WO2023071654A1

WO2023071654A1 - Cleaning robot

Info

Publication number: WO2023071654A1
Application number: PCT/CN2022/121153
Authority: WO
Inventors: 张枫; 熊明
Original assignee: 深圳银星智能集团股份有限公司
Priority date: 2021-10-29
Filing date: 2022-09-24
Publication date: 2023-05-04
Also published as: CN113876253A

Abstract

Disclosed is a cleaning robot. The cleaning robot comprises a robot body, a walking mechanism, a cleaning module, and a control module. The walking mechanism and the cleaning module are installed at the bottom of the robot body side by side, the walking mechanism is used for driving the robot body to move on the ground, and the cleaning module is located on the front side of the walking mechanism in the advancing direction of the robot body; a sinking area is formed on the upper surface of the robot body, the sinking area and the cleaning module are at least partially overlapped in the advancing direction of the robot body, the cleaning module and the part of the robot body corresponding to the sinking area form a cleaning part, and the cleaning part is used for reaching under an overhanging obstacle for cleaning; the control module is installed on the robot body, and the control module is electrically connected to the walking mechanism and used for controlling the walking mechanism to work. With such arrangement, the ground below the overhanging obstacle can be cleaned.

Description

cleaning robot

This application claims the priority of the earlier application with the application number 202111272359.0 and the title of "cleaning robot" filed with the State Intellectual Property Office of China on October 29, 2021, the contents of which are incorporated herein by reference middle.

technical field

The invention relates to the technical field of cleaning robots, in particular to a cleaning robot.

Background technique

A cleaning robot is an intelligent cleaning device that can complete cleaning autonomously. It has a wide range of application scenarios and is usually used in homes, offices, equipment factories and other places.

In practical applications, the cleaning robot often encounters short overhanging obstacles (such as the bottom of the cabinet, the bottom of the sofa, the bottom of the bed, etc.), and the cleaning robot is higher than the overhanging obstacles, so that the cleaning robot cannot detect the overhanging obstacles. The floor under the object is cleaned, so it is in dire need of improvement.

application content

The main object of the present invention is to provide a cleaning robot, which is intended to be able to clean the ground below overhanging obstacles.

In order to achieve the above purpose, the present invention proposes a cleaning robot, which includes a robot body, a walking mechanism, a cleaning module and a control module; wherein,

The walking mechanism and the cleaning module are installed side by side on the bottom of the robot body, the walking mechanism is used to drive the robot body to move on the ground, and the cleaning module is located on the the front side of the running gear;

A sinking area is formed on the upper surface of the robot body, and the sinking area is at least partially overlapped with the cleaning module in the advancing direction of the robot body, and the cleaning module and the robot body correspond to the sinking area. part of the area forms a cleaning section for reaching under an overhanging obstacle for cleaning;

The control module is installed on the main body of the robot, and the control module is electrically connected to the running mechanism and controls the running mechanism to work.

In some embodiments of the present invention, the main body of the robot includes a main body and a front impact shell, the traveling mechanism and the cleaning module are installed on the bottom of the main body, and the front impact shell is movable Connected to the front end of the main body, the front impact shell covers the area of the main body facing away from the cleaning module, and the upper surface of the front impact shell facing away from the cleaning module is formed with the lower Shen area.

In some embodiments of the present invention, a protruding area adjacent to the sinking area is formed on the upper surface of the front crash shell away from the cleaning module, and the protruding area is located on the front crash shell The body is connected to one side of the main body, the protruding area separates the main body from the sinking area, and the protruding area is set higher than the sinking area.

In some embodiments of the present invention, the height of the position of the upper surface of the main body is defined as the first height, the height of the position of the sinking area is defined as the second height, and the height of the position of the protruding area is defined as Defined as the third height, wherein, the first height, the second height and the third height are all height dimensions in the height direction of the robot main body, and the first height and the third height are greater than the second height, and the third height is greater than or equal to the first height.

In some embodiments of the present invention, the front crash shell can be movable back and forth along the forward direction parallel to the main body of the robot, and the sinking area has a first angle set relative to the moving direction of the front crash shell. a slope.

In some embodiments of the present invention, the included angle of the first slope relative to the advancing direction of the robot body is a first included angle, and the protruding area is set at an included angle relative to the moving direction of the front impact shell. The second slope is connected to the first slope, the angle between the second slope and the forward direction of the robot body is a second angle, and the second angle is smaller than the first angle. horn.

