10c is that the cleaning robot is provided with two cleaning roller brushes in the experimental process of the present application. The cleaning roller brushes respectively adopt the first material marked in brackets, and the impact curves of the speed of the cleaning roller brushes and the power of the fan on the cleaning efficiency on the carpet;

Fig. 10d is that the cleaning robot is provided with two cleaning roller brushes during the experiment of the present application. The cleaning roller brushes respectively adopt the second material marked in brackets, and the influence curve of the cleaning efficiency on the carpet by the speed of the cleaning roller brushes and the power of the fan;

Fig. 11 is the combination of a single cleaning roller brush and two cleaning roller brushes set by the cleaning robot in the experimental process of the application, cleaning roller brushes of different materials and cleaning roller brushes of different materials, and the effect on the hair cleaning rate and hair entanglement rate on the carpet comparison chart;

Fig. 12 is that the cleaning robot is provided with a single cleaning roller brush and two cleaning roller brushes are set, the combination of the cleaning roller brushes of different materials and the cleaning roller brushes of different materials, and the comparison diagram of the dust removal rate on the floor in the inspection process of this application;

Fig. 13 is a schematic bottom view of a cleaning robot in another embodiment provided by the present application;

Fig. 14 is a schematic front view of a cleaning robot in another embodiment provided by the present application.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described implementations are part of the implementations of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

At first, the terms involved in the present invention are briefly explained:

Cleaning Efficiency (CE): If there are 100 units of dust on the surface to be cleaned, after 1 cleaning, 1 unit of dust is cleaned or the dust is reduced by 1 unit, then the cleaning efficiency is defined as 1%.

Since the cleaning efficiency CE is related to the test conditions such as carpet type and dust distribution, the test conditions of the cleaning efficiency CE are explained below:

1.1 Carpet Type

The disclosure selects the following two types of carpets for testing respectively:

1) Standard test carpet:

Wilton (Wilton) carpet, as the preferred test carpet and used for international comparative tests.

In this test, the pile length of the Wilson rug is about 8mm.

2) Non-standard test carpet:

Wall-to-wall carpet, which is a long-pile carpet with medium-length tufts, is generally not easy to clean compared to Wilton (Wilton) carpet. Indoor laboratory tests are optional as well as consumer tests.

In this test, the pile length of the wall-to-wall carpet is about 12mm.

1.2 Weighing equipment

Using a weighing device, the dust removal capacity is related to the degree of pre-cleaning of the test carpet to an accuracy of 0.01 g.

1.3 Dust embedded roller

The diameter of the roller is 50mm, and the length is 380mm, at least 20mm longer than the width of the cloth ash. The rollers are made of steel and polished. There should be handles or motors on the rollers to drive the rollers. The quality of the rollers is 10kg/m. Wherein the roller can be contained in the dust distributor.

1.4 Test area and run length

The running direction of the test area is consistent with the direction of the carpet pile, and the length of the test area is (700±5)mm.

In order to improve the test accuracy, in this test, the width of the cleaning area is (B-20) mm, where B represents the width of the cleaning head. It should be pointed out that the width of the test area can also be set as the cleaning head width Bmm in IDT according to the national standard GB/T20291.1-2014/IEC60312-1:2010.

At least 200mm and 300mm of running length were added to the front and back of the test area for the acceleration and deceleration of the cleaning head.

Thus, the length of the test area is 700 mm and the length of the running area is at least 1200 mm. At the beginning of the operation, 200 mm is used for acceleration. The center point of the front edge of the cleaning head should be on the same line as the center line of the starting edge of the acceleration area. The cleaning head should run to the end of the running area, when the rear edge of its effective depth exceeds the rear edge of the test area by at least 200mm, so as to leave an appropriate distance for deceleration. Returning to operation is still the same method until the front edge of the cleaning head and the start edge of the acceleration zone in front of the test zone are in line.

The effective depth of the cleaning head should pass through the entire test area in a straight line at a steady operating speed of (0.50±0.02)m/s.

In this test, it is carried out according to the running speed of the vacuum cleaner itself (0.15m/s).

It should be pointed out that the vacuum cleaner itself has a driving device, and can also operate at a specified (0.50±0.02 (handheld vacuum cleaner operating speed)) m/s operating speed.

1.5 Remove residual dust:

If a carpet beating machine is not used, the carpet should be placed flat on a rigid sand mesh support and cleaned by hand beating or with a power cleaning head. After cleaning, use a vacuum cleaner with good dust cleaning ability to carry out a cycle of residual dust cleaning. Carpets used in the passive cleaning head test can only be cleaned by passive cleaning heads (power cleaning heads can be used for cleaning on the opposite side).

In this test, manual tapping is used.

1.6 Distribution of experimental dust:

The test dust is evenly distributed according to (125±0.1)g/m2, and covers all test areas as evenly as possible.

In this test, the amount of dust is calculated according to the formula (B-20)/100×0.7m×125g/m2), where B is the width of the cleaning head, and the length of the test area is 0.7m. It should be pointed out that if the width of the test area is set in accordance with the national standard GB/T20291.1-2014/IEC60312-1:2010, and the IDT is set to the width of the cleaning head Bmm, the amount of dust is according to the formula B/100×0.7m×125g/m2.

In this test, the ash was spread manually using a dust sieve.

Of course, in order to ensure uniform dust distribution in the test area, it is recommended to use a dust distributor, and adjust the dust distributor by observing the dust distribution on the carpet.

1.7 Embedding of dust on the carpet:

Use the dust embedding roller described above to make 10 reciprocating motions in the direction of the pile of the carpet to press the dust into the carpet. The roller runs forward along the pile of the carpet and presses across the entire test area at a constant speed of (0.50±0.02)m/s. Make sure the entire area is pressed completely and evenly, then leave the carpet for 10 minutes.

1.8 Determination of the ability to remove dust:

Weigh and record the dust weight m and the dust box (dust collection mechanism) weight M1 before the test;

During the test, the cleaning head shall be raised to the test surface by at least 50 mm before the vacuum cleaner is switched off. The dust box should not be removed until the motor has come to a complete stop.

Once the vacuum cleaner has come to a complete stop, carefully remove the dust box and weigh the M2 again. Due to the generation of static electricity during the dust removal process of the vacuum cleaner, it should be ensured that the dust box is completely stable and free of static electricity before weighing.

The dust removal capacity K is expressed by the percentage of the mass change of the dust box after running on the test area after dust distribution.

In this test, multiple measurements are used, and K is calculated according to the following formulas (1) and (2). Wherein, the number of measurements is generally at least two.

Wherein, the cleaning efficiency CE can be characterized by the above-mentioned dust removal ability K, and the relationship between the two is, for example, CE=K×100%.

Power: The power involved in this disclosure refers to the rated input power of energy-consuming equipment (such as fans, roller brush motors, drive motors, etc.), unless otherwise specified.

Rotation speed: The rotation speed involved in this disclosure refers to the rotation speed of the equipment that can rotate when it is loaded; for example, the rotation speed of the cleaning roller brush refers to the rotation speed when the cleaning roller brush touches the ground to be cleaned, unless otherwise specified.

Dusting: refers to at least partially or temporarily detaching dust, hair, debris, etc. from the ground to be cleaned.

Battery charge and discharge life: Due to battery loss, the battery can be used when the capacity that can be released after charging to 100% drops to 80% of the battery capacity.

Number of battery cycles: The complete process of charging the battery to 100% and then discharging it to 0 is called a cycle.

At present, the existing cleaning robot can clean the working area to be cleaned, which reduces the cleaning burden of the user to a certain extent, but its cleaning effect on the ground is general, especially for carpet or floor mat cleaning, due to the fact that the carpet (or floor Soft materials such as pads) often have fluff, which leads to ineffective cleaning by cleaning robots when performing carpet cleaning. This results in users still needing to use a hand-held vacuum cleaner (upright) to carry out deep cleaning of carpets or floor mats every week or every two weeks. It can be seen that the existing cleaning robots cannot really liberate the hands of users.

In view of this, the applicant aims to design a cleaning robot that can be used to replace a hand-held vacuum cleaner and truly liberate the hands of the supporter. Wherein, the cleaning robot includes a fuselage, a moving mechanism arranged on the fuselage, a beating mechanism arranged on the fuselage and a dust collection mechanism arranged on the fuselage, wherein the moving mechanism is configured to drive the cleaning robot to move; The slapping mechanism is configured to slap the surface of the ground to be cleaned, so as to pat the dust, hair, debris and other garbage on the surface of the ground to be cleaned; Dust, hair, debris and other garbage are sucked into the fuselage. The above-mentioned ground includes hard ground and soft ground. Hard ground refers to the ground formed by materials with high hardness and relatively flat surface, such as floors, floor tiles, etc.; while soft ground refers to the material formed by materials with low hardness and relatively uneven surface. ground, such as carpets, floor mats, etc.

That is to say, the cleaning robot has a good cleaning effect on the surface to be cleaned, especially the carpet area or floor mat area which is difficult to clean, and the cleaning effect of the cleaning robot is equivalent to that of a hand-held vacuum cleaner. Here "quite" can be understood as the cleaning effect of the cleaning robot has reached or basically reached the cleaning effect of the hand-held vacuum cleaner; here, the basic reach can be understood as the cleaning effect of the cleaning robot is equal to the preset percentage of the cleaning effect of the hand-held vacuum cleaner, such as this cleaning robot If the cleaning effect is equal to more than 60% of the cleaning effect of the hand-held vacuum cleaner, it can be considered that the cleaning robot basically achieves the cleaning effect of the hand-held vacuum cleaner; Therefore, this embodiment does not make specific limitations.

Considering how to manifest the cleaning effect, in one embodiment, the cleaning effect can be characterized by cleaning efficiency CE.

Since hard floors and soft floors have different cleaning difficulties, for example, the cleaning efficiency of the same cleaning robot on soft floors such as carpets is higher than that on hard floors such as floors. In order to better reflect the improvement of the cleaning effect, in one embodiment, the cleaning efficiency CE of vacuum cleaners (including handheld vacuum cleaners and cleaning robots) on hard-to-clean soft floors (such as carpets) is discussed:

First of all, in order to facilitate intuitive understanding of the cleaning effect of the hand-held vacuum cleaner: the CE value of the hand-held vacuum cleaner for non-standard test carpets (such as full-walled carpets) is 45%; ) with a CE value of 90% for one pass of cleaning.

Therefore, the cleaning effect of the cleaning robot of the present application is equivalent to the one-pass cleaning effect of a hand-held vacuum cleaner, which means that the cleaning robot needs to achieve a CE value of 45% or above for cleaning non-standard test carpets within the same working cycle, or To substantially 45% (eg 25%); or to achieve a CE value of 90% and above for standard test carpet cleaning, or to substantially 90% (eg 80%).

For the problem of how to improve the cleaning efficiency CE of the cleaning robot so that it is equivalent to the CE of the hand-held vacuum cleaner, on the one hand, it can be improved by considering factors related to the cleaning efficiency CE (such as dusting, dust collection, etc.); On the one hand, it can be achieved by increasing the energy input per unit area (EI) of the cleaning robot.

For the first aspect:

Since the cleaning effect is related to factors such as the dusting effect, the dusting effect, and the moving strategy of the cleaning robot, the cleaning efficiency CE can be improved from at least one direction of the dusting effect, the dusting effect, and the moving strategy.

Considering that the dust-raising effect is related to the above-mentioned beating mechanism for dust-raising, the dust-absorbing effect is related to the above-mentioned dust-absorbing mechanism for dust-absorbing, and the moving strategy is related to the above-mentioned moving mechanism for driving the cleaning robot to move.

Therefore, in order to improve the cleaning efficiency of the cleaning robot, it can be improved by at least one of the following methods:

1. From the perspective of dust effect.

Since the slapping mechanism carries out dusting by slapping, it is considered to improve the slapping effect of the slapping mechanism on the ground to be cleaned.

Considering that the dusting effect is related to parameters such as the beating frequency, beating direction, beating strength, and the length of a single beating contact with the surface to be cleaned (referred to as the length of a single beating) of the beating mechanism, it can be obtained from the beating frequency of the beating mechanism, beating direction, At least one aspect such as slapping strength and single slapping length should be improved.

Wherein, the beating frequency refers to the number of beating times per unit time on the ground to be cleaned.

The above-mentioned parameters of the beating mechanism are described as follows respectively below:

A beating frequency

Considering that when the beating frequency is low, the amount of dust and other garbage picked up is less, therefore, increasing the beating frequency is beneficial to beating more garbage and improving the dusting effect.

B slap direction

Considering the gaps in hard ground (such as floors, floor tiles, etc.) and the material of soft ground (such as carpets, floor mats, etc.) are more absorbent to garbage, it may not be possible to slap this kind of garbage if you only slap it from one direction. affect the cleaning effect. Therefore, in one embodiment, the slapping direction at least includes a first direction and a second direction; preferably, the first direction is opposite to the second direction, and by slapping from two opposite directions, it is possible to improve the gap between the hard ground and the carpet fluff. The rubbish in between or deep in the carpet is picked up, which is beneficial to improve the dusting effect.

C beat strength

Considering that the slapping force is small, it is not conducive to picking up the garbage, so the dust removal effect can be improved by increasing the slapping force.

Because the above-mentioned slapping force is usually not easy to obtain through direct measurement, and if the direct measurement needs to add an additional measurement component, the cost will increase. Therefore, the design of this application considers the indirect characterization of the beating strength.

In one embodiment, the slapping strength can be characterized by the degree of interference produced by the slapping working head of the slapping mechanism in contact with the ground to be cleaned on the ground to be cleaned, wherein the degree of interference can be understood as the head of the slapping working head away from the chassis of the fuselage The distance between the head and the surface of the floor to be cleaned.

When the ground to be cleaned is a hard ground such as a floor, there is a gap between the head of the slapping working head away from the chassis of the fuselage and the surface of the floor. At this time, the degree of interference represents the value of the gap, and is represented by a negative value. For example, the degree of interference is -1mm means that there is a gap between the head of the slapping head away from the chassis of the fuselage and the surface of the floor, and the gap is 1mm.

When the ground to be cleaned is a soft ground such as a carpet, the depth of the head of the slapping working head away from the chassis of the fuselage extending into the surface formed by the top of the carpet pile, at this time, the degree of interference represents the depth, and is represented by a positive value, For example, if there is a gap with the surface of the carpet, it is positive, indicating that it goes deep into the surface (such as the interior of the surface formed by carpet fluff), for example, the length of the fluff is 8mm, and the degree of interference is 4mm, which means that the head of the beating working head is far away from the chassis of the fuselage The depth of the part extending into the interior of the surface formed by the tops of the carpet piles is 4 mm.

It should be noted that the greater the beating force, the greater the wear and tear of the beating mechanism may be, and the maintenance and replacement costs will also increase. Therefore, the slapping strength should be controlled within a reasonable range.

D single beat length

Considering that the length of a single slap is short and less garbage is picked up, the dust removal effect can be improved by increasing the length of a single slap.

It should be noted that the length of a single beating will affect the size of the cleaning robot, that is, when the size of the designed cleaning robot is determined, the length of a single beating needs to consider the limitation of the size of the cleaning robot.

