WO2023193581A1 - Robot de nettoyage - Google Patents

Robot de nettoyage Download PDF

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Publication number
WO2023193581A1
WO2023193581A1 PCT/CN2023/081697 CN2023081697W WO2023193581A1 WO 2023193581 A1 WO2023193581 A1 WO 2023193581A1 CN 2023081697 W CN2023081697 W CN 2023081697W WO 2023193581 A1 WO2023193581 A1 WO 2023193581A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning head
machine body
liquid
cleaning robot
Prior art date
Application number
PCT/CN2023/081697
Other languages
English (en)
Chinese (zh)
Inventor
成盼
段传林
林翔
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Publication of WO2023193581A1 publication Critical patent/WO2023193581A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/32—Carpet-sweepers
    • A47L11/33—Carpet-sweepers having means for storing dirt
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to the field of smart home technology, and in particular to a cleaning robot.
  • Most of the cleaning robots in the related art are sweeping robots.
  • the cleaning head of the cleaning robot achieves effective cleaning of the ground.
  • the present disclosure provides a cleaning robot to improve the performance of the cleaning robot.
  • the present disclosure provides a cleaning robot, including:
  • the cleaning system is installed on the machine body, and the cleaning system includes a cleaning head, an auxiliary cleaning head and a liquid supply part;
  • the liquid supply part sends the cleaning liquid to the cleaning head and the auxiliary cleaning head.
  • the cleaning system further includes:
  • the water pump is connected with the liquid supply part to send the cleaning liquid in the liquid supply part to the cleaning head and the auxiliary cleaning head.
  • the machine body includes a fixed bracket, the cleaning head is located in the fixed bracket, the fixed bracket is provided with a liquid supply channel, and the liquid supply part sends cleaning liquid to the cleaning head through the liquid supply channel.
  • the liquid supply channel includes a liquid inlet and a liquid outlet, the liquid inlet is connected with the liquid supply part, and the liquid outlet is used to send cleaning liquid into the cleaning head;
  • the cleaning robot further includes:
  • the recycling system is arranged on the machine body, and the recycling system includes a collection part, and the collection part collects residues on at least one of the cleaning head, the auxiliary cleaning head and the surface to be cleaned.
  • the recycling system further includes:
  • the scraper strip is in contact with the cleaning head, and the scraper strip removes the residue on the cleaning head through interference with the cleaning head to be collected by the collection part.
  • the scraper strip is parallel to the cleaning head.
  • the machine body defines a transverse axis and a longitudinal axis, and the cleaning head is parallel to the transverse axis.
  • the scraper is provided with a water suction port, and the water suction port is connected with the collection part.
  • the recycling system further includes:
  • the power part is in pneumatic communication with the collection part to collect the residue to the collection part.
  • the collection part includes an inlet and an outlet
  • the cleaning robot further includes:
  • the blocking component is arranged on the machine body, and at least part of the position of the blocking component is adjustably arranged to close or release the inlet and outlet of the collection part.
  • the blocking assembly includes:
  • the first blocking piece is arranged on the connecting rod
  • the second blocking member is arranged on the connecting rod
  • the connecting rod is movably arranged relative to the machine body, so that the first blocking member and the second blocking member respectively close or release the inlet and outlet of the collection part.
  • the cleaning robot further includes:
  • the detection system is arranged on the machine body, and at least part of the detection system extends from the outer edge of the machine body.
  • At least part of the detection system is movably disposed relative to the machine body.
  • the cleaning system is arranged on the machine body.
  • the cleaning system includes a cleaning head, an auxiliary cleaning head and a liquid supply part.
  • the liquid supply part sends cleaning liquid to the cleaning head and the auxiliary cleaning head, so that The surface to be cleaned is reliably cleaned by the cleaning head and the auxiliary cleaning head, thereby improving the cleaning ability of the cleaning robot and improving the performance of the cleaning robot.