In some embodiments of the present invention, the height at the position of the upper surface of the main body is defined as a first height, and the height at the position of the sinking area is defined as a second height, wherein the first height and the The second height is the height dimension in the height direction of the main body of the robot, the second height is less than or equal to three-quarters of the first height, and the second height is greater than or equal to 3/4 of the first height. one third.

In some embodiments of the present invention, the front impact housing includes two opposite front impact side parts, and a connecting part that fixedly connects the two front impact side parts, and the two front impact side parts and A notch is formed between the connecting parts, the front end of the main body is accommodated in the notch of the front impact shell, and the two front impact side parts are respectively facing the main body towards the left and right sides of the main body. The two sides protrude in the horizontal direction, and the sinking area is at least partially arranged on the upper surfaces of the two front impact side parts.

In some embodiments of the present invention, the width direction of the cleaning module is parallel to the advancing direction of the robot body, and the width direction of the cleaning module is defined as a preset width direction, and the cleaning module and the sinking area The overlapping portion of the cleaning module has a first width dimension in the preset width direction, and the cleaning module as a whole has a second width dimension in the preset width direction, and the first width dimension is less than or equal to half of the second width dimension One, the first width dimension is greater than or equal to a quarter of the second width dimension.

In some embodiments of the present invention, a recessed area is formed on the bottom surface of the robot body, and the recessed area and the sinking area are at least partially overlapped in the advancing direction of the robot body, and the cleaning module is at least partially housed in the recessed area.

In some embodiments of the present invention, the recessed area is disposed across opposite sides of the robot body.

In some embodiments of the present invention, the bottom of the main body of the robot has a front edge, the recessed area is spaced from the front edge, the walking mechanism is located on the side of the recessed area away from the front edge, the The cleaning robot further includes at least one ground detection module electrically connected to the control module, and the at least one ground detection module is installed at the front edge.

In some embodiments of the present invention, the height dimension of the location of the sinking area in the height direction of the robot main body is 30mm-50mm.

In some embodiments of the present invention, the main body includes a chassis, a first upper case and a second upper case, the first upper case and the second upper case are jointly covered on the chassis, the A first closed cavity is enclosed between the first upper shell and the chassis, a second closed cavity is enclosed between the second upper shell and the chassis, and the front impact shell covers the first closed cavity. The upper shell is provided, the walking mechanism is installed on the chassis and at least partly accommodated in the first closed cavity, the cleaning module is installed on the bottom of the chassis, and the cleaning robot also includes the control module At least one impact switch electrically connected, the at least one impact switch is installed on the chassis and at least partially accommodated in the second closed cavity.

In some embodiments of the present invention, the at least one collision switch includes at least one front collision switch and at least two side collision switches, at least one front collision switch is arranged at the front end of the chassis, at least two The side impact switches are respectively arranged on the left and right sides of the chassis.

In the technical solution of the present invention, the sinking area and the cleaning module are at least partially overlapped in the forward direction of the robot body, and then the cleaning part is formed by the cleaning module and the part of the robot body corresponding to the sinking area. When encountering a short overhanging obstacle, the controller controls the walking mechanism to drive the main body of the robot to move, and the movement of the main body of the robot drives the cleaning part to extend under the overhanging obstacle, so that the overlapping part of the cleaning module and the sinking area is opposite to the underside of the overhanging obstacle. ground for cleaning. Such setting enables the cleaning robot to clean the ground below the overhanging obstacle.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without creative effort.

Fig. 1 is a schematic structural view of an embodiment of a cleaning robot in the present invention;

Fig. 2 is a schematic structural view of another embodiment of the cleaning robot in the present invention;

Fig. 3 is a structural schematic diagram of an embodiment of the front crash housing in the present invention;

Fig. 4 is a schematic structural view of an embodiment of the bottom of the cleaning robot in the present invention;

Fig. 5 is a schematic diagram of the explosive structure of an embodiment of the cleaning robot in the present invention;

FIG. 6 is a structural schematic view of an embodiment of the impact switch in the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In addition, the descriptions involving "first", "second" and so on in the present invention are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

Referring to FIG. 1 and FIG. 2 , the present invention proposes a cleaning robot 1000 , which includes a robot body 100 , a traveling mechanism 200 , a cleaning module 300 and a control module (not shown).

The robot main body 100 provides installation locations for the traveling mechanism 200 , the cleaning module 300 and the control module.

The traveling mechanism 200 and the cleaning module 300 are installed side by side on the bottom of the robot main body 100. The traveling mechanism 200 is used to drive the robot main body 100 to move on the ground.