In one embodiment of the present application, the beating mechanism includes a cleaning roller brush.

Of course, in other embodiments, the slapping mechanism can also use sticks, rods, shovels or other objects, as long as they can play the role of slapping the ground to be cleaned.

In order to understand the above-mentioned parameters related to beating of the beating mechanism, the beating mechanism is the cleaning roller brush below. The above parameters are explained as follows:

First, the beating frequency is related to the rotation speed of the cleaning roller brush, the number of cleaning roller brushes, and the number of cleaning parts (such as brush heads) on the cleaning roller brush that contact the ground to be cleaned.

In one embodiment, the number of beatings is approximately equal to the product of the rotational speed, the number of roller brushes, and the number of brush heads. According to the reciprocal relationship between the beating frequency and the number of beating times, the beating frequency can be calculated.

In order to increase the beating frequency, one or a combination of the following methods can be used:

(a1) Increase the rotational speed of the cleaning roller brush;

(a2) Increase the number of cleaning roller brushes;

(a3) Increase the number of brush heads on the cleaning roller brush.

Therefore, in one embodiment of the present application, the cleaning robot can increase the beating frequency by increasing the rotation speed of the cleaning roller brush, thereby improving the dust removal effect, which is beneficial to the improvement of the cleaning effect.

Since the rotating speed of the rolling brush is related to the (motor) power of the rolling brush, the increase of the rotating speed of the rolling brush can be realized by increasing the power of the rolling brush.

In one embodiment, the rotating speed of the rolling brush is greater than or equal to 1200r/min. The scope of the rolling brush power of the present application is 25-50W. Preferably, the power of the rolling brush is 30W.

Considering that the cleaning difficulty of soft ground and hard ground is different, in one embodiment, when the ground to be cleaned is hard ground or when the cleaning robot is in the hard ground cleaning mode for cleaning hard ground, the power of the roller brush is the first power ; When the ground to be cleaned is a soft ground or when the cleaning robot is in a soft ground cleaning mode for cleaning soft ground, the power of the rolling brush is the second power, wherein the first power is less than or equal to the second power.

For example, the value range of the first power is 20W-30W; the value range of the second power is 25W-50W.

Further, the first power is smaller than the second power. For example, the first power is 25W; the second power is 30W.

In another embodiment of the present application, in order to increase the beating frequency, improve the dusting effect, and then improve the cleaning effect, the number of cleaning roller brushes can be improved. For example, the cleaning robot uses double roller brushes for cleaning. The double roller brushes include The first cleaning roller brush and the second cleaning roller brush, the first cleaning roller brush and the second cleaning roller brush act on the ground to be cleaned, and rubbish such as dust are picked up, so that the suction of the dust suction mechanism.

In order to realize the cleaning of hard ground and soft ground, it is beneficial to further improve the cleaning effect. In one embodiment, one of the cleaning roller brushes in the double roller brush adopts a hard roller brush, and the other cleaning roller brush adopts a hair roller brush; wherein the hard roller brush is a rubber roller brush, and the hair roller brush at least includes bristles; That is to say, in the double roller brush, one cleaning roller brush adopts a rubber roller brush; while the other cleaning roller brush can adopt a roller brush including bristles, such as a pure hair roller brush with only bristles or a rubber bristle with both rubber and bristles roller brush.

In order to reduce hair entanglement, the setting position of the cleaning roller brush can be improved, for example, along the forward direction of the fuselage, the hard roller brush is arranged in front, and the hair roller brush is arranged in the rear.

It should be noted that the rotation speeds of the first cleaning roller brush and the second cleaning roller brush can be the same. For example, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are equal, and both are greater than or equal to 1500 r/min.

Of course, in other embodiments, the rotation speeds of the first cleaning roller brush and the second cleaning roller brush can also be different, for example, when the first cleaning roller brush is a hard roller brush, the second cleaning roller brush is a hair roller brush, which is located The rotation speed of the hard roller brush at the bottom can be greater than the rotation speed of the hair roller brush at the rear of the fuselage, so as to improve the beating effect on the carpet fluff, which is conducive to dusting.

When driving the first cleaning roller brush and the second cleaning roller brush to rotate, two roller brush motors can be selected to drive respectively, or a roller brush motor can be used in combination with a transmission mechanism (such as a gear transmission mechanism) to first clean the roller brush and the second cleaning roller brush. The second cleaning roller brush is driven. Considering the cost problem, in one embodiment, a roller brush motor is used to drive the first cleaning roller brush and the second cleaning roller brush.

In yet another embodiment of the present application, the number of brush heads on the cleaning roller brush can also be improved to increase the number of beatings.

In one embodiment, the number of brush heads ranges from 3-8.

Considering that the cleaning difficulty of the carpet and the floor is different, in one embodiment, the number of brush heads of the hair roller brush should be more than the number of brush heads of the hard roller brush; for example, the scope of the number of brush heads of the hair roller brush is 6-8; 3-5 for a hard roller brush. Further, the number of brush heads of the bristle roller brush is 6; the number of brush heads of the hard roller brush is 4.

Secondly, in order to improve the dust removal effect, the beating direction of the cleaning roller brush can be improved.

In one embodiment, when there is one cleaning roller brush, in order to improve the dusting effect, the cleaning roller brush is controlled to pat in two directions, for example, for the same position, after the cleaning roller brush is patted in the first direction, the direction is reversed, And beat again along the second direction after changing direction, wherein the first direction is opposite to the second direction.

In one embodiment, if there are two cleaning roller brushes, the two cleaning roller brushes can be slapped in the same direction, for example, both are slapped along the first direction, wherein the first direction is the direction towards the dust suction port of the dust suction mechanism , so that the dust suction mechanism can suck in.

In order to improve the cleaning effect, further, the dust suction port is located between the first cleaning roller brush and the second cleaning roller brush, the rotation direction of the first cleaning roller brush is the first direction, and the rotation direction of the second cleaning roller brush The direction is the second direction, wherein the first direction is opposite to the second direction, and both the first direction and the second direction are towards the dust suction port of the dust suction mechanism.

Thirdly, in order to improve the dust removal effect, the beating strength of the cleaning roller brush can be improved, wherein the beating strength is characterized by the degree of interference of the brush head on the cleaning roller brush.

For example, when the cleaning roller brush is a hard roller brush, the value range of the interference of the hard roller brush is -2mm to 4mm; and when the cleaning roller brush is a hair roller brush, the value of the interference degree of the hair roller brush is The range is 0 to 6mm;

Due to the different types of ground to be cleaned (hard ground and soft ground), the degree of interference is also different. For example, the interference of the cleaning roller brush when the ground to be cleaned is a hard floor (or when the cleaning robot is in the hard floor cleaning mode) is less than that of the cleaning roller brush when the floor to be cleaned is a soft floor (or when the cleaning robot is in the soft floor cleaning mode). Interference, where the cleaning roller brushes are of the same type.

Due to the different materials of the cleaning roller brush, the degree of interference is also different. For example, the interference of a hard roller brush is smaller than that of a hair roller brush, where the type of floor to be cleaned is the same.

Further, when the cleaning roller brush is a hard roller brush and the brush head is rubber, the interference degree of the hard roller brush on the ground to be cleaned is hard ground (such as a floor) is -1mm, and the hard roller brush is soft on the ground to be cleaned. The interference degree on the ground (such as carpet) is 2mm; when the cleaning roller brush is a hair roller brush, the interference degree of the hair roller brush on the hard ground (such as a floor) to be cleaned is 1mm, and the cleaning roller brush is The ground to be cleaned is a soft ground (such as carpet) with an interference of 4mm.

Finally, in order to improve the dust removal effect, the width of the cleaning roller brush (that is, the length of a single slap contacting the ground to be cleaned) can be improved, where the width of the cleaning roller brush refers to the rotation of the brush head or brush body along the cleaning roller brush. length in the axial direction.

For example, in one embodiment, the length of the brush head is equal to the length of the brush body.

In one embodiment, the width of the cleaning roller brush ranges from 185mm to 205mm. Further, the width of the cleaning roller brush is 195mm.

2. From the perspective of vacuuming effect.

The dust collection mechanism can suck up the garbage on the ground to be cleaned by suction, thereby cleaning the garbage. Therefore, the dust collection effect can be improved by increasing the suction force of the dust collection mechanism, thereby improving the cleaning efficiency.

Considering that the suction force of the dust suction mechanism is related to the fan power of the dust suction mechanism, therefore, in one embodiment of the present application, the dust suction effect can be improved by improving the fan power of the dust suction mechanism.

In one embodiment, the power of the fan is greater than or equal to 65W.

Further, the power of the fan is greater than or equal to 65W and less than 120W. Wherein, the range of flow rate at the air inlet of the fan when the fan is fully turned on is 0.7-0.9m ³ /min; the static pressure at the air inlet of the fan is between 6.5-12Kpa when the fan is fully blocked.

In one embodiment, the power of the fan is 80W.

In one embodiment, the fan is a centrifugal fan. Among them, when the power of the centrifugal fan is 80W, the test value of the vacuum degree of the centrifugal fan (the static pressure at the air inlet of the fan when the fan is fully blocked) is about 8.2kPa; the flow rate of the air inlet of the centrifugal fan when the fan is fully open The test value is about 0.72m ³ /min.

In one embodiment, the volume of the centrifugal fan is about 50 cm ³ .

In another embodiment, the fan is a mixed flow fan. Among them, when the power of the mixed flow fan is 80W, the test value of the vacuum degree of the mixed flow fan (the static pressure at the air inlet of the fan when the fan is fully blocked) is about 7.6kPa; the flow rate of the air inlet of the mixed flow fan when the fan is fully open The test value is about 0.75m ³ /min.

In one embodiment, the volume of the mixed flow fan is about 75 cm ³ .

In another embodiment of the present application, the cleaning robot can use a large-suction dust-absorbing mechanism for dust-absorbing, wherein the high-suction dust-absorbing mechanism can be realized by, for example, a relatively high-power fan, where the relatively high-power fan refers to the power Fans greater than or equal to 100W.

Wherein, the power of the fan is related to the degree of vacuum and the flow rate. For example, in one embodiment, the relationship between the three is basically as follows: W (fan power) = P (degree of vacuum) × Q (flow rate); Consider two aspects of speed and flow to get the required fan power. That is, for the same fan power, a fan with high vacuum degree and low flow rate can be selected, or a fan with high flow rate and low vacuum degree can be selected. The high flow rate here means that the flow rate at the air inlet of the fan is greater than or equal to 1.2m ³ /min, the low flow rate means that the flow rate at the air inlet of the fan is less than 1.2m ³ /min; the high vacuum degree means that the air inlet of the fan is completely blocked. The static pressure at the fan inlet is greater than 15Kpa, and the low vacuum degree means that the static pressure at the fan inlet is less than or equal to 15Kpa when the fan is fully blocked.

In one embodiment, in view of the size and noise requirements of the cleaning robot, the fan power ranges from 100W to 200W; preferably, the fan power ranges from 100W to 150W; further, the fan power is selected to be 125W .

When selecting the fan type, the fan can be selected with high flow rate (the flow rate at the air inlet of the fan is between 1.2-1.6m ³ /min), low vacuum (the static pressure at the air inlet of the fan is between 10-15Kpa when the fan is fully blocked) or between 0.8 and 1.2m ³ /min at the air inlet of the fan, and high vacuum (the static pressure at the air inlet of the fan is between 15 and 20Kpa when the fan is fully blocked) ) fan.

It can be seen from the aerodynamic equation that the flow power of dust, etc. is proportional to the square of the velocity of the airflow, that is, proportional to the square of the flow rate. Therefore, the fan should use a high-flow fan, so that the dust collection effect is better. In addition, considering that the vacuum degree has little benefit to the flow of dust, in order to save energy, the fan with a low vacuum degree should be selected. Therefore, the fan should use a fan with high flow rate and low vacuum degree.

As the power of the fan increases, the volume of the fan will also increase. Therefore, it is necessary to control the volume of the fan or the volume ratio of the fan and the cleaning robot. In one embodiment, the volume of the blower ranges from 40cm ³ to 100cm ³ .

Further, the range of the volume of the fan is 50cm ³ -90cm ³ .

In one embodiment, the volume of the cleaning robot ranges from 7000-100 cm ³ .

Further, the range of the volume of the cleaning robot is 8000-10000 cm ³ .

In one embodiment, the ratio of the fan volume to the overall volume of the cleaning robot is 0.005-0.01.

In order to control the volume of the cleaning robot, the installation position of the fan can be improved. In one embodiment, the chassis where the fan is located is lower. That is, the height of the chassis at the position where the fan is located is lower than the height of the chassis at other positions where no fan is installed on the fuselage of the cleaning robot. Wherein, the chassis height refers to the height relative to the horizontal plane.

In one embodiment, the height of the chassis at the position where the blower is located is 8-12mm, and the height of the chassis at other positions where the blower is not installed on the fuselage of the cleaning robot is 12-18mm.

Further, the height of the chassis at the position where the fan is located is 10 mm, and the height of the chassis at other positions where no fan is installed on the fuselage of the cleaning robot is 15 mm.

Considering that the power of the fan increases, the noise generated will also increase. Therefore, the fan with high power and low noise is selected.

3. From the perspective of mobile strategy to improve the dusting effect and/or vacuuming effect.

Considering the lower moving speed, it is possible to increase the beating times of the beating mechanism per unit time on the ground to be cleaned, especially the beating times of each tuft of carpet fiber or fluff, thereby improving the dusting effect.

Considering the excessively fast moving speed, the time for the dust suction mechanism to stay at each position of the floor to be cleaned is relatively short, which is especially unfavorable for absorbing each tuft of carpet fibers or fluff, thereby affecting the dust suction effect. Therefore, the dust collection effect can be improved by improving the movement speed.

In one embodiment, the moving distance per unit time or the cleaning area per unit time can be controlled by controlling the moving speed of the cleaning robot, for example, at a lower moving speed, such as at a moving speed of 0.1m/s-0.2m/s , to clean the ground to be cleaned, especially to reduce the moving speed of the cleaning robot on soft ground such as carpets, so as to improve the dust removal effect and/or dust collection effect.

In order to improve the cleaning efficiency, it can also be realized by controlling the ratio of the sum of the power of the cleaning robot's dust suction mechanism (such as a fan) and the power of the dust lifting mechanism (such as a roller brush) relative to the moving speed.

In one embodiment, the value range of the power of the dust collection mechanism (such as fan) is 65-150W; further, the value range of the power of the dust suction mechanism (such as fan) is 80-120W.

In one embodiment, the power of the dust raising mechanism (such as a rolling brush) ranges from 25W to 45W. Further, the power range of the dust generating mechanism (such as a rolling brush) is 30-40W.

In one embodiment, the ratio of the power of the dust-absorbing mechanism (such as a fan) and the dust-elevating mechanism (such as a roller brush) to the moving speed of the cleaning robot is at least 90W/0.2m/s=45J/m.

In order to improve the cleaning efficiency, it can also be realized by controlling the ratio of the power of the cleaning robot to the moving speed.