  • Figure 1 is a schematic structural diagram of a cleaning robot from a first perspective according to an exemplary embodiment
  • Figure 2 is a schematic structural diagram of a cleaning robot from a second perspective according to an exemplary embodiment
  • Figure 3 is a schematic structural diagram of a cleaning robot from a second perspective according to an exemplary embodiment
  • Figure 4 is a schematic structural diagram of a liquid supply part of a cleaning robot according to an exemplary embodiment
  • Figure 5 is a schematic structural diagram of a collection part of a cleaning robot according to an exemplary embodiment
  • Figure 6 is a schematic structural diagram of a blocking component of a cleaning robot according to an exemplary embodiment
  • Figure 7 is a schematic structural diagram of the inlet and outlet of a cleaning robot collection part according to an exemplary embodiment
  • Figure 8 is a schematic structural diagram of a fixed bracket of a cleaning robot from one perspective according to an exemplary embodiment
  • Figure 9 is a schematic structural diagram of a fixed bracket of a cleaning robot from another perspective according to an exemplary embodiment
  • Figure 10 is a schematic structural diagram of a scraper strip of a cleaning robot from one perspective according to an exemplary embodiment
  • Figure 11 is a schematic structural diagram of a scraper strip of a cleaning robot from another perspective according to an exemplary embodiment
  • Figure 12 is a schematic structural diagram of a collection part of a cleaning robot according to an exemplary embodiment
  • Figure 13 is a schematic structural diagram of a blocking component of a cleaning robot according to an exemplary embodiment
  • Figure 14 is a schematic structural diagram of a blocking component of a cleaning robot according to another exemplary embodiment
  • Figure 15 is a schematic view of a partial structure of a cleaning robot according to another exemplary embodiment
  • Figure 16 is a schematic diagram of a partial structure of a cleaning robot from another perspective according to another exemplary embodiment
  • Figure 17 is a schematic structural diagram of a liquid supply part and a collection part of a cleaning robot according to an exemplary embodiment.
  • Machine body 11. Fixed bracket; 111. Liquid inlet; 112. Liquid outlet; 113. Accommodation cavity; 114. Through hole; 12. Forward part; 13. Rearward part; 20. Cleaning system; 21 , Cleaning head; 22. Liquid supply part; 221. Water inlet; 23. Auxiliary cleaning head; 231. Wet auxiliary cleaning head; 232. Main body part; 24. Water pump; 30. Drive system; 31. First drive wheel module; 32. Second driving wheel module; 33. Driven wheel; 40. Recovery system; 41. Collection part; 411. Inlet; 412. Exit; 413. Drainage outlet; 414. Main body; 415. Extension part; 42. Scraper; 421. Water suction port; 43.
  • Power part 50. Blocking component; 51. Connecting rod; 52. First blocking member; 53. Second blocking member; 54. Driving part; 55. Ejector; 56. Elasticity 57. Seals; 60. Detection system; 70. Perception system; 71. Position determination device; 72. Buffer; 80. Control system; 90. Energy system; 100. Human-computer interaction system.
  • the cleaning robot includes a machine body 10, a cleaning system 20, a driving system 30, a recovery system 40, a blocking component 50, a detection system 60, a sensing system 70, a control system 80, an energy system 90 and a human Computer interaction system 100.
  • the machine body 10 includes a forward portion 12 and a rearward portion 13, which has an approximately circular shape (both front and rear are circular), and can also have other shapes, including but not limited to an approximately D-shape with a round front and rear. Shape and rectangular or square shape at the front and rear.
  • the sensing system 70 includes a position determining device 71 located on the machine body 10 , a collision sensor provided on the buffer 72 of the forward portion 12 of the machine body 10 , and a proximity sensor provided on the machine body 10 , the cliff sensor provided at the lower part of the machine body, and the magnetometer, accelerometer, gyroscope, odometer and other sensing devices provided inside the machine body 10, for Various position information and motion status information of the machine are provided to the control system 80 .
  • the position determining device 71 includes but is not limited to a camera and a laser distance measuring device (LDS, full name: Laser Distance Sensor).
  • the forward portion 12 of the machine body 10 can carry a buffer 72.
  • the buffer 72 detects the impact of the cleaning robot via a collision sensor provided thereon.
  • the cleaning robot can pass the events detected by the buffer 72, such as obstacles and walls, and the control drive system 30 causes the cleaning robot to respond to the event, such as moving away from the obstacles.