As an example and not limitation, the running mechanism 200 may include at least one of the following: wheeled walking structure, crawler walking structure and other walking structures, which are not specifically limited here. Similarly, the cleaning module 300 may include at least one of the following: a cleaning structure (such as a sweeping brush, a roller brush, etc.), a mopping structure (such as a mop, etc.), a dust suction structure that absorbs dirt such as dust, and a spray that sprays cleaning liquid. The structure is not specifically limited here. And, when the cleaning module 300 includes a cleaning structure and a mopping structure, the cleaning structure and the mopping structure may not have a power source themselves, and when the running mechanism 200 drives the robot body 100 to move, sweeping and mopping the floor; The floor structure can also have its own power source, so that the sweeping structure and the mopping structure can also sweep and mop the floor by virtue of their own power source.

The connection mode between the walking mechanism 200 and the robot main body 100 and the connection mode between the cleaning module 300 and the robot main body 100 can be fixed connection (such as welding, bonding, etc.), detachable connection (such as screw connection, card connection, magnetic suction connection) etc.), without specific limitation here.

The upper surface of the robot main body 100 is formed with a sinking area 120a, and the height of the sinking area 120a is relatively low, so that the position of the sinking area 120a can enter under the lower hanging obstacles (such as the bottom of the cabinet, sofa, etc.) bottom of the bed, bottom of the bed, etc.).

Specifically, the sinking area 120a runs through the front side of the robot body 100 in the direction of travel, and the sinking area 120a also runs through at least one side of the robot body 100 adjacent to the front side of the robot body 100 in the direction of travel to ensure that the sinking area 120a has access to the bottom of the overhanging obstacle. Preferably, the sinking area 120a runs through the left and right sides of the robot body 100 adjacent to the front side in the traveling direction of the robot body 100 , so that the sinking area 120a is convenient to enter the bottom of the overhanging obstacle.

The sinking area 120a is at least partially overlapped with the cleaning module 300 in the forward direction of the robot main body 100, so that when the sinking area 120a enters the bottom of the hanging obstacle, the cleaning module 300 can at least partially enter the bottom of the hanging obstacle. clean. The part of the cleaning module 300 and the robot body 100 corresponding to the sinking area 120a forms a cleaning part, and the cleaning part is used to reach under the overhanging obstacle for cleaning.

The number of the sinking area 120a and the number of the cleaning modules 300 can be one or more (two or more), which is not specifically limited here. Moreover, the sunken area 120a and the cleaning module 300 may be one-to-one, and the sunken area 120a and the cleaning module 300 may also be one-to-many. At this time, one sunken area 120a may correspond to multiple cleaning modules 300, The sinking area 120a and each cleaning module 300 are all at least partially overlapped in the forward direction of the robot main body 100. It is also possible that one cleaning module 300 corresponds to a plurality of sinking areas 120a. The main body 100 is at least partially overlapped in the advancing direction, which is not specifically limited here.

The control module is installed on the main body of the robot 100, and is electrically connected to the running mechanism 200 to control the running mechanism 200 to work. The electrical connection between the control module and the running mechanism 200 is realized through wires. Set up in this way, it is convenient to control the opening and closing of the traveling mechanism 200 .

Through the above technical solution, when encountering a relatively short overhanging obstacle, the controller controls the traveling mechanism 200 to drive the robot body 100 to move, and the movement of the robot body 100 drives the cleaning part to extend under the overhanging obstacle, so that the cleaning module 300 and the lower The overlapping portion of the sink area 120a cleans the ground below the overhanging obstruction. Such arrangement enables the cleaning robot 1000 to clean the ground below the overhanging obstacle.

It can be understood that the height dimension of the location of the sinking area 120a in the height direction of the robot body 100 determines the range of relatively short overhanging obstacles that the cleaning robot 1000 can apply to. In view of this, in order to expand the applicable range of the cleaning robot 1000 , in some embodiments of the present invention, the height dimension of the sinking area 120a in the height direction of the robot main body 100 is 30mm-50mm. In such a setting, the height of the sinking area 120a is lower than that of most of the hanging obstacles, so that the sinking area 120a can extend under most of the hanging obstacles, so as to expand the applicable range of the cleaning robot 1000 .

As an example and not limitation, the height dimension of the sinking area 120a in the height direction of the robot body 100 may be 30mm, 35mm, 40mm, 45mm, 50mm and other height dimension values.