In one embodiment, the power of the cleaning robot ranges from 100-160W; further, the power of the cleaning robot ranges from 120-135W.

In one embodiment, the ratio of the power of the cleaning robot to the moving speed is at least 100W/0.2m/s=50J/m.

Considering that the reduction of moving speed will affect the working efficiency of the cleaning robot, the moving speed of the cleaning robot should not be too small; and the increase of the moving speed will reduce the number of times the floor to be cleaned is slapped or the effect of vacuuming, which will affect the cleaning effect of the cleaning robot , so the moving speed of the cleaning robot cannot be too high.

In order to balance the cleaning effect and work efficiency, it is necessary to control the moving speed of the cleaning robot within a certain range. In one embodiment, the value range of the moving speed is 0.12-0.18m/s.

Since the moving speed is related to the power of the driving motor of the moving mechanism, the cleaning robot can move at a moving speed that meets the requirements by adjusting the power of the driving motor.

In an embodiment of the present application, the value range of the power of the driving motor is 4-6W.

Therefore, in order to improve the cleaning efficiency, it is also possible to control the ratio of the power of the cleaning robot to the power of the drive motor, or control the power of the dust suction mechanism (such as a fan) and the sum of the power of the dust removal mechanism (such as a roller brush) relative to The ratio of the power to the drive motor.

In one embodiment, the power of the cleaning robot ranges from 105-220W.

Further, the range of the power of the cleaning robot is 130-200W.

In one embodiment, the ratio of the power of the cleaning robot to the power of the driving motor is at least 17; The ratio is greater than or equal to 15.

Considering that hard ground and soft ground have different cleaning difficulties, it is possible to control the moving speed of the cleaning robot to be different. In one embodiment, the cleaning robot has a first moving speed in the hard floor cleaning mode, and the cleaning robot has a second moving speed in the soft floor cleaning mode, wherein the first moving speed is greater than or equal to the second moving speed.

For example, the value range of the first moving speed is 0.24-0.36m/s; the value range of the second moving speed is 0.12-0.18m/s; the first moving speed is 0.3m/s.

Second Movement Speed The movement speed is 0.15m/s.

In one embodiment, the single-pass cleaning efficiency of the cleaning robot is comparable to that of a handheld vacuum cleaner.

In other words, the cleaning robot adopts a single-pass cleaning strategy, that is, the cleaning robot performs one-pass cleaning on the entire area to be cleaned, and the cleaning effect of the cleaning robot is directly comparable to that of a handheld vacuum cleaner.

In one embodiment, the carpet type is a standard test carpet (such as Wilton carpet), and the value range of the single-pass CE of the cleaning robot is greater than or equal to 80%; further, the value range of the single-pass CE is 80%. ~95%; preferably, the single-pass CE value ranges from 85% to 90%.

For non-standard test carpets (such as full-floor carpets), the single-pass CE value range is greater than or equal to 25%, and further, the single-pass CE value range is 35% to 70%; preferably, the single-pass cleaning efficiency CE value range 50% to 60%.

That is, the single-pass cleaning efficiency of the cleaning robot can reach a level comparable to that of a hand-held vacuum cleaner.

It can be seen from the above that the same cleaning robot has different cleaning effects for different carpets; for example, when the cleaning efficiency of the same cleaning robot is 25% in non-standard test carpets; It can reach 80%; of course, the cleaning efficiency can be determined based on the carpets that are more difficult to clean (such as non-standard test carpets), and the cleaning efficiency of other carpets (such as standard test carpets) will be better.

It should be pointed out that the cleaning robot designed by the applicant should not only improve the cleaning efficiency, but also ensure passability. For example, the cleaning robot can clean the bottom of the furniture;

In one embodiment, the height of the cleaning robot ranges from 95mm to 115mm. Further, the range of the height of the cleaning robot is 105-110 mm.

In one embodiment, the volume of the cleaning robot ranges from 7000-11000 cm ³ . Further, the range of the volume of the cleaning robot is 8000-10000 cm ³ .

Therefore, in one embodiment, for the standard test carpet, the ratio of the cleaning efficiency CE of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m (80%/95mm); or, the cleaning efficiency CE of the cleaning robot The ratio to the volume of the cleaning robot is greater than or equal to 80%/11000cm ³ =72.7/m ³ .

For non-standard test carpets, the ratio of the cleaning efficiency CE of the cleaning robot to the height of the cleaning robot is greater than or equal to 2.2/m; or, the ratio of the cleaning efficiency of the cleaning robot to the volume of the cleaning robot is greater than 22.7/m3.

In one embodiment, the power of the cleaning robot ranges from 100W to 200W. Further, the range of the power of the cleaning robot is 120W-180W.

Of course, while improving the cleaning efficiency of the cleaning robot, it is also necessary to control the power consumption of the cleaning robot to improve user experience. In one embodiment of the present application, for a standard test carpet, the ratio of the cleaning efficiency CE of the cleaning robot to the power of the cleaning robot is greater than or equal to 80%/200W=0.004/W.

For non-standard test carpets, the ratio of the cleaning efficiency CE of the cleaning robot to the power of the cleaning robot is greater than or equal to 0.00125/W.

For the second aspect:

The present disclosure can also improve the cleaning efficiency CE by increasing the energy input per unit area.

The above-mentioned energy input EI per unit area refers to the energy input by the cleaning robot per unit cleaning area. Among them, the input energy is related to the power P0 of the cleaning robot and the cleaning time t, and the power P0 of the cleaning robot is related to the power p1 of the dust collection mechanism (such as a fan), the power p2 of a beating mechanism (such as a roller brush), and the moving mechanism ( For example, the power p3 of the drive motor), the power p4 of other components, etc., the cleaning area S is related to the moving speed v of the cleaning robot, the cleaning time t, and the length of the beating mechanism’s single beating contact with the ground to be cleaned (such as the width of the roller brush) B is related.

In one embodiment, the relationship of the above parameters can be, for example:

EI=P0t/S=(p1+p2+p3+p4)t/(vt×kB)≈(p1+p2+p3)t/(vt×kB)=(p1+p2+p3)/(v×kB ).

Among them, k is the non-overlapping coefficient, which is used to characterize whether there is overlap in the cleaning area between the roller brushes (especially when there are multiple roller brushes), and the non-overlapping amount after excluding the overlapping amount.

It should be pointed out that since p4 is usually a fixed value and relatively small compared to the sum of p1+p2+p3, p4 is omitted in the above formula for the convenience of calculation.

It can be seen from the above formula that EI is related to the power p1 of the dust-absorbing mechanism (such as a fan), the power p2 of a beating mechanism (such as a roller brush), the power p3 of a moving mechanism (such as a driving motor for driving a driving wheel), and the moving speed v. The length B of a single slap touching the floor to be cleaned is related to the machine's own parameters, and has nothing to do with the test conditions such as the type of carpet. Therefore, EI can more intuitively reflect the cleaning efficiency CE, so as to characterize the cleaning effect.

It should be noted that, in other embodiments, the cleaning effect of each pass can also be characterized by the efficiency ratio; the efficiency ratio is used to characterize the ratio of cleaning efficiency and energy input per unit area, for example, efficiency ratio r=cleaning efficiency CE/unit area Energy input EI; therefore, according to each cleaning efficiency and the corresponding value range of energy input per unit area, the efficiency ratio of each time can be obtained, which will not be described in this embodiment.

In addition, it can be understood that when there is one roller brush, there is no overlap of cleaning areas, so the value of k is 1.

In one embodiment, the energy input EI per unit area of the cleaning robot is greater than or equal to 4000J/m ² ; further, the energy input per unit area is in the range of 4000-6000J/m ² ; preferably, the energy input per unit area is taken as The value range is: 4500-5500J/m ² .

For easy understanding, the power of the fan is 80W, the power of the roller brush is 30W, the power of the driving motor is 5W, the width of the roller brush is 195mm=0.195m, the number of roller brushes is 2, the cleaning area of the two roller brushes overlaps by 20%, and the moving speed When it is 0.15m/s as an example, the calculation process of energy input per unit area is briefly explained:

Among them, the cleaning area S per unit time can be calculated by the following formula: 0.195×0.15×(1-20%)×60=1.4m ² /min;

Energy input per unit area: EI≈(80+30+5)/60/1.4=1.4Wh/m ² =5040J/m ² .

Among them, the fan energy consumed per unit area is 80/60/1.37=0.974Wh/m ² .

Of course, in order to accurately calculate the input per unit area, p4 can also be taken into account. Here, the sum of the power of other parts of the cleaning robot is 15W; then the energy input per unit area: EI=(80+30+5+15)/60/1.4 = 1.6 Wh/m ² .

In one embodiment, the single-pass energy input EI per unit area of the cleaning robot is greater than or equal to 5500J/m ² ; further, the energy input per unit area range is 5500-8500J/m ² ; preferably, the energy input per unit area is taken as The value range is: 6000-8000J/m ² .

Below, the power of the fan is 125W, the power of the roller brush is 30W, and the power of the driving motor is 5W. When s is taken as an example, the calculation process of energy input per unit area is briefly explained:

Among them, the cleaning area S per unit time can be calculated by the following formula: 0.19×0.15×(1-20%)×60=1.37m ² /min;

Energy input per unit area: EI≈(125+30+5)/60/1.37=1.95Wh/m ² =7000J/m ² .

Of course, in order to accurately calculate the input per unit area, p4 can also be taken into account. Here, the sum of the power of other parts of the cleaning robot is 20W, and the energy input per unit area: EI=(125+30+5+20)/60/1.4 = 2.14 Wh/m ² .

The cleaning robot designed by the applicant should also ensure passability while improving the cleaning efficiency. For example, the cleaning robot can clean the underside of furniture; therefore, in one embodiment, the energy input per unit area of the cleaning robot is equal to the The height ratio is greater than or equal to 4000/0.095J/m ³ (ie 11.7Wh/m ³ ); or, the ratio of the energy input per unit area of the cleaning robot to the volume of the cleaning robot is greater than or equal to 4000/0.007J/m ⁵ (ie 158.7Wh/m ⁵ ).

For the problem of how to improve the energy input EI per unit area of the cleaning robot, it can be seen from the above formula that it can be improved by at least one of the following methods:

1) Starting from the power of the beating mechanism.

Considering that the power of the beating mechanism will affect the dusting effect, and the dusting effect is related to parameters such as the beating frequency, beating direction, beating strength, and the length of a single beating contact with the surface to be cleaned, it can be obtained from the beating frequency of the beating mechanism , slapping direction, slapping strength, the length of a single slapping surface to be cleaned (abbreviated as a single slapping length), etc., at least one of which affects the power of the slapping mechanism to improve the dust removal effect. That is to say, the power of the beating mechanism is put into aspects such as the above-mentioned beating frequency, beating strength, beating direction, single beating length of surface contact to be cleaned; Beating) can affect the beating frequency, and therefore can indirectly affect the power of the beating mechanism.

In one embodiment of the present application, the beating mechanism adopts a cleaning roller brush.

The above parameters are briefly described below by taking the beating mechanism as a cleaning roller brush, which includes a brush body and a cleaning part or cleaning work head positioned on the brush body as an example:

Wherein, the beating frequency is related to the rotating speed of the cleaning roller brush, the number of cleaning roller brushes, and the number of brush heads on the cleaning roller brush contacting the ground to be cleaned.

In one embodiment, the beating frequency is approximately equal to the reciprocal of the product of the rotational speed, the number of roller brushes, and the number of brush heads.

In order to increase the number of times of beating, thereby increasing the frequency of beating, it can be achieved by one of the following methods or a combination thereof: increasing the rotating speed of the cleaning roller brush, increasing the number of cleaning roller brushes or increasing the number of brush heads on the cleaning roller brush.

In one embodiment of the present application, the cleaning robot can increase the beating frequency by increasing the rotation speed of the cleaning roller brush, thereby improving the dust-raising effect.

In one embodiment, the rotating speed of the rolling brush is greater than or equal to 1200r/min. Further, the rotational speed of the rolling brush ranges from 1200-1900r/min.

In order to achieve the above rotation speed, in one embodiment, the power of the rolling brush of the present application ranges from 25W to 45W. Preferably, the power of the rolling brush is 30-35W.

In another embodiment of the present application, in order to increase the beating frequency and improve the dusting effect, the number of cleaning roller brushes can be improved. For example, the cleaning robot uses double roller brushes for cleaning, and the double roller brushes include the first cleaning roller brush And the second cleaning roller brush, the first cleaning roller brush and the second cleaning roller brush act on the ground to be cleaned, dust and other rubbish are picked up, so that the suction of the dust suction mechanism.

In one embodiment, the number of brush heads ranges from 3-8.

In order to improve the dust removal effect, the beating direction of the cleaning roller brush can be improved.

For example, when there is only one cleaning roller brush, the cleaning roller brush can be controlled to pat in two directions to improve the dust removal effect. Slap again in the second direction backwards, where the first direction is opposite to the second direction.

When there are two cleaning roller brushes, the dust suction port at the bottom of the fuselage is arranged between the two cleaning roller brushes, the rotation direction of one of the cleaning roller brushes is the first direction, and the rotation direction of the other cleaning roller brush is the same as The direction opposite to the first direction, wherein both the first direction and the second direction are towards the suction port.

Thirdly, in order to increase the dust, the beating strength can be improved. Since the beating strength is not easy to measure, the beating strength is characterized by the interference of the brush head on the cleaning roller brush.

Among them, when the surface to be cleaned is a hard ground, the value range of the interference degree of the hard roller brush is -2mm to -0.5mm; when the cleaning roller brush is a hair roller brush, the value of the interference degree of the hair roller brush is The range is 0.5 to 1.5mm.

Further, when the surface to be cleaned is a soft ground, the value range of the interference degree of the hard roller brush is 1.5mm to 2.5mm; the value range of the interference degree of the fur roller brush is 3 to 5mm;

It can be understood that the greater the beating strength, the greater the power of the beating mechanism.

Due to the different types of floors to be cleaned, the degree of interference is also different. For example, taking the same type of cleaning roller brush as an example, the interference degree of the cleaning roller brush when the ground to be cleaned is hard ground is smaller than the interference degree of the cleaning roller brush when the ground to be cleaned is soft ground

Considering the different materials of the cleaning roller brush, the degree of interference is also different. For example, in the case of the same type of floor to be cleaned, the interference degree of the hard roller brush is smaller than that of the hair roller brush.

In one embodiment, when the cleaning roller brush is a hard roller brush and the brush head is rubber, the degree of interference of the hard roller brush on the ground to be cleaned is a hard floor (such as a floor) is -2mm, and the hard roller brush is The interference degree on the soft ground (such as carpet) to be cleaned is 4mm; when the cleaning roller brush is a hair roller brush, the interference degree of the hair roller brush on the hard surface (such as a floor) to be cleaned is 0mm, The interference of the cleaning roller brush on the soft ground (such as carpet) to be cleaned is 6mm.

In one embodiment, the width of the cleaning roller brush ranges from 185mm to 205mm. Further, the width of the cleaning roller brush is 190mm-195mm.

2) Starting from the power of the vacuum mechanism.