  • the control system 80 is disposed on the circuit mainboard in the machine body 10 and includes a computing processor, such as a central processing unit, an application processor, and an application processor that communicate with non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device uses positioning algorithms, such as Simultaneous Localization and Mapping (SLAM, full name: Simultaneous Localization And Mapping), based on the obstacle information fed back by the laser ranging device to draw a real-time map of the environment where the cleaning robot is located.
  • SLAM Simultaneous Localization and Mapping
  • the current working state and location of the cleaning robot are comprehensively determined.
  • specific next action strategies will also be given for different situations. This enables the cleaning robot to have better cleaning performance and user experience.
  • the drive system 30 may maneuver the machine body 10 to travel across the ground based on drive commands with distance and angle information (eg, x, y, and ⁇ components).
  • the drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32 .
  • the first drive wheel module 31 and the second drive wheel module 32 are arranged along the transverse axis defined by the machine body 10 .
  • the cleaning robot may include one or more driven wheels 33 , and the driven wheels include but are not limited to universal wheels.
  • the driving wheel module includes the traveling wheel and the driving motor as well as the control circuit for controlling the driving motor.
  • the driving wheel module can also be connected to the circuit for measuring the driving current and the odometer.
  • the driving wheel module can be detachably connected to the machine body 10 to facilitate disassembly, assembly and maintenance.
  • the drive wheel may have an offset drop suspension system, movably fastened, such as rotatably attached, to the machine body 10 and receive a spring bias biased downwardly and away from the machine body 10 .
  • the spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning element of the cleaning robot also contacts the ground with a certain pressure.
  • the machine body 10 defines a transverse axis and a longitudinal axis, which are perpendicular to each other.
  • the transverse axis and the longitudinal axis can be understood as the transverse centerline and the longitudinal centerline of the machine body 10 respectively.
  • Energy system 90 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit.
  • the charging control circuit, battery pack charging temperature detection circuit, and battery under-voltage monitoring circuit are then connected to the microcontroller control circuit.
  • the cleaning robot can be charged by connecting the charging electrodes set on the side, bottom or top of the fuselage to the charging pile.
  • the human-computer interaction system 100 includes buttons on the host panel for the user to select functions; it may also include a display screen and/or indicator lights and/or a speaker.
  • the display screen, indicator lights, and speaker show the user the current status of the machine or Function options; can also include mobile client programs.
  • the mobile client can show users a map of the environment where the equipment is located, as well as the location of the machine, and provide users with richer and more user-friendly functions.
  • the cleaning system 20 is arranged on the machine body 10.
  • the cleaning system 20 includes a cleaning head 21.
  • the transverse axis of the machine body 10 and the cleaning head 21 form a preset angle, so that cleaning can be achieved.
  • the preset included angle between the transverse axis and the cleaning head 21 may be an acute angle, and the preset included angle may range from 5 degrees to 70 degrees.
  • the cleaning system 20 may be a dry cleaning system, and the dry cleaning system may include a cleaning head 21, a dust box, a fan, an air outlet, etc.
  • the cleaning head 21 can be a roller brush that can rotate around an axis parallel to the ground. The roller brush with certain interference with the ground sweeps up the garbage on the ground and entrains it between the roller brush and the dust box. In front of the dust suction port, the suction gas generated by the fan and passed through the dust box is sucked into the dust box.
  • the dust removal ability of the cleaning robot can be characterized by the garbage cleaning efficiency (DPU, full name Dust pickup efficiency).
  • the cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the relationship between the four.
  • the wind utilization rate of the air duct composed of connecting components is affected by the type and power of the fan, which is a complex system design issue.
  • the cleaning system 20 may be a wet cleaning system.
  • the cleaning head 21 includes a wet cleaning head.
  • the cleaning system 20 also includes a liquid supply part 22 .
  • the liquid supply part 22 sends cleaning liquid into the wet cleaning system. Clean the head.
  • the cleaning head 21 can be disposed below the liquid supply part 22 , and the cleaning liquid inside the liquid supply part 22 is transmitted to the cleaning head 21 through the water supply mechanism, so that the cleaning head 21 performs wet cleaning on the surface to be cleaned.