Please refer to FIG. 1 and FIG. 2 , considering that the sinking area 120a may encounter other obstacles after reaching under the overhanging obstacle, which will affect the normal use of the cleaning robot 1000 , in view of this, in some embodiments of the present invention, The main body of the robot 100 includes a main body 110 and a front crash housing 120, the traveling mechanism 200 and the cleaning module 300 are installed on the bottom of the main body 110, the front crash housing 120 is movably connected to the front end of the main body 110, and the front crash housing 120 covers the area of the main body 110 facing away from the cleaning module 300 , and the upper surface of the front crash housing 120 facing away from the cleaning module 300 forms a sunken area 120 a.

Specifically, a crash switch 500 is installed on the main body 110 and/or the front crash housing 120 to detect whether the front crash housing 120 collides, and the crash switch 500 is electrically connected to the controller, so that it is convenient to detect the front crash housing 120 Whether a collision occurs.

There are many types of crash switch 500. The crash switch 500 can be a pressure sensor. When the front crash housing 120 collides, the pressure detected by the pressure sensor increases and sends a crash signal to the controller; the crash switch 500 can also be a displacement sensor. , when the front crash housing 120 collides, the displacement sensor detects that the front crash housing 120 is displaced and sends a collision signal to the controller, which is not specifically limited here.

There are many ways for the front crash housing 120 to be movably connected to the main body 110, and the way for the front crash housing 120 to be movably connected to the main body 110 may be an elastic connection between the front crash housing 120 and the main body 110, so that the front crash housing 120 can be flexibly connected to the main body 110. The crash housing 120 can move relative to the main body 110 after being hit; After being hit, it can slide relative to the main body 110 , which is not specifically limited here.

Through the above-mentioned technical solution, the sinking area 120a is set on the front impact shell 120. When the sinking area 120a protrudes under the overhanging obstacle and encounters other obstacles, the front impact shell 120 collides, and the front impact shell 120 will move relative to the main body 110, and trigger the collision switch 500 to send a collision signal. After the controller receives the collision signal sent by the collision switch 500, it will start the obstacle avoidance behavior of the cleaning robot 1000, such as the controller controls the traveling mechanism 200 to retreat, turn, etc. The obstacle avoidance method is used to make the cleaning robot 1000 get out of trouble, and the cleaning robot 1000 can be used normally. Moreover, the front impact shell 120 can also wrap the electronic components at the corresponding positions of the main body 110 to play a role of waterproof and dustproof.

It can be understood that, in the actual application process, the movable connection between the main body 110 and the front impact shell 120 can be set as a detachable movable connection. In this way, when it is necessary to clean under a relatively short overhanging obstacle, the The front impact shell 120 can be installed on the main body 110; when the cleaning robot 1000 does not need to clean under the short overhanging obstacles, but only needs to clean the ground normally, the front impact shell 120 can be disassembled from the main body 110. Next, the self-weight of the cleaning robot 1000 is reduced to facilitate cleaning by the cleaning robot 1000.

Please refer to FIG. 1 and FIG. 2 , considering that if the upper surface of the front crash shell 120 away from the cleaning module 300 is entirely formed as a sinking area 120a, when the sinking area 120a protrudes under the overhanging obstacle, the main body 110 of the robot body 100 will It is easy to collide with the bottom of the overhanging obstacle and cause damage. In view of this, in order to prevent the main body 110 from colliding with the bottom of the overhanging obstacle, in some embodiments of the present invention, the front impact housing 120 deviates from the top of the cleaning module 300 The surface is also formed with a protruding area 120b adjacent to the sinking area 120a. The protruding area 120b is located on the side of the front impact shell 120 connected to the main body 110. The protruding area 120b separates the main body 110 from the sinking area 120a. , the protruding region 120b is set higher than the sinking region 120a. In this way, by virtue of the setting of the protruding area 120b, the collision between the main body 110 and the bottom of the overhanging obstacle is transferred to the collision between the protruding area 120b and the bottom of the overhanging obstacle, thereby preventing the main body 110 from being damaged due to the collision, and can Prevent the cleaning robot 1000 from being stuck at the bottom of the overhanging obstacle.

There are many ways to form the protruding area 120b, and the protruding area 120b may be formed by structural members such as rods and plates, which are not specifically limited here.

In other embodiments, the front impact shell 120 may not have a protruding area 120b, and the upper surface of the front impact shell 120 facing away from the cleaning module 300 forms a sinking area 120a. The sunken surface, the sunken surface is flush with the surface of the sunken region 120a.