In one embodiment, the dust suction mechanism includes a fan, therefore, the dust suction effect can be improved by improving the power of the fan.

In one embodiment, the power of the fan is greater than or equal to 65W.

Further, the power of the fan is greater than or equal to 65W and less than 120W. Wherein, the value range of the flow rate of the air inlet of the fan when the fan is fully turned on is 0.7-0.9m ³ /min; the value range of the flow rate of the air inlet of the fan when the fan is fully turned on is 0.7-0.9m ³ /min; When the fan is fully blocked, the static pressure at the air inlet is between 6.5 and 12Kpa.

In one embodiment, the power of the fan is 80W.

In one embodiment, the volume of the centrifugal fan is about 50 cm ³ .

In one embodiment, the volume of the mixed flow fan is about 75 cm ³ .

In another embodiment of the present application, the cleaning robot may use a fan with a higher power, where the fan with a higher power refers to a fan with a power greater than or equal to 100W.

Among them, the power of the fan is related to the degree of vacuum and the flow rate. For example, in one embodiment, the relationship between the three is basically as follows: W=P×Q; it can be seen from this formula that the required fan power can be obtained by considering the degree of vacuum and the flow rate. power. That is, for the same fan power, a fan with high vacuum degree and low flow rate can be selected, or a fan with high flow rate and low vacuum degree can be selected. The high flow rate here means that the flow rate at the air inlet of the fan is greater than or equal to 1.2m ³ /min, the low flow rate means that the flow rate at the air inlet of the fan is less than 1.2m ³ /min; the high vacuum degree means that the air inlet of the fan is completely blocked. The static pressure at the fan inlet is greater than 15Kpa, and the low vacuum degree means that the static pressure at the fan inlet is less than or equal to 15Kpa when the fan is fully blocked.

It can be seen from the aerodynamic equation that the flow power of dust, etc. is proportional to the square of the flow rate. In order to improve the dust collection effect, the fan should use a high-flow fan. In addition, in view of the fact that the vacuum degree has little benefit to the flow of dust, the fan with a low vacuum degree should be selected to save energy. Therefore, in an embodiment of the present disclosure, the blower is selected as a blower with a high flow rate and a low vacuum degree.

It should be pointed out that considering that the power of the dust collection mechanism affects the dust collection effect, the dust collection effect can be improved by increasing the power of the dust collection mechanism.

Further, the range of the volume of the fan is 50cm ³ -90cm ³ .

In one embodiment, the volume of the cleaning robot ranges from 7000-11000 cm ³ .

Further, the range of the volume of the cleaning robot is 8000-10000 cm ³ .

For how to control the volume of the cleaning robot, in one embodiment, the installation position of the fan can be improved. For example, lower the chassis where the fan is located. Therefore, the height of the chassis at the position where the fan is located is lower than the height of the chassis at other positions where no fan is installed on the fuselage of the cleaning robot. Wherein, the chassis height refers to the height relative to the horizontal plane.

In view of the possible noise problems caused by the increase of the power of the fan, the fan with high power and low noise can be used in the selection of the fan.

3) Starting from the power of the mobile mechanism.

Considering that the power of the moving mechanism will affect the dusting effect and/or dust collection effect; and the dusting effect and/or dust collection effect are related to parameters such as the speed of the driving motor of the moving mechanism, and the speed of the driving motor will affect the difference in moving speed . Therefore, the dust lifting effect and/or the dust suction effect can be improved in consideration of the moving speed and other aspects affecting the power of the moving mechanism. That is to say, the power of moving mechanism is put into aspect such as moving speed; It can be understood that, when moving speed is lower, can increase the number of times of beating the ground to be cleaned in the beating mechanism unit time, especially to soft ground (as carpet ) The number of times each cluster of fibers or fluff is beaten, thereby improving the dusting effect.

And when the moving speed is too fast, the time for the dust suction mechanism to stay at each suction position on the ground to be cleaned is shorter, which is especially unfavorable for the suction of each tuft of fibers or fluff of the carpet, which affects the dust suction effect. Therefore, it is possible to improve the vacuuming effect by improving the moving speed.

In one embodiment, the power of the cleaning robot ranges from 100-250W.

Further, the range of the power of the cleaning robot is 100-200W.

In one embodiment, the range of power of the fan is 65-120W. Further, the power range of the fan is 80-100W.

In one embodiment, the power of the roller brush ranges from 25-50W, and further, the power of the fan ranges from 30-35W.

In one embodiment, the range of the sum of the power of the fan and the power of the rolling brush is 90-170W.

Further, the range of the sum of the power of the fan and the power of the roller brush is 110-135W.

In order to increase the energy input per unit area, it can also be achieved by controlling the ratio of the sum of the power of the fan and the roller brush of the cleaning robot to the moving speed. In one embodiment, the ratio of the sum of the power of the fan and the roller brush of the cleaning robot to the moving speed is at least 45 J/m.

In order to increase the energy input per unit area, it can also be achieved by controlling the ratio of the power of the cleaning robot to the moving speed. In one embodiment, the ratio of the sum of the power of the fan and the roller brush of the cleaning robot to the moving speed is at least 50 J/m.

In order to balance the cleaning effect and work efficiency, it is necessary to control the moving speed of the cleaning robot within a certain range. In one embodiment, the value range of the moving speed is 0.12-0.18m/s. Further, the moving speed is set to be 0.15m/s.

In an embodiment of the present application, the value range of the power of the driving motor is 4W-6W. Further, the power of the drive motor is 5W.

In one embodiment, the power of the cleaning robot ranges from 100-250W.

Further, the range of the power of the cleaning robot is 100-200W.

In one embodiment, the range of power of the fan is 65-150W. Further, the power range of the fan is 100-120W.

In one embodiment, the range of the sum of the power of the fan and the power of the rolling brush is 90-200W.

Further, the range of the sum of the power of the fan and the power of the roller brush is 130-155W.

Therefore, in order to increase the energy input per unit area, it is also possible to control the ratio of the power of the cleaning robot to the power of the drive motor to be at least 100/6=17; or, control the sum of the power of the fan and the roller brush relative to the power of the drive motor The ratio of at least 90/6=15.

Considering that hard ground and soft ground have different cleaning difficulties, it is possible to control the moving speed of the cleaning robot to be different. In one embodiment, the moving speed of the cleaning robot in the hard floor cleaning mode is greater than or equal to the moving speed of the cleaning robot in the soft floor cleaning mode.

In one embodiment, the value range of the moving speed of the cleaning robot in the hard floor cleaning mode is 0.2m/s-0.4m/s; the value range of the moving speed of the cleaning robot in the soft floor cleaning mode is 0.1m /s-0.2m/s.

For example, the moving speed of the cleaning robot in hard floor cleaning mode is 0.3m/s.

The moving speed of the cleaning robot in the soft ground cleaning mode is 0.15m/s.

In the present disclosure, the cleaning effect is improved by at least one lifting means, so that the cleaning effect of the cleaning robot is better than that of the traditional cleaning robot, and thus comparable to the cleaning effect of a hand-held vacuum cleaner.

Furthermore, through the combination of the above-mentioned lifting methods, the effect of lifting is better than relying on only a single method. e.g. through discipline

It can be seen from the above that the cleaning effect of the cleaning robot is closely related to the fan, roller brush, moving mechanism and other components. Therefore, when the power of the fan increases or the speed of the roller brush increases (meaning the power of the roller brush increases), this will Higher requirements are put forward for the power supply mechanism of the cleaning robot; and the reduction of the moving speed of the cleaning robot will also lead to an increase in the cleaning time of the same area to be cleaned at a higher speed, and higher requirements are also placed on the power supply mechanism. Require.

To sum up, in order to adapt to the improvement of cleaning effect, the power supply mechanism needs to be improved.

In one embodiment, in order to meet the battery life requirements of the cleaning robot, on the one hand, the capacity of the battery is required. For example, the battery can support the cleaning robot to clean the area not less than a large area (for example, not less than 60m ² ). Clean the floor 1 time. Therefore, it is necessary to improve the battery, such as using a higher-capacity battery to power the cleaning robot, thereby improving the battery life of the cleaning robot and reducing the number of charging times.

In one embodiment, the power of the cleaning robot ranges from 100-200W.

In one embodiment, the volume of the cleaning robot ranges from 7000-10000 cm ³ .

In one embodiment, the weight of the cleaning robot ranges from 4kg to 6kg.

In one embodiment, the capacity of the battery is not less than 140Wh, or the ratio of the capacity of the battery to the power of the cleaning robot is not less than 2500J/W.

Since the capacity of the battery affects the volume and weight of the battery, in order to ensure battery life, in one embodiment, the weight of the battery is greater than or equal to 640g, or the ratio of the weight of the battery to the weight of the cleaning robot is greater than or equal to 0.10.

In one embodiment, the volume of the battery is greater than or equal to 400 cm ³ ; or, the ratio of the volume of the battery to the volume of the cleaning robot is greater than or equal to 0.04.

In view of the fact that the volume and weight of the battery will increase with the increase of the battery capacity, which will have an impact on the volume and weight of the cleaning robot, which is not conducive to the miniaturization (passability) and lightweight design requirements of the cleaning robot. Therefore, in order to meet the needs of the cleaning robot According to the design requirements of the robot, the capacity of the battery should not be too large.

In one embodiment, the capacity of the battery is not greater than 200Wh; or, the ratio of the capacity of the battery to the power of the cleaning robot is not greater than 7200J/W.

Since the capacity of the battery affects the volume and weight of the battery, in order to ensure battery life, in one embodiment, the weight of the battery is less than or equal to 960g, or the ratio of the weight of the battery to the weight of the cleaning robot is less than or equal to 0.24.

In one embodiment, the volume of the battery is less than or equal to 600 cm ³ ; or, the ratio of the volume of the battery to the volume of the cleaning robot is greater than or equal to 0.086.

In addition, as the battery capacity increases, the volume occupied by the battery (referred to as the volume of the battery) will also increase, and the cleaning robot cannot be made too large or too high, otherwise it will affect the passability. Therefore, it is necessary to control the volume of the battery. The ratio of the capacity to the volume of the cleaning robot, or the ratio of the capacity of the control battery to the height of the cleaning robot, or the ratio of the volume of the control battery to the volume of the cleaning robot.

In order to take into account the battery life, the passability of the cleaning robot and the lightweight design requirements, in one embodiment, the capacity of the battery is 140-200Wh. Further, the capacity of the battery is 160-180Wh. Specifically, the capacity of the battery is 170Wh.

In one embodiment, the volume of the battery is 400-600cm ³ ; further, the volume of the battery is 500cm ³ .

In one embodiment, the volume of the cleaning robot is 7000-10000 cm ³ ; further, the volume of the cleaning robot is 7500-8000 cm ³ .

In one embodiment, the height of the cleaning robot is 95-115 mm; further, the height of the cleaning robot is 105-110 mm.

In one embodiment, the ratio of the volume of the battery to the volume of the cleaning robot is in the range of about 1/25-1/15.

In one embodiment, the ratio of the capacity of the battery to the volume of the cleaning robot is in the range of about 0.017-0.024 Wh/cm ³ .

In one embodiment, the ratio of the capacity of the battery to the height of the cleaning robot is in the range of about 1.2-2.1 Wh/mm.

Considering that the larger the battery capacity, the larger the battery volume, in order to enable the cleaning robot to accommodate a larger capacity battery without affecting the passability, on the other hand, the layout of the battery can be improved, such as a columnar battery, along the vertical The vertical direction is installed on the body of the cleaning robot, wherein the vertical direction means that the axis of the battery is perpendicular to the horizontal plane.

Generally, the capacity of the battery used by the cleaning robot is limited. If the battery capacity becomes larger or doubled, the number of batteries needs to be increased. The arrangement of each battery is improved. For example, cylindrical batteries are arranged side by side on the body of the cleaning robot along the vertical direction, wherein the vertical direction means that the axis of the battery is perpendicular to the horizontal plane.

Considering that the weight of the battery usually increases with the capacity of the battery, and the cleaning robot cannot be too heavy, otherwise it will affect the user experience. Therefore, it is necessary to control the percentage of the battery to the weight of the cleaning robot or the percentage of the battery capacity to the cleaning robot during design. The percentage of robot weight is controlled.

In one embodiment, the battery has a capacity of 140-200Wh. Further, the capacity of the battery is 160-180Wh. Specifically, the capacity of the battery is 170Wh.

In one embodiment, the weight of the battery is 640g-960g. Further, the weight of the battery is 700-900g. The specific battery weighs 800 g.

In one embodiment, the weight of the cleaning robot is 4kg-6kg. Further, the weight of the battery is 5kg.

In one embodiment, the ratio of the capacity of the battery to the weight of the cleaning robot is in the range of 33-35.

In one embodiment, the ratio of the weight of the battery to the weight of the cleaning robot is 0.10-0.24.

On the other hand, the endurance of the battery is related to the life of the battery. For example, the capacity of the battery is increased, and one charge can satisfy a large area to be cleaned once, which reduces the number of times the cleaning robot is charged, so the battery life requirement is correspondingly reduced. The life of the battery can be characterized by the battery charge and discharge life or the number of battery cycles (also known as the number of rechargeable times); in order to facilitate the understanding of the battery charge and discharge life, in one embodiment, the battery capacity is 160Wh (watt hours); the battery The service life is characterized by the charge and discharge life of the battery. At this time, the charge and discharge life of the battery is the use time when the battery capacity drops to 128Wh due to battery loss.

In one embodiment, the battery life is characterized by the number of battery cycles. In one embodiment, under the conditions of high-power charging and high-power discharge, the battery cycle number of the battery is about 640-960 times. The above-mentioned high power refers to a power greater than It is equal to 100W.

It should be pointed out that when designing, the volume (or weight) of the cleaning robot should be controllable. On the one hand, the volume (or weight) of the cleaning robot should not be too large, for example, its volume (or weight) should meet the user's miniaturization ( or lightweight) requirements, otherwise it will affect passability (or user experience). On the other hand, the volume (or weight) of the cleaning robot is related to its own components, especially affected by the volume (or weight) of the power components related to the cleaning effect, such as the dust collection device (such as a fan), and the beating device (such as a roller brush). , and it is also affected by the volume (or weight) of the energy device (such as a battery) that supports the cleaning robot to perform cleaning work. Therefore, in order to ensure the cleaning effect of the cleaning robot, the cleaning robot cannot be made too small.

Among them, the volume (or weight) of the fan is related to the selection of the fan, and the selection of the fan is mainly to meet the power demand.

In an embodiment of the present application, the power range of the fan is greater than or equal to 65W, preferably, the power range of the fan is 65-150W.

In another embodiment of the present application, the power of the cleaning robot is 100-200W, and the power of the fan accounts for 65%-75% of the power of the whole machine.

The beating device includes a cleaning unit for performing cleaning tasks, wherein the cleaning unit at least includes at least one of a roller brush and a side brush. In this embodiment, the cleaning unit includes a rolling brush, and the volume of the beating device mainly depends on the volume of the rolling brush. In one embodiment of the present application, the roller brushes adopt double roller brushes, and the width of each roller brush is in the range of 130 mm to 280 mm. Preferably, the width of each roller brush ranges from 180mm to 230mm. Further, the width of the rolling brush is 190mm-215mm.