  • the cleaning liquid inside the liquid supply part 22 can also be directly sprayed onto the surface to be cleaned, and the cleaning head 21 achieves cleaning of the surface by evenly applying the cleaning liquid.
  • the cleaning head 21 may be disposed at the bottom of the machine body 10.
  • the cleaning head 21 may be parallel to the surface to be cleaned. Cleaning pad for surface setting.
  • the cleaning head 21 is used to clean the surface to be cleaned
  • the driving system 30 is used to drive the cleaning head 21 to substantially reciprocate along the target surface, which is a part of the surface to be cleaned.
  • the cleaning head 21 reciprocates along the surface to be cleaned.
  • the contact surface between the cleaning head 21 and the surface to be cleaned is provided with a cleaning cloth or cleaning plate.
  • the reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains on the surface to be cleaned. .
  • High-frequency reciprocating motion also called reciprocating vibration
  • the friction frequency is close to sound waves.
  • the cleaning effect will be much higher than that of dozens of rotations per minute.
  • the tufts on the surface of the cleaning head 21 will be more uniform and extend in the same direction under the vibration of high frequency, so the overall cleaning effect is more uniform, instead of just being exerted downward pressure to increase under the condition of low frequency rotation. Friction improves the cleaning effect. Pressure alone does not make the hair tufts extend in nearly the same direction.
  • the cleaning head 21 may also be in a strip structure or the like.
  • the cleaning head 21 may be a roller brush that can rotate about an axis parallel to the surface to be cleaned, as shown in FIG. 16 .
  • the machine body 10 includes a fixed bracket 11.
  • the cleaning head 21 is located in the fixed bracket 11.
  • the fixed bracket 11 is provided with a liquid supply channel.
  • the liquid supply part 22 sends cleaning liquid to the wet cleaning head through the liquid supply channel.
  • the liquid supply channel may be formed by a cavity formed inside the fixed bracket 11 .
  • a portion of the fixed bracket 11 may be hollow, thereby forming a liquid supply channel for circulating cleaning liquid.
  • the liquid supply channel may be formed by a pipe body, so that the cleaning liquid in the liquid supply part 22 can be sent to the wet cleaning head, thereby ensuring that the cleaning head 21 effectively cleans the surface to be cleaned.
  • the liquid supply channel includes a liquid inlet 111 and a liquid outlet 112.
  • the liquid inlet 111 is connected with the liquid supply part 22, and the liquid outlet 112 is used to The cleaning liquid is sent to the cleaning head 21.
  • the fixed bracket 11 is provided with a liquid inlet 111 and a liquid outlet 112.
  • One end of the liquid inlet 111 is located on the outer surface of the fixed bracket 11, and the liquid outlet 112 is located on the inner surface of the fixed bracket 11.
  • the main part of the liquid supply channel can be disposed between the liquid inlet 111 and the liquid outlet 112, and the main part can be connected to multiple liquid outlets 112 at the same time, so that the liquid outlet 112 Used to send cleaning liquid into the cleaning head 21.
  • the fixed bracket 11 is formed with an accommodation cavity 113, and the liquid outlet 112 is located on the wall of the accommodation cavity 113.
  • the liquid outlet 112 can be arranged at the top of the accommodation cavity 113, or the liquid outlet 112 It can be arranged on the side of the accommodation cavity 113, so that the cleaning liquid sent out from the liquid outlet 112 can be reliably sent to the cleaning head 21.
  • liquid inlet 111 of the liquid supply channel There may be one liquid inlet 111 of the liquid supply channel, and one liquid inlet 111 corresponds to all the liquid outlets 112 .
  • each liquid inlet 111 can correspond to multiple liquid outlets 112 respectively, so that the cleaning liquid can be reliably sent to the wet cleaning head.
  • the liquid inlet 111 may be formed by a columnar structure, thereby connecting a tubular structure for feeding cleaning liquid.
  • the liquid outlet 112 may be a rectangular port, a circular port, or other polygonal structures, which are not limited here.
  • the plurality of liquid outlets 112 are sequentially arranged in a direction parallel to the cleaning head 21 .
  • the recovery system 40 is provided on the machine body 10 .
  • the recovery system 40 includes a collection part 41 .