1 and 2, in some embodiments of the present invention, the height of the position of the upper surface of the main body 110 is defined as the first height, the height of the position of the sinking area 120a is defined as the second height, and the height of the protruding The height of the location of the area 120b is defined as the third height, wherein the first height, the second height and the third height are height dimensions in the height direction of the robot main body 100, the first height and the third height are greater than the second height, and The third height is greater than or equal to the first height. In this way, by virtue of the third height being greater than or equal to the first height, the protruding area 120b collides with the bottom of the overhanging obstacle, thereby preventing damage to the main body 110 due to the collision, and preventing the cleaning robot 1000 from being stuck on the bottom of the overhanging obstacle .

Preferably, the second height is less than or equal to three quarters of the first height, and the second height is greater than or equal to one third of the first height. Such an arrangement can not only ensure that the sunken area 120a can extend under the overhanging obstacle, but also ensure that the sunken area 120a has a certain thickness and ensure the structural strength of the sunken area 120a.

The second height may be one-third, two-quarters, three-quarters or other fractional values of the first height, which is not specifically limited here.

Please refer to Fig. 1 and Fig. 2, in order to facilitate the sinking area 120a to extend into the bottom of the overhanging obstacle, in some embodiments of the present invention, the front impact shell 120 can be moved back and forth along the forward direction of the parallel robot main body 100, and sinks The area 120a has a first inclined surface 120a ′ set at an included angle relative to the moving direction of the front crash shell 120 . Such setting makes the sinking area 120a transition from high to low, so that the front crash shell 120 can easily penetrate under a certain height of overhanging obstacles. Moreover, the first inclined surface 120a' can also contact the bottom of the overhanging obstacle to push the front crash housing 120 to move backward, trigger the collision switch 500, trigger the obstacle avoidance behavior of the cleaning robot 1000, and facilitate the cleaning robot 1000 to get out of trouble.

Further, in some embodiments of the present invention, the included angle of the first slope 120 a ′ relative to the advancing direction of the robot main body 100 is a first included angle, and the protruding area 120 b is set at an included angle relative to the moving direction of the front impact shell 120 The second inclined surface 120b' is connected to the first inclined surface 120a', and the included angle of the second inclined surface 120b' relative to the advancing direction of the robot main body 100 is a second included angle, and the second included angle is smaller than the first included angle.

Specifically, the first slope 120 a ′ and the second slope 120 b ′ are inclined downward from the rear side of the robot body 100 to the front side of the robot body 100 . The size of the first included angle is in the range of 160 degrees to 180 degrees, such as 160 degrees, 165 degrees, 170 degrees, 175 degrees, 180 degrees and other angles, and the size of the second included angle is in the range of 90 degrees to 110 degrees. Within the range, such as 90 degrees, 95 degrees, 100 degrees, 105 degrees, and 110 degrees, etc., it is not specifically limited here.

Through the above-mentioned technical solution, compared with the first angle, the second angle is smaller, so that the position of the second slope 120b' is higher and steeper than that of the first slope 120a', so that the second slope 120b' can be connected with the hanging A horizontal collision on the outside or bottom of an obstacle can also sensitively trigger the collision switch 500, triggering the obstacle avoidance behavior of the cleaning robot 1000; It penetrates deeply into the bottom of overhanging obstacles, and can avoid obstacles even when it is stuck at different positions and heights, which expands the scope of application of the cleaning robot 1000.

Please refer to Fig. 1 to Fig. 3, in order to connect the front crash housing 120 with the main body 110 conveniently, in some embodiments of the present invention, the front crash housing 120 includes two front crash side parts 121 arranged oppositely, and a fixed The connection portion 122 connecting the two front impact side portions 121, a notch 123 is formed between the two front impact side portions 121 and the connection portion 122, the front end of the main body 110 is accommodated in the notch 123 of the front impact shell 120, The two front impact side portions 121 protrude horizontally toward the left and right sides of the main body portion 110 relative to the main body portion 110 , and the sinking area 120 a is at least partially disposed on the upper surfaces of the two front impact side portions 121 . Such arrangement, by virtue of the front end of the main body 110 being accommodated in the notch 123 of the front crash housing 120, not only facilitates the assembly of the main body 110 and the front crash housing 120, but also wraps the front side and the left and right sides of the front end of the main body 110. side, to enhance the anti-collision effect of the front crash shell 120.

Specifically, the upper surfaces of the two front impact side portions 121 and the upper surfaces of the connecting portion 122 form a sinking area 120a. Such setting facilitates the formation of the sinking area 120a, and facilitates the realization that when the cleaning robot 1000 walks along the overhanging obstacle, it can at least partially penetrate into the bottom of the overhanging obstacle through the front collision side part 121 and the cleaning module 300, and can move at a higher walking speed. Cleans the bottom area of overhanging obstructions for increased cleaning efficiency.