Of course, in other embodiments, the cleaning robot may also include a mopping unit for performing mopping tasks. Further, the mopping unit is at least partly detachably connected to the cleaning robot. In this regard, this embodiment does not make a limitation.

The volume of the battery is related to the selection of the battery, and the selection of the battery is mainly the battery capacity to meet the needs of power supply and battery life, while taking into account the service life of the battery. Capacity refers to batteries with a capacity greater than 140Wh.

In addition, the size of the cleaning robot is also affected by some sensor mechanisms, such as the laser radar (Laser Direct Structuring, LDS) for distance detection and its installation location.

In order to take into account both passability and cleaning effect, further, the volume (length×width×height) of the cleaning robot ranges from 330×310×105 to 340×320×110 mm ³ .

Since the volume of the cleaning robot is related to the length L, width W, and height H of the cleaning robot, the following is an explanation from the three aspects of length L, width W, and height H:

First of all, considering that when the cleaning robot performs cleaning work indoors, its volume (especially the height direction) is restricted by the height of the indoor furniture, therefore, the body height of the cleaning robot should be smaller than the height of the furniture, where the body height refers to the height of the cleaning robot The distance between the top of the fuselage and the horizontal ground, the furniture height here refers to the distance between the bottom of the furniture and the horizontal ground. Considering that the height of furniture (such as ordinary chairs, tables, etc.) is about 150mm, therefore, in one embodiment, the body height of the cleaning robot is less than or equal to 150mm. Further, considering some special furniture (such as sofas, bedside cabinets, etc.) etc.) is low in height, generally 115mm; further, the body height of the cleaning robot is less than or equal to 115mm. The side cleaning robot can meet the passability in the height direction.

In addition, since the cleaning robot is restricted in the height direction by its own components (such as driving wheels, batteries, fans, roller brushes, dust boxes, etc.), the height of the cleaning robot cannot be too small. In one embodiment, the cleaning robot is The value range in the height direction is greater than or equal to 80mm; considering that the LDS is usually installed on the top of the fuselage and has a certain height, preferably, the value range in the height direction of the cleaning robot is greater than or equal to 95mm.

To sum up, in one embodiment, the range of the height of the cleaning robot is 95-115 mm. Preferably, the range of the height of the cleaning robot is 105-110 mm.

In view of the fact that the cleaning robot is also restricted in the width direction by the furniture (tables, chairs, etc.) ), the width of doors, aisles, etc. is about 500mm, therefore, in one embodiment, the body width of the cleaning robot is less than or equal to 500mm; considering some special furniture (such as sofas, bedside cabinets, etc.) Yes, the body width of the cleaning robot is less than or equal to 350mm.

And considering that the cleaning robot is restricted in the width direction by its own components (such as driving wheels, batteries, fans, roller brushes, dust boxes, etc.), the width of the cleaning robot cannot be too small. In one embodiment, the value range of the cleaning robot in the width direction is greater than or equal to 270 mm; considering some other functional requirements in the width direction, such as side brushes, anti-collision plates, etc., and occupying a certain width, therefore, preferably, The value range in the width direction of the cleaning robot is greater than or equal to 290 mm.

To sum up, in order to make the cleaning robot not only meet the functional requirements (such as cleaning effect, multi-function), but also meet the passability in the width direction. In one embodiment, the width of the cleaning robot ranges from 290 mm to 350 mm; preferably, the width of the cleaning robot ranges from 310 mm to 330 mm.

Considering that if the cleaning robot is too long in the length direction, the structure is not compact, and it is not conducive to the obstacle avoidance of the cleaning robot and the turning in a narrow area, etc., in one embodiment, the value range of the cleaning robot in the length direction is 310mm~ 350 mm; preferably, the length of the cleaning robot ranges from 330 mm to 340 mm.

In one embodiment of the present application, the volume of the cleaning robot is 8000cm ³ ; while the overall power of the cleaning robot is 120-200W, the value range of the power volume ratio is 120/8000-200/8000 (W/cm ³ ) .

In another embodiment, the overall power of the cleaning robot ranges from 100 to 200W; the volume of the cleaning robot ranges from 7,000 to 10,000 cm ³ ; therefore, the ratio of the overall power to volume (referred to as the power-to-volume ratio) ranges from 100 /10000W/cm ³ ~200/7000W/cm ³ .

For ease of understanding, the cleaning robot provided by this application will be described below in conjunction with the accompanying drawings:

The present application provides a cleaning robot, which achieves a cleaning effect higher than that of existing cleaning robots through a structure of double roller brushes combined with a high-power fan.

Please refer to Fig. 1, Fig. 2, cleaning robot 100 is in order to carry out cleaning work on the surface to be cleaned, and cleaning robot 100 comprises fuselage 10; It is arranged inside the fuselage 10 and is detachable relative to the fuselage 10 , so that the garbage in the dust box 7 can be cleaned out of the fuselage 10 . In other embodiments, the dust box 7 can also be arranged on the outside of the fuselage 10; at least one driving wheel 21 is used to support and drive the cleaning robot 100 to move on the surface to be cleaned; the cleaning roller brush includes at least the first cleaning roller brush 11 and the second cleaning roller brush 12 are arranged at the bottom of the fuselage 10 and at least partly expose the bottom surface of the fuselage 10. When the first cleaning roller brush 11 and the second cleaning roller brush 12 rotate, the surface to be cleaned that the cleaning robot 100 has moved The garbage is swept into the fuselage 10; the fan 8 forms a negative pressure inside the dust box 7, and the garbage is sucked into the dust box 7; in one embodiment, the power of the fan 8 is not less than 80W.

The cleaning robot 100 also includes a control module to perform targeted control when the cleaning robot 100 faces different working situations.

The cleaning robot 100 pats and cleans the garbage on the surface to be cleaned by setting at least the first cleaning roller brush 11 and the second cleaning roller brush 12, which is equivalent to at least twice patting and cleaning the surface to be cleaned, effectively preventing the omission of garbage, and simultaneously cooperates The blower 8 above 80W quickly and effectively sucks the garbage picked up by the cleaning roller brush into the dust box 7. Compared with only setting a single cleaning roller brush, the cleaning efficiency of the cleaning robot 100 is greatly improved, and better cleaning is obtained. Effective, especially on carpets or floor mats.

Please refer to the experimental data in FIG. 8 , under the condition that the power of the fan 8 is the same, the cleaning efficiency on the carpet is better if the cleaning robot 100 is provided with two cleaning roller brushes than only with a single cleaning roller brush.

When the cleaning robot 100 is equipped with two cleaning roller brushes, as the power of the fan 8 increases, the cleaning efficiency of the cleaning robot 100 gradually increases until the power of the fan 8 increases to 250W, and the cleaning efficiency of the cleaning robot 100 can reach 67.97%. , so the cleaning robot 100 is equipped with double roller brushes, and cooperates with the fan 8 with a power greater than or equal to 100W, which can make the cleaning effect of the cleaning robot better. In addition, when the cleaning robot 100 is provided with two cleaning roller brushes, the power of the blower fan 8 is increased to 250W, and then the power of the blower blower 8 continues to increase, and the cleaning efficiency of the cleaning robot 100 increases slowly; considering the performance of the blower fan, The price, and the possible noise problems caused by increasing the power of the fan, the fan should choose a fan with a power of 200W or less.

Further, the fuselage 10 also includes a dust suction port 13, the dust suction port 13 is arranged at the bottom of the fuselage 10, between the first cleaning roller brush 11 and the second cleaning roller brush 12, and is connected to the dust box 7, the first cleaning The roller brush 11 and the second cleaning roller brush 12 are parallel to each other and counter-rotate, and the garbage is gathered and swept into the dust suction port 13 between the two cleaning roller brushes. In this embodiment, the first cleaning roller brush 11 and the second cleaning roller brush The brush 12 is arranged vertically relative to the direction of travel of the cleaning robot 100. Preferably, the first cleaning roller brush 11 and the second cleaning roller brush 12 have the same width B (along the direction of the rotation axis) and are symmetrical about the central axis of the fuselage 10. The parallel setting of the first cleaning roller brush 11 and the second cleaning roller brush 12 can make the cleaning robot more stable during the moving process. The first cleaning roller brush 11 and the second cleaning roller brush 12 rotate in opposite directions to each other, and the The reverse rotation of the roller brush 11 and the second cleaning roller brush 12 can beat the fluff of the carpet in two directions, and the dust removal effect is better; at the same time, it can more effectively prevent garbage from being missed, and the garbage finally enters the dust after passing through the suction port 13. Box 7 interior.

Further, the cleaning robot 100 also includes a side brush 3 arranged at the bottom of the fuselage 10, with the cleaning robot 100 traveling direction as the front, the side brush 3 is arranged on the side front of the fuselage 10, and the side brush 3 is used to clean the surface to be cleaned. The rubbish on the surface sweeps to the first cleaning roller brush 11 and the second cleaning roller brush 12.

In one of the implementations, the cleaning robot 100 includes a first driving assembly for driving the first cleaning roller brush 11 and/or the second cleaning roller brush 12 to rotate. In this embodiment, the first driving assembly drives the first The cleaning roller brush 11 rotates, and the first cleaning roller brush 11 drives the second cleaning roller brush 12 to rotate. Further, please refer to Fig. 3a, Fig. 3b, the first driving assembly includes the first motor 14, the first transmission gear 141, the second transmission gear 142 and the third transmission gear 143, the output shaft of the first motor 14 is connected with the first transmission gear The gear 141 meshes and transmits the torque to the first transmission gear 141, the first transmission gear 141 meshes with the second transmission gear 142, the second transmission gear 142 meshes with the first cleaning roller brush 11 to drive the first cleaning roller brush 11 to rotate, and the second The second transmission gear 142 meshes with the third transmission gear 143, and the third transmission gear 143 drives the second cleaning roller brush 12 to rotate, and finally transmits the torque output by the first motor 14 to the first cleaning roller brush 11 and the second cleaning roller brush respectively. 12, to realize the reverse rotation of the first cleaning roller brush 11 and the second cleaning roller brush 12.

Or, in another embodiment, please refer to Fig. 4a, Fig. 4b, the output shaft of the first electric motor 14 directly meshes with the second transmission gear 142, and the second transmission gear 142 meshes with the third transmission gear 143, and the second transmission gear 142 And/or the third transmission gear 143 is not directly engaged with the first cleaning roller brush 11 and the second cleaning roller brush 12, and can drive the first cleaning roller brush 11 and the second cleaning roller brush 12 to rotate through the transmission belt 144 respectively to realize the first cleaning roller brush 11 and the second cleaning roller brush 12. The reverse rotation of a cleaning roller brush 11 and a second cleaning roller brush 12. Of course, in other embodiments, the first motor 14 can directly drive the first cleaning roller brush 11 and the second cleaning roller brush 12 to rotate at the same time, or the first drive assembly can include two drive motors, respectively driving the first cleaning roller brush 11 and the second cleaning roller brush 12.

In one of the embodiments, the first cleaning roller brush 11 is a hard roller brush, and the second cleaning roller brush 12 is a hair roller brush, or the first cleaning roller brush 11 and the second cleaning roller brush 12 are hard roller brushes, Or the first cleaning brush 11 and the second cleaning brush 12 are hair roller brushes; further, the hard roller brushes are rubber roller brushes, or the hard roller brushes can also include other hard materials, such as non-woven fabrics, and the hair roller brushes are at least Including bristles, the hair roller brush can only have bristles, and can also have hard materials such as rubber and non-woven fabrics and have bristles; preferably, the rubber roller brush includes a rubber brush body and a rubber brush body extending from one end to the other end. Rubber sheet, the rubber sheet is divided into multiple sections, and every two adjacent rubber sheets form an angle, and the rubber sheet scrapes and sweeps the surface to be cleaned when the rubber roller brush rotates; when the hair roller brush only has bristles, the hair roller brush includes The brush body, the bristles are distributed between the two ends of the brush body and extend outward from the brush body, the bristles are divided into multiple sections, and every two adjacent bristle sections form an angle, when the roller brush rotates, At least part of the bristles do not sweep the part of the surface to be cleaned; if the hair roller brush has both hard materials such as rubber and non-woven fabrics and has bristles, the hair roller brush includes the roller brush body, and the rubber, non-woven fabric that is arranged on the roller brush body And the bristle is the same as the above-mentioned way, no longer repeat them here.

Preferably, the bristles include hard bristles, and the surface to be cleaned includes a first type surface and/or a second type surface. When the cleaning robot cleans the first type surface, the hard bristles do not contact the surface to be cleaned. The first type surface can be an easy-to-clean surface. Scratched or worn surfaces, such as wooden floors, where the hard bristles do not touch the surface of the first type to avoid scratching or abrading it, the manner in which the hard bristles do not contact the surface of the first type may be that the length of the hard bristles is compared to The materials of other materials in the cleaning roller brush are slightly shorter, so that when the cleaning robot 100 moves on the wooden floor, the hard bristles do not touch the wooden floor; when the cleaning robot 100 cleans the second type of surface, the hard bristles contact the surface to be cleaned. The type surface can be a difficult-to-clean surface, such as a carpet or a floor mat. The hard bristles contact the second type surface to pat and sweep out the garbage in the difficult-to-clean carpet or floor mat. When the cleaning robot 100 moves on the carpet or the ground, it drives Wheel 21 sinks in carpet or floor mat, and the material and hard bristles of other materials in the cleaning roller brush all can touch carpet or floor mat, and the rubbish in the carpet or floor mat that is difficult to clean is patted and cleaned out. Of course, the bristles can include soft bristles, such as fluff, etc., and the bristles can be made of only one material or a combination of bristles of various materials. The soft bristles have less wear on the first type of surface and can Contact the first type surface and the second type surface, the hard bristle part of the bristles does not touch the first type surface, and touches and pats to clean the second type surface.

Preferably, with the direction of travel of the cleaning robot 100 as the front, the first cleaning roller brush 11 is a hard roller brush, and when the second cleaning roller brush 12 is a hair roller brush, the first cleaning roller brush 11 and the second cleaning roller brush 12 are sequentially Set, in this embodiment, the first cleaning roller brush 11 is a rubber roller brush, and the second cleaning roller brush 12 is a hair roller brush including hard bristles, and the cleaning of the hair by the hair roller brush is compared with the cleaning of the hard roller brush. The effect is better, but the hair is more likely to be entangled on the hair roller brush and it is difficult to clean. During the advancement of the cleaning robot 100, most of the garbage on the surface to be cleaned is swept by the hard roller brush to the dust suction port 13 and enters the dust box 7. A small part of the garbage is cleaned by the hair roller brush to the dust suction port 13 and enters the dust box 7, so most of the hair can be wound on the hard roller brush, which can not only improve the cleaning efficiency of the cleaning robot 100, but also reduce the dust on the cleaning roller brush. Hair tangle rate, easy to clean the cleaning robot 100.