  • the collection part 41 collects the cleaning head 21 and/or the cleaning head 21 and/or the surface to be cleaned. Residues can effectively clean the surface to be cleaned and ensure the cleanliness of the surface to be cleaned.
  • the surface to be cleaned is cleaned by the rotation of the cleaning head 21.
  • the residue on the surface to be cleaned can be adsorbed to the cleaning head 21, and the collection part 41 can collect this part of the residue. Collection is performed to ensure the cleanliness of the cleaning head 21.
  • the collection part 41 can also collect residues on the surface to be cleaned, thereby cooperating with the cleaning head 21 to achieve reliable cleaning of the surface to be cleaned. Residues can be water, debris, etc., which are not limited here.
  • the recovery system 40 further includes: a scraper 42 , the scraper 42 is in contact with the cleaning head 21 , and the scraper 42 interferes with the cleaning head 21 to remove the scraper on the cleaning head 21 .
  • the residue is removed to be collected by the collection part 41, thereby ensuring the cleanliness of the cleaning head 21, thereby ensuring effective cleaning of the surface to be cleaned.
  • the scraper 42 can be a plate-like structure, and the plate-like structure interferes with the cleaning head 21 .
  • the plate-like structure can remove the residue on the cleaning head 21 , thereby passing through the collection part 41 Collect, thereby ensuring that the residue adsorbed on the surface to be cleaned can be collected by the collection part 41 in time.
  • the scraper 42 can be disposed on the machine body 10 .
  • the scraper 42 is detachably arranged on the machine body 10 .
  • the scraper 42 is parallel to the cleaning head 21, so that the scraper 42 can reliably remove residues on the cleaning head 21 and facilitate the installation of the structure.
  • the length of the scraper 42 can be equal to the length of the cleaning head 21.
  • the scraper 42 can be prevented from occupying space in the length direction, thereby ensuring the compactness of the structure. .
  • the transverse axis of the machine body 10 is parallel to the cleaning head 21 , and the transverse axis of the machine body 10 is parallel to the scraper 42 .
  • the scraper 42 is provided with a water suction port 421 , and the water suction port 421 is connected with the collection part 41 , thereby enabling the wastewater in the recovery system 40 to reliably pass through the water suction port 421 . Collected in the collection part 41.
  • the water suction port 421 can face the cleaning head 21 . After the scraper 42 hangs the sewage on the cleaning head 21 , the sewage can stay along the scraper 42 and flow to the water suction port 421 , so that it can be collected through the recovery system 40 The sewage is pumped into the collection part 41 through the water suction port 421.
  • the water suction port 421 can be located on the side of the scraper 42 away from the cleaning head 21. A part of the scraper 42 can be used to collect sewage, and the water suction port 421 can pump the collected sewage into the collection part. 41.
  • the recovery system 40 further includes: a power part 43 , the power part 43 is in pneumatic communication with the collection part 41 to collect residues to the collection part 41 .
  • Negative pressure can be generated between the power part 43 and the collecting part 41 , so that the residue on the surface to be cleaned and the residue on the cleaning head 21 can be sucked into the collecting part 41 .
  • the negative pressure generated between the power part 43 and the collection part 41 can suck the sewage into the collection part 41 through the water suction port 421.
  • the power part 43 may be a fan.
  • the fixed bracket 11 is formed with an accommodating cavity 113
  • the cleaning head 21 is located in the accommodating cavity 113
  • the collection part 41 is connected with the accommodating cavity 113 , so that residues can pass through the accommodating cavity 113 Then enter the collection part 41.
  • the fixed bracket 11 is provided with a through hole 114 , the through hole 114 is connected with the collection part 41 , the through hole 114 is connected with the accommodating cavity 113 , and the residue scraped off by the cleaning head 21 by the scraper 42 is located on the fixed bracket 11
  • the negative pressure generated between the power part 43 and the collection part 41 can draw the residue in the accommodation cavity 113 into the collection part 41 through the through hole 114 .
  • the accommodation cavity 113 of the fixed bracket 11 can form a relatively sealed space with the surface to be cleaned. Therefore, the negative pressure generated between the power part 43 and the collection part 41 can remove the surface on the surface to be cleaned. The residue is drawn into the collecting part 41 through the through hole 114 .