Furthermore, the left and right inner walls of the notch 123 are provided with elastic pieces 123 ′, and the two elastic pieces 123 ′ elastically abut against the left and right sides of the front end of the main body 110 . At the front end of the main body 110 , the elastic member 123 ′ can play a certain buffering role when the front crash shell 120 is hit by a collision.

Preferably, the elastic member 123' is configured as an elastic arm, and the elastic arm is set at an angle with the inner wall of the notch 123. In this way, when the front end of the main body 110 is installed in the notch 123, the front end of the main body 110 The left and right sides squeeze the two elastic arms correspondingly, and the two elastic arms clamp and fix the front end of the main body part 110 under the action of their own resilience. The elastic arm is integrally formed with the front crash shell 120 , and the structural strength of the elastic arm can be ensured by such an arrangement. The material of the elastic arm can be rubber, plastic, silica gel and other materials capable of producing elastic deformation under force. In addition, the elastic member 123' can also be configured as other elastic elements such as springs, shrapnel, and elastic blocks.

Referring to Fig. 1, in some embodiments of the present invention, the width direction of the cleaning module 300 is parallel to the forward direction of the robot body 100, and the width direction of the cleaning module 300 is defined as a preset width direction, and the cleaning module 300 and the sinking area 120a The overlapped portion of the cleaning module 300 has a first width dimension in the preset width direction, the cleaning module 300 as a whole has a second width dimension in the preset width direction, the first width dimension is less than or equal to one-half of the second width dimension, and the first The width dimension is greater than or equal to one quarter of the second width dimension.

The first width dimension may be 1/4, 1/3, 1/2 or other scaled values of the second width dimension, which is not specifically limited here.

Through the above-mentioned technical scheme, when the sinking area 120a protrudes under the overhanging obstacle, it can be ensured that the size of the part of the cleaning module 300 protruding under the overhanging obstacle is enough to clean the bottom surface below the overhanging obstacle, and the cleaning module 300 A part protrudes under the overhanging obstacle, and the other part of the cleaning module 300 is located outside the overhanging obstacle, so as to facilitate cleaning of the connection between the ground below the overhanging obstacle and the outside ground.

In other embodiments, the cleaning module 300 and the sinking area 120a can also be completely overlapped, so that the cleaning module 300 can extend under the suspended obstacle as a whole for cleaning.

Please refer to Fig. 1 and Fig. 4, considering that if the cleaning module 300 is directly installed on the bottom surface of the robot body 100, it will easily lead to a larger size of the cleaning robot 1000, in view of this, in order to reduce the size of the cleaning robot 1000, in the present invention In some embodiments, the bottom surface of the robot body 100 is formed with a recessed area 100a, the recessed area 100a and the sinking area 120a are at least partially overlapped in the forward direction of the robot body 100, and the cleaning module 300 is at least partially accommodated in the recessed area 100a. In this way, by accommodating the cleaning module 300 at least partially in the recessed area 100a, the height dimension of the sinking area 120a in the robot height direction can be effectively reduced, and the size of the cleaning robot 1000 can be reduced.

The recessed area 100a and the sunken area 120a may partly overlap, the sunken area 100a and the sunken area 120a may also completely overlap, and the area of the cross section of the sunken area 100a may be greater than, less than or equal to the sunken area In addition, the cross-sectional area of 120a; the cleaning module 300 may be partially accommodated in the recessed area 100a, or the entire cleaning module 300 may be accommodated in the recessed area 100a, which is not specifically limited here.

It should be noted that when there are multiple cleaning modules 300, there may be one recessed area 100a, and multiple cleaning modules 300 are installed in one recessed area 100a, or there may be multiple recessed areas 100a, and each cleaning module 300 is installed In the corresponding recessed area 100a, there is no specific limitation here.

Please refer to FIG. 1 and FIG. 4 , in order to facilitate the cleaning module 300 to be disassembled from the recessed area 100a, in some embodiments of the present invention, the recessed area 100a is disposed through opposite sides of the robot body 100 .

Specifically, the recessed area 100a runs through the left and right sides of the robot body 100, and is set in such a way that the cleaning module 300 is spaced from the front side of the front crash housing 120 to prevent cleaning when the front side of the front crash housing 120 is collided. Module 300 is crashed.