Please refer to the experimental data in Figure 11, with 30 cm long hair as the experimental object, under the same power of the fan 8, the cleaning robot 100 is equipped with two rubber roller brushes compared with only a single rubber roller brush, the cleaning robot 100 The hair cleaning rate is better; the rubber roller brush and the bristle/non-woven fabric roller brush are set in sequence, the hair cleaning rate can reach 100%, and the hair entanglement rate is 48%; the rubber roller brush and the soft hair roller brush are set in sequence , the hair cleaning rate can reach 100%, while the hair entanglement rate is 25%, the cleaning effect of the two settings is better, and the hair entanglement rate is lower; considering that there are hard materials in the cleaning roller brush to treat the dust on the cleaning surface , large particle garbage, etc., the cleaning effect is better, and the cleaning effect of the hard bristle/non-woven fabric roller brush is better than that of the soft bristle roller brush on the dust, large particle garbage, etc. on the surface to be cleaned, so this embodiment adopts a rubber roller The method in which the brush and the bristle/non-woven roller brush are set back and forth in sequence.

In one of the implementations, the cleaning robot 100 also includes a floating device (not shown), the floating device is at least connected to one of the first cleaning roller brush 11 and the second cleaning roller brush 12, and at least makes the first cleaning roller brush 11 and one of the second cleaning roller brush 12 floats relative to the fuselage 10. When the cleaning robot 100 travels to an uneven surface to be cleaned, the floating device can make the first cleaning roller brush 11 and/or the second cleaning roller brush 12 more closely adhere to the surface to be cleaned, thereby improving the cleaning efficiency of the cleaning robot 100 .

For example, the floating device connects the first cleaning roller brush 11 and the second cleaning roller brush 12 , and at least makes the first cleaning roller brush 11 and the second cleaning roller brush 12 float relative to the fuselage 10 . When the cleaning robot 100 travels to an uneven surface to be cleaned, the floating device can make the first cleaning roller brush 11 and the second cleaning roller brush 12 more closely adhere to the surface to be cleaned.

In one of the implementations, when the cleaning robot 100 is working, the first cleaning roller brush 11 has a preset first rotation speed, the second cleaning roller brush 12 has a preset second rotation speed, the preset first rotation speed, the preset rotation speed The set second rotating speed is related to the type of the first cleaning roller brush 11 and the second cleaning roller brush 12 and/or the power of the fan 8. In this embodiment, the preset first rotating speed and the preset second rotating speed are at 1500r /min～2500r/min; preferably, both the preset first rotating speed and the preset second rotating speed are 1500r/min. When the cleaning robot 100 works, the rotating speed of the first cleaning roller brush 11 and/or the second cleaning roller brush 12 can be adjusted. The rotating speed of the cleaning roller brush 12, the cleaning robot 100 detects that the speed of travel of itself increases and then increases the rotating speed of the first cleaning roller brush 11 and/or the second cleaning roller brush 12, so that the cleaning effect of the cleaning robot 100 can be guaranteed At the same time, the power consumption of the cleaning robot 100 is reduced, and the working hours of the cleaning robot 100 are prolonged. Wherein, the rotation speed adjustment of the first cleaning roller brush 11 and/or the second cleaning roller brush 12 can be realized by PWM technology, which will not be repeated in this application.

Please refer to the experimental data of Fig. 10a-Fig. 10d, in the case of the same power of fan 8, cleaning robot 100 is equipped with two cleaning roller brushes compared with only a single cleaning roller brush, and the cleaning efficiency on the carpet is better; The change of the rotating speed of the cleaning roller brushes has little effect on the cleaning efficiency of the cleaning robot 100. The rotating speed of the two cleaning roller brushes has a great influence on the cleaning efficiency of the cleaning robot 100. As the brush rotating speeds of the two cleaning rollers increase, the cleaning robot 100 The cleaning efficiency of the cleaning robot also increases gradually. After the rotating speed of the two cleaning roller brushes reaches or basically reaches 2500r/min, the cleaning efficiency of the cleaning robot 100 increases slowly. The types of the two cleaning roller brushes are different or the power of the fan 8 is different. The preferred rotating speeds of the rolling brushes are also different, that is, the preset first rotating speed and the preset second rotating speed are different. Wherein, the difference between the first rotation speed and the second rotation speed can be realized by configuring different transmission ratios of the two cleaning roller brushes. In one embodiment, the first cleaning roller brush 11 is a hard roller brush, and when the second cleaning roller brush 12 is a bristle roller brush, the first cleaning roller brush 11 and the second cleaning roller brush 12 are arranged successively before and after, and the first cleaning roller brush The first rotational speed of the brush 11 is greater than the second rotational speed of the second cleaning roller brush 12, so as to improve the beating effect on the fluff of the carpet and facilitate dusting.

In one of the implementations, the power of the fan 8 is adjustable, and the power of the fan 8 is preferably in the range of 100W to 300W. The cleaning robot 100 recognizes the type of the surface to be cleaned, and adjusts the power of the fan 8 according to the type of the surface to be cleaned. The cleaning robot 100 includes a ground type sensor 5, such as an ultrasonic sensor, and the ground type sensor 5 is arranged at the bottom of the fuselage 10 for detecting the type of the surface to be cleaned; the cleaning robot 100 recognizes that the surface to be cleaned is a first type surface, and the first Type surface comprises hard ground, for example can be floor or floor tile, and cleaning robot 100 sets the power of fan 8 to 100W, and cleaning robot 100 recognizes that the surface to be cleaned is a second type surface, and the second type surface can be a surface that is difficult to clean. For example, it can be a carpet or a floor mat. The cleaning robot 100 sets the power of the blower fan 8 to 200W. Since the carpet or the floor mat has gaps that are difficult to clean, the power of the blower fan 8 is increased, that is, the suction capacity of the blower fan 8 is improved. The cleaning roller brush 11 and the second cleaning roller brush 12 pat and clean the carpet or floor mat, which can significantly improve the cleaning effect of the cleaning robot 100 on the carpet or floor mat. The first cleaning roller brush 11 and the second cleaning roller brush of different materials The combination of 12 has different cleaning effects on carpets or floor mats. Please refer to the experimental data in FIG. A single cleaning roller brush is set, and the cleaning efficiency on the carpet is better. When the power of the blower fan 8 is the same, and the rotating speed of the first cleaning roller brush 11 and the second cleaning roller brush 12 are the same, the first cleaning roller brush 11 is set There are hard bristles and fluff, and the second cleaning roller brush 12 is provided with hard bristles and non-woven fabrics. This combination of the first cleaning roller brush 11 and the second cleaning roller brush 12 has higher cleaning efficiency on carpets. Considering the hair entanglement rate on the cleaning roller brush, in the present embodiment, the first cleaning roller brush 11 is a rubber roller brush, and the second cleaning roller brush 12 is a hair roller brush comprising hard bristles, and the cleaning robot 100 is cleaning When the floor or floor tiles are used, the power of the fan 8 is set to 100W, and the cleaning efficiency of the cleaning robot 100 can reach or basically reach 95%. Please refer to the experimental data in Figure 12. When the cleaning robot is equipped with two cleaning roller brushes and the power of the fan 8 is set to 100W, and the speed of the two cleaning roller brushes is set to 2500r/min, the cleaning efficiency on the floor can reach 100%. . Please refer to the experimental data in FIG. 8 , the cleaning robot 100 is equipped with two cleaning roller brushes and the power of the fan 8 is set to 200W, the cleaning efficiency of the cleaning robot 100 when cleaning carpets or floor mats can basically reach 60%.

Further, please refer to FIG. 7 , in order to achieve higher cleaning efficiency, the cleaning robot 100 cleans the surface to be cleaned more than twice, and the moving paths of the cleaning robot 100 on the second type of surface cross each other each time, for example, the cleaning robot 100 cleans the surface to be cleaned The surface is cleaned twice. When the cleaning robot 100 recognizes that the surface to be cleaned is a second type surface, it moves on the second type surface with a path S1. When the cleaning robot 100 recognizes that the surface to be cleaned is a second type surface When moving on the second type of surface with path 2 S2, path 1 S1 and path 2 S2 intersect and stagger each other, path 1 S1 and path 2 S2 can intersect vertically, or cross at other angles, and the cleaning robot 100 passes through each The moving paths on the two types of surfaces intersect each other, and the first cleaning roller brush 11 and the second cleaning roller brush 12 can pat and clean the second type of surface from different directions, so that the second type of surface can be cleaned more thoroughly.

Further, when the cleaning robot 100 detects that it cannot continue to move, it reduces the power of the fan 8, for example, when the cleaning robot 100 encounters an obstacle or is stuck and cannot move, the power of the fan 8 is reduced or the fan 8 is directly turned off, which can reduce the cleaning speed. The energy consumption of the robot 100; when the power of the fan 8 is too large, the cleaning robot 100 may slip or freeze. When the cleaning robot 100 detects that it is slipping or stuck, the power of the fan 8 is reduced. It is also possible to simultaneously increase the driving force for driving the drive wheels 21 .

In one embodiment, when the cleaning robot 100 recognizes that the surface to be cleaned is the first type of surface, it recognizes the degree of cleaning of the first type of surface, and sets the power of the fan 8 corresponding to the degree of cleaning of the first type of surface. A first type of surface includes hard surfaces such as floors or tiles. When the cleaning robot 100 recognizes that the surface to be cleaned is the second type of surface, it recognizes the degree of cleaning of the second type of surface, and sets the power of the fan 8 corresponding to the degree of cleaning of the second type of surface. The second type of surface may be a difficult-to-clean surface, such as may be a carpet or rug. The cleaning robot 100 includes a visual sensor (not shown), the visual sensor recognizes the type of surface to be cleaned and the degree of cleaning of the table to be cleaned, and the visual sensor recognizes the degree of cleaning of the floor or floor tiles, which can be the degree of dirtiness of the floor or floor tiles , the cleaning robot 100 sets the power of the fan 8 according to the degree of dirtiness of the floor or floor tiles, and the more dirty the floor or floor tiles, the higher the power of the fan 8 . The vision sensor recognizes the degree of cleaning of the carpet or floor mat, and the vision sensor recognizes the degree of dirt of the carpet or floor mat to be set. The cleaning robot 100 sets the power of the fan 8 according to the degree of dirt of the carpet or floor mat. The dirtier the carpet or the floor mat, the fan The power of 8 is higher; Perhaps, vision sensor can also identify the pile length of carpet or floor mat, and cleaning robot 100 regulates the power of fan 8 according to the pile length of carpet or floor mat; For short-haired floor mats, the cleaning robot 100 sets the power of fan 8 to 150W; when the carpet or floor mat is a medium-haired carpet or a medium-haired floor mat, the cleaning robot 100 sets the power of fan 8 to 200W; if the carpet or floor mat is long-haired For carpets or long-haired floor mats, the cleaning robot 100 sets the power of the fan 8 to 250W. This setting can better reduce power consumption and noise pollution while ensuring the cleaning effect of the cleaning robot 100.

In one of the embodiments, please refer to FIG. 1 , the driving wheel 21 includes two, and the two driving wheels 21 have the same rotation axis L2, the rotation axis of the first cleaning roller brush 11 and the rotation of the second cleaning roller brush 12 The vertical distance between the axis and a virtual straight line L1 is the same, and the vertical distance H1 between the rotation axis L2 and the virtual straight line L1 is not more than 50mm; this setting, on the one hand, makes the cleaning robot 100 have better balance during travel; on the other hand, the fan 8. The suction generated at the dust suction port 13 will be applied to the cleaning robot 100 during suction. The two drive wheels 21 are close to the dust suction port 13 so that more suction can be distributed to the two drive wheels 21. The two drive wheels 21 are subjected to The lower pressure can reduce the possibility of the two driving wheels 21 slipping on the surface to be cleaned. The driving wheel 21 is driven by a second driving assembly, the second driving assembly includes a second motor 41 and a third motor 42 , and the two driving wheels 21 are driven to rotate by the second motor 41 and the third motor 42 respectively.

In one of the implementations, the cleaning robot 100 also includes a first elastic device (not shown), the first elastic device is connected to at least one driving wheel 21, so that at least one driving wheel 21 can move up and down relative to the body 10, so The arrangement facilitates the cleaning robot 100 to overcome obstacles.

In one of the implementations, please refer to FIG. 5 , the fuselage 10 includes a bottom surface, a top surface, and a side connecting the bottom surface and the top surface. Considering the obstacle avoidance problem and the inhalation problem of large particles of dust, the distance between the bottom surface of the fuselage 10 The vertical distance of the cleaning surface is at least 12mm; further, the bottom surface is inclined relative to the surface to be cleaned, the bottom surface and the cleaning roller brush are adjacent to the bottom surface and the side surface forms an excessive chamfer, and the bottom surface and the side surface The distance between the bottom surface and the side surface to be cleaned The vertical distance H2 of the surface is at least 15 mm, and the cleaning robot 100 can achieve a better obstacle-surmounting effect.

In one embodiment, please refer to FIG. 5 and FIG. 6 , the cleaning robot 100 provides electric energy through a rechargeable and dischargeable battery 9 disposed inside the body 10 to achieve the purpose of moving and cleaning on the surface to be cleaned. Preferably, the battery 9 is a chip battery, such as a chip-type pouch lithium battery.

Referring to FIG. 5 and FIG. 6 , the present disclosure also schematically shows a base station 200 for docking the cleaning robot 100 and at least providing a charging service. The charging service is a fast charging service, and the charging service includes wired charging or wireless charging. Preferably, the charging current for the base station 200 to charge the cleaning robot 100 is above 2A. Due to the high power of the fan 8 , the cleaning robot 100 consumes a lot of power. In order to reduce the charging time of the cleaning robot 100 and improve the working efficiency of the robot, the base station 200 provides fast charging service for the cleaning robot 100 .

Further, when the base station 200 charges the cleaning robot 100 by wire, the interface between the cleaning robot 100 and the base station 200 needs to have a relatively large contact force. 101 bonding; preferably, the charging terminal 101 of the cleaning robot and/or the charging terminal 201 of the base station adopt a new type of terminal, such as POGO PIN.

In one embodiment, referring to FIG. 5 , the base station 200 is further provided with a second elastic device 202, and the second elastic device 202 is subjected to an external force from the cleaning robot 100, so that the charging end 101 of the cleaning robot and the charging end 201 of the base station are more closely attached. In this embodiment, the charging end 101 of the cleaning robot is arranged on the bottom surface of the fuselage 10; the cleaning robot 100 also includes auxiliary wheels 22 arranged at the bottom of the fuselage 10, which are used to support the fuselage 10 on the surface to be cleaned and assist The fuselage 10 turns, and when the cleaning robot 100 stops at the base station 200 for charging, at least one of the auxiliary wheels 22 and the driving wheels 21 presses against the second elastic device 202, and the second elastic device 202 deforms, and the cleaning robot 100 relies on its own Gravity presses the charging end 101 of the cleaning robot against the charging end 201 of the base station. Furthermore, the base station 200 also includes a pressure structure. When the cleaning robot 100 docks on the base station 200 to charge, the pressure mechanism exerts an external force on the cleaning robot 100 to make the charging end of the cleaning robot 100 and the charging end 201 of the base station more closely attached. In the method, the pressure structure includes a force arm 203 that can move relative to the base station 200. When the cleaning robot 100 docks on the base station 200 for charging, the force arm 203 applies an external force to the cleaning robot 100 to make the charging end 101 of the cleaning robot press against the charging end 201 of the base station. For example, when the cleaning robot 100 does not need to be charged, the force arm 203 is in a raised state, and when the cleaning robot 100 docks on the base station 200 for charging, the force arm 203 is in a lowered state and presses on the cleaning robot 100 to charge the cleaning robot. The terminal 101 provides a force against the charging terminal 201 of the base station. Of course, in addition to increasing the contact force by pressing down the force arm 203, an upward force can also be provided to the charging end 201 of the base station through a motor (not shown), so that the charging end 201 of the base station and the charging end 101 of the cleaning robot Compression; for example, the motor can be placed under the charging end 201 of the base station.