  • the collection part 41 includes an inlet 411 and an outlet 412.
  • the inlet 411 can be connected with the accommodation cavity 113. Further, the inlet 411 can be connected with the through hole 114, and the outlet 412 can be connected with the through hole 114.
  • the power part 43 is connected, so that the power part 43 can provide power through the outlet 412 of the collection part 41 to suck the residue from the through hole 114 of the accommodation chamber 113 into the inlet 411 of the collection part 41 and then enter the collection part 41 .
  • sewage, debris, etc. carried in the airflow remain in the collection part 41 under the action of gravity. Therefore, when the flow path of the airflow inside the collection part 41 is long, it can be effectively Sewage, debris, etc. are separated from the air flow.
  • the inlet 411 and the outlet 412 of the collection part 41 can be disposed on the same side of the collection part 41 .
  • the inlet 411 and the outlet 412 of the collection part 41 are both located on the same side of the collection part 41 .
  • this arrangement can effectively extend the flow path of the airflow in the collection part 41, thereby more effectively separating sewage, debris, etc. from the airflow.
  • the blocking assembly 50 of the cleaning robot is disposed on the machine body 10 , and at least part of the position of the blocking assembly 50 is adjustably disposed to close or release the collection part 41
  • the inlet 411 and the outlet 412 of the collecting part 41 prevent the debris in the collecting part 41 from pouring out from the inlet 411 or entering the power part 43 from the outlet 412.
  • the blocking assembly 50 can close the inlet 411 and the outlet 412 of the collection part 41 when the cleaning robot is not running, so it can avoid the problem of accidentally pouring out residues caused by manually moving the cleaning robot.
  • the blocking assembly 50 can be caused to release the inlet 411 and the outlet 412 of the collection part 41 , so that the residue can be drawn into the collection part 41 through the inlet 411 .
  • the blocking assembly 50 can be controlled by an independent motor, and the inlet 411 and the outlet 412 of the collection part 41 can be closed at any time, for example, when the cleaning robot is not running.
  • the motor of the blocking assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the blocking assembly 50 may be controlled according to the motion status of the cleaning robot fed back by the control system 80 .
  • the blocking assembly 50 can be controlled to close the inlet 411 and the outlet 412 of the collection part 41; or when the control system 80 detects that the cleaning robot is in a tilted state, the blocking assembly can be controlled 50 close the inlet 411 and outlet 412 of the collection part 41; or, when the control system 80 detects that the cleaning robot is idling for a long time, for example, the cleaning robot is stuck in a fixed position during the cleaning process and cannot continue to move forward.
  • the control system 80 can control the blocking assembly 50 to close the inlet 411 and the outlet 412 of the collection part 41; or, when the control system 80 detects that the amount of garbage in the collection part 41 reaches a certain height, the control system 80 can control the sealing The blocking assembly 50 closes the inlet 411 and the outlet 412 of the collection part 41 .
  • the user can also use the app to control the blocking component 50 to meet usage needs, and can flexibly control the closing of the inlet 411 and outlet 412 of the collection part 41 .
  • the blocking assembly 50 includes: a connecting rod 51; a first blocking member 52, the first blocking member 52 is disposed on the connecting rod 51; and a second blocking member 52. member 53, and the second blocking member 53 is disposed on the connecting rod 51; wherein the connecting rod 51 is movably disposed relative to the machine body 10, so that the first blocking member 52 and the second blocking member 53 are respectively closed or released.
  • the inlet 411 and the outlet 412, that is, the first blocking member 52 and the second blocking member 53 can simultaneously close or release the inlet 411 and the outlet 412, thereby improving the performance of the cleaning robot.
  • the operation performance ensures that the residue is pumped into the collection part 41 in time.
  • the blocking assembly 50 may include a driving part 54.
  • the driving part 54 may be a motor.
  • the driving part 54 is drivingly connected to the connecting rod 51, thereby driving the connecting rod 51 to rotate. This drives the first blocking member 52 and the second blocking member 53 to rotate, thereby closing or releasing the inlet 411 and the outlet 412.
  • the first blocking member 52 and the second blocking member 53 are spaced apart on the connecting rod 51 .