1 and 4, in order to prevent the cleaning robot 1000 from falling when encountering a cliff, in some embodiments of the present invention, the bottom of the robot body 100 has a front edge, and the recessed area 100a is spaced from the front edge, and the running mechanism 200 Located on the side of the recessed area 100a away from the front edge, the cleaning robot 1000 further includes at least one ground inspection module 400 electrically connected to the control module, and the at least one ground inspection module 400 is installed at the front edge.

The ground detection module 400 can be a pressure sensor. When the cleaning robot 1000 walks normally, the pressure sensor touches the ground to detect pressure. When the cleaning robot 1000 encounters a cliff, the pressure sensor exceeds the edge of the ground and cannot be detected by the pressure sensor. pressure, and then judge that the cleaning robot 1000 has encountered a cliff; the ground detection module 400 can also be an infrared optical sensor. When the cleaning robot 1000 is walking normally, the infrared optical sensor can emit an infrared initial signal toward the ground and receive the reflected infrared reflection signal. When the cleaning robot 1000 encounters a cliff, the infrared reflection signal received by the infrared optical sensor is weakened, and then it is judged that the cleaning robot 1000 has encountered a cliff. Certainly, the ground detection module 400 may also be other types of sensors, which are not specifically limited here.

Through the above-mentioned technical scheme, when the walking mechanism 200 drives the robot body 100 to move on the ground to a cliff in front of the robot body 100, the ground detection module 400 exceeds the edge of the ground, the ground detection module 400 sends a suspension signal, and the control module receives After the suspension signal, the traveling mechanism 200 is controlled to stop moving or retreat. Such setting can prevent the cleaning robot 1000 from falling when encountering a cliff.

Referring to FIG. 1, FIG. 2 and FIG. 4 to FIG. 6, in some embodiments of the present invention, the main body 110 includes a chassis 111, a first upper shell 112 and a second upper shell 113, and the first upper shell 112 and the second upper shell 112 The upper shell 113 is jointly covered on the chassis 111, the first upper shell 112 and the chassis 111 are enclosed to form a first closed cavity 110a, and the second upper shell 113 and the chassis 111 are enclosed to form a second closed cavity 110b. The impact shell 120 is arranged to cover the first upper shell 112, the traveling mechanism 200 is installed on the chassis 111 and at least partly accommodated in the first closed cavity 110a, the cleaning module 300 is installed on the bottom of the chassis 111, and the cleaning robot 1000 also includes and controls The module is electrically connected to at least one bump switch 500 , and the at least one bump switch 500 is installed on the chassis 111 and at least partially accommodated in the second closed cavity 110 b. Such arrangement facilitates the installation of the traveling mechanism 200 and the collision switch 500 , and the installation of the collision switch 500 on the chassis 111 facilitates the collision detection of the collision switch 500 .

The specific type of the crash switch 500 has been described in the above-mentioned embodiment, the connection mode between the first upper case 112 and the chassis 111 and the connection mode between the second upper case 113 and the chassis 111 refer to the fixed connection and the connection mode in the above-mentioned embodiment. The setting is performed in a detachable connection manner, which will not be repeated here.

In some embodiments of the present invention, at least one crash switch 500 includes at least one forward crash switch 510 and at least two side crash switches 520, at least one forward crash switch 510 is arranged on the front end of chassis 111, at least two side crash switches 520 The crash switch 520 is separately provided on the left and right sides of the chassis 111 . In this way, by virtue of the setting of the forward collision switch 510 and the side collision switch 520, when a collision occurs on any one of the front side, left side and right side of the main body 110, it can be detected, which is convenient for detection. Whether the cleaning robot 1000 collides with an obstacle on the front side, the left side, and the right side.

The above is only a preferred embodiment of the present invention, and does not therefore limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect use All other relevant technical fields are included in the patent protection scope of the present invention.

Claims

A cleaning robot, characterized in that the cleaning robot includes a robot body, a walking mechanism, a cleaning module, and a control module; wherein,

The walking mechanism and the cleaning module are installed side by side on the bottom of the robot body, the walking mechanism is used to drive the robot body to move on the ground, and the cleaning module is located on the the front side of the running gear;

A sinking area is formed on the upper surface of the robot body, and the sinking area is at least partially overlapped with the cleaning module in the advancing direction of the robot body, and the cleaning module and the robot body correspond to the sinking area. part of the area forms a cleaning section for reaching under an overhanging obstacle for cleaning;