In another embodiment, the second elastic device can also be replaced by a V-shaped lever (not shown), one end of the lever is connected to the auxiliary wheel 22, and the other end of the lever is connected to the charging end 201 of the base station, when the auxiliary wheel 22 presses the lever , the other end is pressed so that the charging end 201 of the base station is pressed against the charging end 101 of the cleaning robot.

In other embodiments, in order to increase the contact force between the terminals, magnets may also be provided at preset positions of the charging end 101 of the cleaning robot and the charging end 201 of the base station, so as to increase the contact force through the attraction of the magnets.

In one of the implementations, referring to FIG. 6 , the base station 200 recycles the garbage in the cleaning robot 100, the base station 200 includes a suction device, the suction device is docked with the dust box 7 of the cleaning robot 100, and collects the garbage in the dust box 7. Garbage suction and collection, the base station 200 can also use other methods to recycle the garbage in the dust box 7, such as dumping the garbage in the dust box 7 to the base station 200; preferably, the base station 200 is at least when the cleaning robot 100 stops at the base station 200 During charging, the garbage in the cleaning robot 100 is recovered.

Further, the base station 200 recovers the garbage in the cleaning robot 100 after the cleaning robot 100 cleans for a preset time or a preset number of times. When the cleaning robot 100 cleans the surface to be cleaned frequently or there is a lot of garbage on the surface to be cleaned, it is necessary to increase the frequency at which the base station 200 recycles the garbage in the cleaning robot 100 to avoid overloading the dust box 7 . For example, during the animal shedding season, the amount of garbage on the surface to be cleaned will increase significantly, and the dust box 7 of the cleaning robot 100 will be full of garbage faster than usual. or the cleaning robot 100 returns to the base station 200 to recycle the garbage in the dust box 7 after cleaning the surface to be cleaned a preset number of times.

The application also provides a cleaning robot whose cleaning effect is equivalent to upright.

Referring to Figure 13, Figure 14 and Figure 15, the cleaning robot 100 includes:

a fuselage 10 having a front end 110;

The moving mechanism includes at least one driving wheel 21 configured to support and drive the cleaning robot to move on the ground to be cleaned; further, the moving mechanism also includes auxiliary wheels 22 located at the front end of the fuselage.

The cleaning mechanism, including the rolling brush 30, is configured to perform cleaning work on the ground to be cleaned;

The dust collection mechanism, including the fan 8, is configured to suck the garbage cleaned by the cleaning mechanism into the fuselage;

The dust collection mechanism, including the dust box 7, is configured to collect the garbage sucked into the fuselage;

a power supply mechanism, including a rechargeable battery 9, configured to provide energy to the cleaning robot;

A controller configured to control the cleaning robot to move on the ground to be cleaned, so as to realize autonomous cleaning of the ground to be cleaned;

Wherein, the rolling brush at least comprises a first cleaning rolling brush 11 and a second cleaning rolling brush 12, the first cleaning rolling brush and the second cleaning rolling brush are arranged at the bottom of the fuselage, and at least partially expose the fuselage; the first cleaning rolling brush and the second cleaning rolling brush The second cleaning roller brush is configured to clean the garbage on the ground to be cleaned when rotating, so that the dust suction mechanism can suck it. The rotation axis L1 of the first cleaning roller brush and the rotation axis L2 of the second cleaning roller brush are parallel to each other, and the rotation axes of the first cleaning roller brush and the second cleaning roller brush are perpendicular to the forward direction of the cleaning robot.

The fan is arranged inside the fuselage, and the power of the fan is greater than or equal to 65W.

Further, the rotation speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1200r/min. The rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500r/min. Further, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500r/min and less than or equal to 1900r/min.

Further, the power of the fan is greater than or equal to 80W and less than or equal to 150W.

Further, the fuselage 10 includes a chassis 40, and the height of the chassis at the position where the fan is located is lower than that at other positions of the fuselage where no fan is installed.

Further, the value range of the chassis height h1 at the position where the fan is located is 8mm-12mm; the value range of the chassis height h2 at other positions where no fan is installed on the fuselage is 12mm-18mm.

Further, the cleaning mechanism includes a brush motor configured to drive the first cleaning roller brush and the second cleaning roller brush to rotate, and the power of the roller brush motor ranges from 30-35W.

Further, the dust suction mechanism also includes a dust suction port, which is arranged at the bottom of the fuselage; both the first cleaning roller brush and the second cleaning roller brush rotate towards the dust suction port, so as to pick up the garbage in the cleaning area; The dust blown up by the fan is sucked into the interior of the fuselage through the dust suction port, and collected by the dust box. Further, the dust suction port is located between the first cleaning roller brush and the second cleaning roller brush, the rotation direction of the first cleaning roller brush is the first direction, the rotation direction of the second cleaning roller brush is the second direction, and the rotation direction of the first cleaning roller brush is the second direction. opposite to the second direction.

Further, the first cleaning roller brush and the second cleaning roller brush are arranged along the forward direction of the fuselage, and the length B of at least one of the first cleaning roller brush and the second cleaning roller brush in the direction along the axis of rotation is The value range is 180-195mm.

Further, the first cleaning roller brush is a hard roller brush, and the second cleaning roller brush is a hair roller brush. Wherein, the hard roller brush is a rubber roller brush, and the fur roller brush at least includes bristles.

Further, the value range of the interference degree of the first cleaning roller brush is -2mm to 4mm; the value range of the interference degree of the second cleaning roller brush is 0 to 6mm; wherein, the interference degree is Refers to the depth at which the cleaning portion of the roller brush extends into the ground surface to be cleaned.

Further, along the advancing direction of the fuselage, the first cleaning roller brush is located in front of the second cleaning roller brush.

Further, the capacity of the battery is greater than or equal to 140Wh. Further, the capacity of the battery is 140Wh-200Wh. Preferably, the capacity of the battery is 170Wh.

Further, the power of the cleaning robot is at least 100W; further, the power of the cleaning robot is 100-200W. Preferably, the power of the cleaning robot is 130-170W.

Further, the ratio of the power of the cleaning robot to the volume of the cleaning robot is at least 0.01 W/cm ³ .

Further, the ratio of the capacity of the battery to the power of the cleaning robot is greater than or equal to 2500J/W.

Further, the ratio of the capacity of the battery to the volume of the cleaning robot is 0.017-0.024Wh/cm3; or, the ratio of the capacity of the battery to the height of the cleaning robot is 1.2-2.1Wh/mm.

Further, for a cleaning robot whose rated input power PE is greater than or equal to 100W, the number of battery cycles is 640-960.

Further, the ratio of the volume of the battery to the volume of the cleaning robot is at least 1/25.

Further, the battery 9 is columnar, and the battery is installed on the fuselage along the installation direction during installation, wherein the installation direction refers to the direction in which the axis X of the battery is perpendicular to the horizontal plane.

Further, the percentage of the battery in the total weight of the cleaning robot is greater than or equal to 10%.

Further, the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the value range of the preset moving speed is 0.1m/s-0.2m/s.

Further, the ratio of the power of the cleaning robot to the preset moving speed is at least 50J/m.

Further, the ratio of the sum of the power of the fan and the power of the rolling brush motor used to drive the rolling brush to the preset moving speed is at least 45J/m.

Further, the moving mechanism is configured to: drive the cleaning robot to move at the first moving speed when the ground to be cleaned is soft; drive the cleaning robot to move at the second moving speed when the ground to be cleaned is hard; wherein , the first movement speed is less than the second movement speed.

Further, the value range of the first moving speed is 0.24m/s-0.36m/s; the value range of the second moving speed is 0.12m/s-0.18m/s.

Further, the cleaning robot also includes a driving motor for driving the moving mechanism, and the power of the driving motor is in the range of 4-6W; preferably, the power of the driving motor is 5W.

Further, the cleaning robot also includes a driving motor, which is arranged in the fuselage and is configured to drive the moving mechanism to rotate, wherein the sum of the power of the fan and the power of the rolling brush motor used to drive the rolling brush is relative to the power of the driving motor ratio of at least 15.

Further, the energy input per unit area of the cleaning robot is at least 4000J/m ² .

Further, the ratio of the energy input per unit area of the cleaning robot to the height of the cleaning robot is greater than or equal to 11.7Wh/m ³ ; or, the ratio of the energy input per unit area of the cleaning robot to the volume of the cleaning robot is greater than or equal to 158.7Wh/m5.

Further, for the standard test carpet, the cleaning efficiency of the cleaning robot is greater than or equal to 80%;

For non-standard test carpets, the cleaning efficiency of the cleaning robot is greater than or equal to 25%.

Further, for standard test carpets, the ratio of the cleaning efficiency of the cleaning robot to the power of the cleaning robot is greater than or equal to 0.004/W; for non-standard test carpets, the cleaning efficiency of the cleaning robot is greater than or equal to 0.00125/W.

Furthermore, for the standard test carpet, the cleaning efficiency of the cleaning robot ranges from 80% to 95%;

For non-standard test carpets, the cleaning efficiency of the cleaning robot is greater than or equal to 35%-70%.

Further, for the standard test carpet, the ratio of the cleaning efficiency of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m; or, for the standard test carpet, the ratio of the volume of the cleaning robot is greater than or equal to 72.7/m3.

Further, the cleaning robot has a hard floor cleaning mode and a soft floor cleaning mode; wherein, the power of the cleaning robot in the hard floor cleaning mode is less than or equal to the power of the cleaning robot in the soft floor cleaning mode.

Further, the power of the cleaning robot in the soft ground cleaning mode is 105-155W; the power of the cleaning robot in the hard ground cleaning mode is 60-100W.

Further, the ratio of the power of the cleaning robot in the soft floor cleaning mode to the power in the hard floor cleaning mode is 1.55-1.75.

Further, the cleaning robot also includes a ground detection mechanism to detect the type of the ground to be cleaned.

Further, the controller is configured to control the cleaning robot to switch to a corresponding ground cleaning mode according to the type of the ground to be cleaned.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be noted that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and the above-mentioned features can be used as long as there are no conflicts unless otherwise specified. Combined with each other to obtain new implementations, these all belong to the protection scope of the present invention.

Claims

A cleaning robot, characterized in that, comprising:

a fuselage having a front end;

The moving mechanism includes at least one driving wheel configured to support and drive the cleaning robot to move on the ground to be cleaned;

The cleaning mechanism, including the roller brush, is configured to perform cleaning work on the surface to be cleaned;

The dust suction mechanism, including a fan, is configured to suck the garbage cleaned by the cleaning mechanism into the fuselage;

The dust collection mechanism, including the dust box, is configured to collect the garbage sucked into the fuselage;

A controller configured to control the cleaning robot to move on the ground to be cleaned, so as to realize autonomous cleaning of the ground to be cleaned;

Wherein, the roller brush includes at least a first cleaning roller brush and a second cleaning roller brush, the first cleaning roller brush and the second cleaning roller brush are arranged at the bottom of the fuselage, and at least partially expose the body;

The first cleaning roller brush and the second cleaning roller brush are configured to sweep the garbage on the ground to be cleaned when rotating, so that the dust suction mechanism can suck it;

The fan is arranged inside the fuselage, and the power of the fan is greater than or equal to 65W.
The cleaning robot according to claim 1, wherein the power of the fan is greater than or equal to 65W and less than 120W.
The cleaning robot according to claim 2, wherein the value range of the flow rate of the air inlet of the fan when the fan is fully open is 0.7-0.9m3/min; the flow rate of the air inlet of the fan when the fan is fully open The value range of the fan is 0.7-0.9m3/min; the static pressure at the air inlet of the fan is between 6.5-12Kpa when the fan is fully blocked.
The cleaning robot according to claim 1, wherein the blower fan is a blower fan with a rated input power of 80W, and under the rated input power, the vacuum degree of the blower fan is 7.6-8.2kPa; The test value of flow is about 0.72-0.75m 3 /min.
The cleaning robot according to claim 1, wherein the fan accounts for 0.5%-1% of the total volume of the cleaning robot.
The cleaning robot according to claim 5, wherein the body includes a chassis, and the height of the chassis at the position where the fan is located is lower than the height of the chassis at other positions of the body where the fan is not installed.
The cleaning robot according to claim 6, wherein the value range of the height of the chassis at the location of the fan is 8mm-12mm; the value range of the height of the chassis at other positions where the fan is not set on the fuselage is 12mm-18mm.
The cleaning robot according to claim 1, wherein the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r/min.
The cleaning robot according to claim 1, wherein the cleaning mechanism comprises a brush motor for driving the first cleaning roller brush and the second cleaning roller brush to rotate, and the power of the roller brush motor The value range is 30-35W.
The cleaning robot according to claim 1, wherein the dust suction mechanism also includes a dust suction port, which is arranged at the bottom of the fuselage; the first cleaning roller brush and the second cleaning roller brush both face toward the The dust suction port rotates to pick up the garbage in the cleaning area; the blower sucks the picked up garbage into the interior of the fuselage through the dust suction port and is collected by the dust box.
The cleaning robot according to claim 10, wherein the suction port is located between the first cleaning roller brush and the second cleaning roller brush, and the rotation direction of the first cleaning roller brush is the first direction , the rotation direction of the second cleaning roller brush is the second direction, and the first direction is opposite to the second direction.
The cleaning robot according to claim 1, wherein the first cleaning roller brush and the second cleaning roller brush are arranged along the advancing direction of the fuselage, and the rotation axis of the first cleaning roller brush and the second cleaning roller brush The rotation axes of the two cleaning roller brushes are parallel to each other, and the rotation axes of the first cleaning roller brush and the rotation axes of the second cleaning roller brush are perpendicular to the forward direction of the cleaning robot;