  • the first blocking member 52 and the second blocking member 53 are located in the middle of the connecting rod 51 .
  • One end of the connecting rod 51 is connected to the driving part 54
  • the other end of the connecting rod 51 is arranged beyond the second blocking part 53
  • the first blocking part 52 is located between the driving part 54 and the second blocking part 53 .
  • the first blocking member 52 and the second blocking member 53 are respectively located near the two opposite ends of the connecting rod 51 .
  • the first blocking member 52 and the second blocking member 53 are both detachably provided on the connecting rod 51; or, the first blocking member 52 and the second blocking member 53 are both integrally formed on the connecting rod 51.
  • the driving part 54 can be a cylinder, an oil cylinder, or a telescopic motor.
  • the driving part 54 is connected to the connecting rod 51 , and the telescopic rod of the driving part 54 performs telescopic motion, that is, the connecting rod 51 can perform telescopic motion.
  • the connecting rod 51 can move forward and backward, so that the first blocking member 52 and the second blocking member 53 can move forward and backward, that is, move in a direction parallel to the plane where the inlet 411 and the outlet 412 of the collecting part 41 are located, Thereby, the inlet 411 and the outlet 412 of the collection part 41 are closed or released.
  • the driving part 54 can be a cylinder, an oil cylinder, or a telescopic motor.
  • the driving part 54 is connected to the connecting rod 51 , and the telescopic rod of the driving part 54 performs telescopic motion, that is, the connecting rod 51 can perform telescopic motion.
  • the connecting rod 51 can move up and down, so that the first blocking member 52 and the second blocking member 53 can move up and down, that is, move in a direction perpendicular to the plane where the inlet 411 and the outlet 412 of the collecting part 41 are located, Thereby, the inlet 411 and the outlet 412 of the collection part 41 are closed or released.
  • the first blocking member 52 and the second blocking member 53 of the blocking assembly 50 may be independently provided on the first driving part and the second driving part.
  • the first blocking member 52 and the second blocking member 53 are respectively driven to move, thereby closing or releasing the inlet 411 and the outlet 412.
  • the first driving part and the second driving part may operate synchronously, so that the first blocking member 52 and the second blocking member 53 operate synchronously, thereby closing or releasing the inlet 411 and the outlet 412 synchronously.
  • the first driving part and the second driving part may adopt power mechanisms such as motors, air cylinders, and oil cylinders.
  • the blocking assembly 50 may include a connecting rod 51 , a first blocking member 52 , a second blocking member 53 , a driving part 54 and a push rod 55 .
  • the blocking member 52 and the second blocking member 53 are connected to the connecting rod 51, and the ejector rod 55 can be connected to the first blocking member 52.
  • the driving part 54 is drivingly connected to the ejector rod 55, so that the driving part 54 can drive the ejector.
  • the rod 55 moves up and down, thereby causing the first blocking member 52 and the second blocking member 53 to move up and down, or the connecting rod 51 drives the first blocking member 52 and the second blocking member 53 to rotate, thereby achieving synchronous closing or Release inlet 411 and outlet 412.
  • the blocking assembly 50 may also include an elastic member 56 , and after the driving part 54 releases power, the elastic member 56 may drive the push rod 55 to return to the original position, so that the first blocking member 52 and the second blocking member 53 Move from the position where the inlet 411 and the outlet 412 are released to the position where the inlet 411 and the outlet 412 are closed.
  • the elastic member 56 can be a spring.
  • the spring can be sleeved on the connecting rod 51. One end of the spring can be in contact with the first blocking member 52, and the other end of the spring can be supported on other components of the cleaning robot.
  • a spring The other end can be in contact with the machine body 10, thereby compressing the spring when the push rod 55 moves upward, and after the push rod 55 loses power, the spring returns to the original position, thus driving the first blocking member 52 and the second blocking member 52.
  • the blocking member 53 moves from a position where the inlet 411 and the outlet 412 are released to a position where the inlet 411 and the outlet 412 are closed.
  • the spring can abut the first blocking member 52, or the spring can abut the second blocking member 52.
  • Blocking piece 53 There may be at least two springs. The two springs are respectively provided at both ends of the connecting rod 51 , and the two springs are respectively in contact with the first blocking member 52 and the second blocking member 53 .