The control module is installed on the main body of the robot, and the control module is electrically connected to the running mechanism and controls the running mechanism to work.
The cleaning robot according to claim 1, wherein the main body of the robot includes a main body and a front bumper housing, the traveling mechanism and the cleaning module are installed on the bottom of the main body, and the front bumper The housing is movably connected to the front end of the main body, the front impact housing covers the area of the main body facing away from the cleaning module, and the front impact housing faces away from the upper surface of the cleaning module The sinking area is formed.
The cleaning robot according to claim 2, wherein a protruding area adjacent to the sinking area is formed on the upper surface of the front impact shell away from the cleaning module, and the protruding area is located at The front crash shell is connected to one side of the main body, the protruding area separates the main body from the sinking area, and the protruding area is set higher than the sinking area.
The cleaning robot according to claim 3, wherein the height of the position of the upper surface of the main body is defined as a first height, the height of the position of the sinking area is defined as a second height, and the height of the raised surface is defined as a second height. The height of the position where the exit area is located is defined as the third height, wherein, the first height, the second height and the third height are all height dimensions in the height direction of the robot main body, and the first height and the third height are The third heights are greater than the second heights, and the third heights are greater than or equal to the first heights.
The cleaning robot according to claim 3, characterized in that, the front impact shell can be movable back and forth along the forward direction parallel to the main body of the robot, and the sinking area has a shape relative to the movement direction of the front impact shell. The first slope of the included angle setting.
The cleaning robot according to claim 5, characterized in that, the included angle of the first slope relative to the advancing direction of the robot body is a first included angle, and the protruding area has a movement relative to the front impact shell The direction is a second slope set at an included angle, the second slope is connected to the first slope, the angle between the second slope and the advancing direction of the robot body is a second angle, and the second angle is less than The first included angle.
The cleaning robot according to claim 2, wherein the height of the position of the upper surface of the main body is defined as a first height, and the height of the position of the sinking area is defined as a second height, wherein the Both the first height and the second height are height dimensions in the height direction of the robot main body, the second height is less than or equal to three quarters of the first height, and the second height is greater than or equal to the first height one-third of the first height.
The cleaning robot according to claim 2, characterized in that, the front impact housing includes two opposite front impact side parts, and a connecting part fixedly connecting the two front impact side parts, the two front impact side parts A notch is formed between the front crash side part and the connecting part, the front end of the main body part is accommodated in the notch of the front crash shell, and the two front crash side parts face the main body part respectively. The left and right sides of the main body protrude in the horizontal direction, and the sinking area is at least partially disposed on the upper surfaces of the two front impact side parts.
The cleaning robot according to claim 1, wherein the width direction of the cleaning module is parallel to the advancing direction of the robot main body, and the width direction of the cleaning module is defined as a preset width direction, and the cleaning module and The overlapped portion of the sinking area has a first width dimension in the preset width direction, the entire cleaning module has a second width dimension in the preset width direction, and the first width dimension is smaller than or equal to the second width dimension. One half of the width dimension, the first width dimension is greater than or equal to one quarter of the second width dimension.
The cleaning robot according to claim 1, wherein a recessed area is formed on the bottom surface of the robot main body, and the recessed area and the sinking area are at least partially overlapped in the advancing direction of the robot main body, so The cleaning module is at least partially accommodated in the recessed area.
The cleaning robot according to claim 10, wherein the recessed area is disposed through opposite sides of the main body of the robot.
The cleaning robot according to claim 10, wherein the bottom of the robot body has a front edge, the recessed area is spaced from the front edge, and the walking mechanism is located in the recessed area away from the front edge On one side, the cleaning robot further includes at least one ground detection module electrically connected to the control module, and the at least one ground detection module is installed at the front edge.
The cleaning robot according to claim 1, characterized in that, the height dimension of the position of the sinking area in the height direction of the robot main body is 30mm-50mm.
The cleaning robot according to claim 2, wherein the main body comprises a chassis, a first upper shell and a second upper shell, and the first upper shell and the second upper shell are jointly covered on the On the chassis, a first closed cavity is enclosed between the first upper shell and the chassis, a second closed cavity is enclosed between the second upper shell and the chassis, and the front impact shell includes Covering the first upper shell, the walking mechanism is installed on the chassis and at least partially accommodated in the first closed cavity, the cleaning module is installed on the bottom of the chassis, and the cleaning robot also includes At least one collision switch electrically connected to the control module, the at least one collision switch is installed on the chassis and at least partially accommodated in the second closed cavity.
The cleaning robot according to claim 14, wherein the at least one collision switch includes at least one forward collision switch and at least two side collision switches, and at least one of the forward collision switches is arranged on the bottom of the chassis. At the front end, at least two of the side impact switches are arranged on the left and right sides of the chassis.