Wherein, the length of at least one of the first cleaning roller brush and the second cleaning roller brush in the direction along the rotation axis ranges from 190 mm to 195 mm.
The cleaning robot according to claim 1, wherein the first cleaning roller brush is a hard roller brush, and the second cleaning roller brush is a hair roller brush.
The cleaning robot according to claim 13, wherein the value range of the interference degree of the first cleaning roller brush is 1.5 mm to 2.5 mm; the value range of the interference degree of the second cleaning roller brush The range is 3 to 5 mm; wherein, the interference refers to the depth that the cleaning part of the roller brush protrudes into the upper surface of the ground to be cleaned.
The cleaning robot according to claim 13, wherein the hard roller brush is a rubber roller brush, and the fur roller brush at least includes bristles.
The cleaning robot according to claim 13, wherein the first cleaning roller brush is located in front of the second cleaning roller brush along the advancing direction of the fuselage.
The cleaning robot according to claim 1, characterized in that, the cleaning robot further comprises: a power supply mechanism, including a rechargeable battery, configured to provide energy for the cleaning robot.
The cleaning robot according to claim 17, wherein the battery has a capacity of 140-200Wh.
The cleaning robot according to claim 17, wherein the ratio of the capacity of the battery to the power of the cleaning robot is greater than or equal to 2500J/W.
The cleaning robot according to claim 17, wherein the ratio of the capacity of the battery to the volume of the cleaning robot is 0.017-0.024Wh/cm 3 ; or, the ratio of the capacity of the battery to the height of the cleaning robot is 1.2- 2.1Wh/mm.
The cleaning robot according to claim 17, characterized in that, for a cleaning robot with a rated input power PE greater than or equal to 100W, the number of cycles of the battery is 640-960.
The cleaning robot according to claim 18, wherein the ratio of the volume of the battery to the volume of the cleaning robot is at least 1/25.
The cleaning robot according to claim 22, wherein the battery is columnar, and the battery is installed on the body along the installation direction during installation, wherein the installation direction refers to the axis of the battery Direction perpendicular to the horizontal plane.
The cleaning robot according to claim 18, wherein the percentage of the battery to the total weight of the cleaning robot is greater than or equal to 10%.
The cleaning robot according to claim 1, further comprising a driving motor for driving the movement of the moving mechanism, and the power of the driving motor ranges from 4W to 6W.
The cleaning robot according to claim 1, wherein the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the value range of the preset moving speed is 0.1m/s- 0.2m/s.
The cleaning robot according to claim 1, wherein the moving mechanism is configured to drive the cleaning robot to move at a first moving speed when the ground to be cleaned is a soft ground;

When the ground to be cleaned is a hard ground, the cleaning robot is driven to move at a second moving speed; wherein, the first moving speed is lower than the second moving speed.
The cleaning robot according to claim 27, wherein the value range of the first moving speed is 0.24m/s-0.36m/s; the value range of the second moving speed is 0.12m/s -0.18m/s.
The cleaning robot according to claim 1, wherein the energy input per unit area of the cleaning robot is at least 4000 J/m 2 .
The cleaning robot according to claim 1, wherein the ratio of the energy input per unit area of the cleaning robot to the height of the cleaning robot is greater than or equal to 11.7Wh/m 3 ; or, the energy input per unit area of the cleaning robot and The volume ratio of the cleaning robot is equal to or greater than 158.7 Wh/m 5 .
The cleaning robot according to claim 1, wherein the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the ratio of the power of the cleaning robot to the preset moving speed is at least 50J/m.
The cleaning robot according to claim 1, wherein the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein, the power of the fan is used to drive the rolling brush to rotate The ratio of the sum of the powers of the rolling brush motors to the preset moving speed is at least 45J/m.
The cleaning robot according to claim 1, characterized in that, the cleaning robot further comprises a driving motor, which is arranged in the body and is configured to drive the moving mechanism to rotate, wherein the power of the fan is related to The ratio of the sum of the powers of the rolling brush motors driving the rolling brushes to the power of the driving motors is at least 15.
The cleaning robot according to claim 1, characterized in that, for a standard test carpet, the cleaning efficiency of the cleaning robot is greater than or equal to 80%.
The cleaning robot according to claim 1, wherein, for a standard test carpet, the ratio of the cleaning efficiency of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m; or, for the standard test carpet, the ratio of the cleaning robot's volume The ratio is greater than or equal to 72.7/m 3 .
The cleaning robot according to claim 1, characterized in that, for a standard test carpet, the ratio of the cleaning efficiency of the cleaning robot to the power of the cleaning robot is greater than or equal to 0.004/W.
The cleaning robot according to claim 1, wherein the power of the cleaning robot is at least 100W.
The cleaning robot according to claim 1, wherein the ratio of the power of the cleaning robot to the volume of the cleaning robot is at least 0.01 W/ cm3 .
The cleaning robot according to claim 1, wherein the cleaning robot has a hard floor cleaning mode and a soft floor cleaning mode;

Wherein, the power of the cleaning robot in the hard floor cleaning mode is less than or equal to the power of the cleaning robot in the soft floor cleaning mode.
The cleaning robot according to claim 39, characterized in that, the power of the cleaning robot in the soft ground cleaning mode is 105-155W; the power of the cleaning robot in the hard ground cleaning mode is 60-100W.
The cleaning robot according to claim 39, characterized in that, the ratio of the power of the cleaning robot in the soft floor cleaning mode to the power in the hard floor cleaning mode is 1.55-1.75.
The cleaning robot according to claim 39, characterized in that, the cleaning robot further comprises a ground detection mechanism for detecting the type of the ground to be cleaned.
The cleaning robot according to claim 42, wherein the controller is configured to control the cleaning robot to switch to a corresponding floor cleaning mode according to the type of the floor to be cleaned.
A cleaning robot, characterized in that, comprising:

a fuselage having a front end;

The moving mechanism supports and drives the cleaning robot to move on the ground to be cleaned;

The slapping mechanism performs the slapping work on the clean ground;

Dust suction mechanism sucks the rubbish slapped by the slapping mechanism into the fuselage;

Dust collection mechanism to collect inhaled garbage;

A power supply mechanism provides energy for the cleaning robot;

The cleaning robot has a first cleaning effect, and the first cleaning effect is used to represent that the cleaning robot passes through the beating mechanism and the dust collection mechanism, driven by the moving mechanism, to the ground to be cleaned The cleaning effect achieved by cleaning once; among them,

The first cleaning effect is characterized by single-pass cleaning efficiency; for standard test carpets, the ratio of the single-pass cleaning efficiency of the cleaning robot to the height of the cleaning robot is greater than or equal to 7/m.
The cleaning robot according to claim 44, wherein:

The cleaning machine is configured to make the ratio of the single-pass cleaning efficiency to the height of the cleaning robot greater than or equal to 7/m in at least one of the following ways:

A Increase the beating frequency of the beating mechanism;

B The slapping mechanism slaps the same bundle of piles of the standard test carpet along at least two directions;

The length of the C beating mechanism in a single beating contact with the standard test carpet is 190-195mm;

D The beating mechanism includes a cleaning part that is in contact with the surface of the ground to be cleaned, and the interference between the cleaning part and the standard test carpet is 2-5 mm; where the interference is used to represent that the cleaning part extends into the non-standard test carpet or the standard test carpet the depth value;

E The dust collection mechanism includes a fan installed in the fuselage, and the power of the fan is greater than or equal to 65W;

The moving speed of the F cleaning robot is 0.1-0.2m/s.
The cleaning robot according to claim 45, wherein:

The cleaning machine is configured to combine the following methods so that the ratio of the single-pass cleaning efficiency to the height of the cleaning robot is greater than or equal to 7/m:

The beating frequency of the beating mechanism described in A is greater than or equal to 3000/min.

B The slapping mechanism slaps each bundle of piles of the standard test carpet along at least two directions.

E. The dust collection mechanism includes a fan installed in the fuselage, and the power of the fan is greater than or equal to 65W.
The cleaning robot according to claim 46, wherein A increases the beating frequency of the beating mechanism in at least one of the following ways:

The flapping mechanism includes a cleaning roller brush, and the cleaning roller brush at least includes a first cleaning roller brush and a second cleaning roller brush, and when the first cleaning roller brush and the second cleaning roller brush rotate, the Clean the garbage on the ground so that the dust suction mechanism can suck it in;

The beating mechanism includes a cleaning roller brush, and the rotation speed of the cleaning roller brush is at least 1500r/min.
The cleaning robot according to claim 47, wherein the beating mechanism comprises a cleaning roller brush, and the cleaning roller brush comprises at least a first cleaning roller brush and a second cleaning roller brush, and the first cleaning roller brush The rotation speed is equal to the rotation speed of the second cleaning roller brush, and the rotation speed of the first cleaning roller brush and the rotation speed of the second cleaning roller brush are both 1500r/min.
The cleaning robot according to claim 47, wherein the beating mechanism further comprises a roller brush motor arranged in the body, configured to drive the first cleaning roller brush and the second cleaning roller brush to rotate, so The power of the rolling brush motor is 30-35W.
The cleaning robot according to claim 46, wherein the ratio of the power of the blower to the power of the cleaning robot is 80/130.
The cleaning robot according to claim 49, characterized in that, the ratio of the sum of the fan power and the rolling brush motor power to the moving speed of the cleaning robot is 45J/m.
The cleaning robot according to claim 45, wherein the body includes a chassis, and the height of the chassis at the position where the fan is located is lower than the height of the chassis at other positions of the body where the fan is not installed.
The cleaning robot according to claim 52, characterized in that, the value range of the chassis height at the location of the fan is 8mm-12mm; the value range of the chassis height at other positions where the fan is not installed on the fuselage is 12mm-18mm.
The cleaning robot according to claim 44, wherein the cleaning robot further comprises: a power supply mechanism, including a rechargeable battery, configured to provide energy for the cleaning robot.
The cleaning robot according to claim 54, wherein the battery has a capacity of 140-200Wh.
The cleaning robot according to claim 54, wherein the ratio of the capacity of the battery to the power of the cleaning robot is greater than or equal to 2500J/W.
The cleaning robot according to claim 54, wherein the ratio of the capacity of the battery to the volume of the cleaning robot is 0.017-0.024Wh/cm 3 ; or, the ratio of the capacity of the battery to the height of the cleaning robot is 1.2- 2.1Wh/mm.
The cleaning robot according to claim 54, characterized in that, for a cleaning robot with a rated input power PE greater than or equal to 100W, the number of cycles of the battery is 640-960.
55. The cleaning robot of claim 55, wherein the ratio of the volume of the battery to the volume of the cleaning robot is at least 1/25.
The cleaning robot according to claim 59, wherein the battery is columnar, and the battery is installed on the body along the installation direction during installation, wherein the installation direction refers to the axis of the battery Direction perpendicular to the horizontal plane.
The cleaning robot according to claim 55, wherein the percentage of the battery to the total weight of the cleaning robot is greater than or equal to 10%.
A cleaning robot, characterized in that, comprising:

a fuselage having a front end;

The moving mechanism supports and drives the cleaning robot to move on the ground to be cleaned;

The slapping mechanism performs the slapping work on the clean ground;

Dust suction mechanism sucks the rubbish slapped by the slapping mechanism into the fuselage;

Dust collection mechanism to collect inhaled garbage;

A power supply mechanism provides energy for the cleaning robot;

Wherein, the cleaning robot is configured to, through the beating mechanism and the dust-absorbing mechanism, driven by the moving mechanism, the energy input per unit area achieved by cleaning the ground to be cleaned once is equal to the height of the cleaning robot The ratio is greater than or equal to 11.7Wh/m 3 .
The cleaning robot according to claim 62, wherein the cleaning machine is configured in at least one of the following ways, so that the ratio of energy input per unit area to the height of the cleaning robot is greater than or equal to 11.7Wh/m 3 :

A Increase the beating frequency of the beating mechanism;

B The slapping mechanism slaps the same bundle of piles of the standard test carpet along at least two directions;

The length of the C beating mechanism in a single beating contact with the standard test carpet is 190-195mm;

D The beating mechanism includes a cleaning part that is in contact with the surface of the ground to be cleaned, and the interference between the cleaning part and the standard test carpet is 2-5 mm; where the interference is used to represent that the cleaning part extends into the non-standard test carpet or the standard test carpet the depth value;

E The dust collection mechanism includes a fan installed in the fuselage, and the power of the fan is greater than or equal to 65W;

The moving speed of the F cleaning robot is 0.1-0.2m/s.
The cleaning robot according to claim 63, wherein,

The cleaning machine is configured to combine the following methods so that the ratio of energy input per unit area to the height of the cleaning robot is greater than or equal to 11.7Wh/m 3 :

The beating frequency of the beating mechanism described in A is greater than or equal to 3000/min.

B The slapping mechanism slaps each bundle of piles of the standard test carpet along at least two directions.

E. The dust collection mechanism includes a fan installed in the fuselage, and the power of the fan is greater than or equal to 65W.
The cleaning robot according to claim 64, wherein A increases the beating frequency of the beating mechanism in at least one of the following ways:

The flapping mechanism includes a cleaning roller brush, and the cleaning roller brush at least includes a first cleaning roller brush and a second cleaning roller brush, and when the first cleaning roller brush and the second cleaning roller brush rotate, the Clean the garbage on the ground so that the dust suction mechanism can suck it in;

The beating mechanism includes a cleaning roller brush, and the rotation speed of the cleaning roller brush is at least 1500r/min.
The cleaning robot according to claim 65, wherein the beating mechanism comprises a cleaning roller brush, and the cleaning roller brush at least comprises a first cleaning roller brush and a second cleaning roller brush, and the first cleaning roller brush The rotation speed is equal to the rotation speed of the second cleaning roller brush, and the rotation speed of the first cleaning roller brush and the rotation speed of the second cleaning roller brush are both 1500r/min.
The cleaning robot according to claim 65, wherein the beating mechanism further comprises a roller brush motor arranged in the body, configured to drive the first cleaning roller brush and the second cleaning roller brush to rotate, so The power of the rolling brush motor is 30-35W.
The cleaning robot according to claim 67, characterized in that, the ratio of the sum of the fan power and the rolling brush motor power to the moving speed of the cleaning robot is 45J/m.
The cleaning robot according to claim 63, wherein the body includes a chassis, and the height of the chassis at the position where the fan is located is lower than the height of the chassis at other positions of the body where the fan is not installed.
The cleaning robot according to claim 69, wherein the value range of the chassis height at the location of the fan is 8mm-12mm; the value range of the chassis height at other positions where the fan is not installed on the fuselage is 12mm-18mm.
The cleaning robot according to claim 62, further comprising: a power supply mechanism, including a rechargeable battery, configured to provide energy for the cleaning robot.
The cleaning robot according to claim 71, wherein the battery has a capacity of 140-200Wh.
The cleaning robot according to claim 71, wherein the ratio of the capacity of the battery to the power of the cleaning robot is greater than or equal to 2500J/W.
The cleaning robot according to claim 71, wherein the ratio of the capacity of the battery to the volume of the cleaning robot is 0.017-0.024Wh/cm 3 ; or, the ratio of the capacity of the battery to the height of the cleaning robot is 1.2- 2.1Wh/mm.
The cleaning robot according to claim 71, characterized in that, for a cleaning robot with a rated input power PE greater than or equal to 100W, the number of cycles of the battery is 640-960.
The cleaning robot of claim 72, wherein the ratio of the volume of the battery to the volume of the cleaning robot is at least 1/25.
The cleaning robot according to claim 76, wherein the battery is columnar, and the battery is installed on the body along the installation direction during installation, wherein the installation direction refers to the axis of the battery Direction perpendicular to the horizontal plane.
The cleaning robot according to claim 72, wherein the percentage of the battery to the total weight of the cleaning robot is greater than or equal to 10%.