  • the driving part 54 drives the push rod 55 to move upward, the connecting rod 51 can rotate in the first direction, so that the first blocking member 52 and the second blocking member 53 release the inlet 411 and the outlet 412.
  • the elastic member 56 is pressed, and after the driving part 54 releases power, or after the driving part 54 runs in reverse, for example, when the motor rotates forward, the ejector rod 55 moves upward, and when the motor rotates reversely, the driving part 54 does not need to be in contact with the ejector rod 55
  • the driving force of the elastic member 56 returning to the original state drives the connecting rod 51 to rotate in the second direction, thereby pressing the push rod 55 to move downward, so that the first sealing member 52 and the second sealing member 52 can be moved downward.
  • the plug 53 blocks the inlet 411 and the outlet 412.
  • the driving part 54 may include a cam mechanism, and the cam mechanism drives the push rod 55 to move upward. At this time, the push rod 55 may be in contact with the cam mechanism without being fixed.
  • the driving part 54 may include an electric push rod, and the electric push rod and the push rod 55 may only be plugged in but not axially fixed. In some embodiments, it is not excluded that the driving part 54 can be fixedly connected to the connecting rod 51 , in which case the elastic member 56 can be eliminated.
  • the driving part 54 drives the ejector pin 55 to move upward.
  • the driving part 54 may include a cam mechanism, a gear mechanism, etc. As long as it can achieve linear motion, it can push the ejector pin 55 to move linearly.
  • the blocking assembly 50 may also include a seal 57 , and the seal 57 may be disposed on the collection part 41 , that is, the collection part 41 may be provided with a through hole, and the push rod 55 may pass through it. It is connected to the driving part 54 through the through hole, and the seal 57 is used to block the gap between the hole wall of the through hole and the push rod 55, so as to prevent the sewage in the collection part 41 from flowing out.
  • the push rod 55 can be in the sealing part 57 moves up and down internally.
  • the seal 57 may be a sealing ring.
  • the collection part 41 may include at least two sub-chambers, the first sub-chamber is used to store sewage, and the second sub-chamber is an empty cavity under normal conditions, and only after the water level in the first sub-chamber reaches a certain value will flow into the second sub-chamber, and the ejector rod 55 is disposed in the second sub-chamber. Therefore, under normal conditions, there will be no leakage problem in the second sub-chamber, but by providing a seal 57, it can Effectively avoid leakage when the second sub-chamber contains liquid.
  • the ejector pin 55 can open the first blocking member 52 and the second blocking member 53, and when the collecting part 41 is taken out, the first blocking member The member 52 and the second blocking member 53 lose the support of the push rod 55, and under the action of the spring force, the first blocking member 52 and the second blocking member 53 are closed.
  • the sensor is used to detect that when the user flips or tilts the machine cleaning robot, the program controls the movement of the ejector rod 55 so that the ejector rod 55 cannot support the first blocking member 52 and the second blocking member 53. Under the action of the spring force , the first blocking member 52 and the second blocking member 53 are closed.
  • the cleaning system 20 may be disposed at the forward portion 12 of the machine body 10 , and at least part of the driving system 30 may be disposed at the rearward portion 13 of the machine body 10 ,
  • the driven wheel 33 of the drive system 30 may be provided at an edge position of the rearward portion 13 .
  • the forward portion 12 may be generally rectangular and the rearward portion 13 may be generally semicircular.
  • the cleaning system 20 also includes: an auxiliary cleaning head 23.
  • the auxiliary cleaning head 23 is provided on the machine body 10.
  • the auxiliary cleaning head 23 can enable the cleaning robot to clean better. Walls, corners and other areas to improve the cleaning effect of the cleaning system 20.
  • the auxiliary cleaning head 23 is disposed at a corner position of the machine body 10 , and a part of the auxiliary cleaning head 23 is disposed beyond the machine body 10 .
  • the auxiliary cleaning head 23 exceeds the machine body 10
  • the part is smaller than the part of the auxiliary cleaning head 23 located below the machine body 10, so that on the basis of ensuring the cleaning range of the auxiliary cleaning head 23, the auxiliary cleaning head 23 can be prevented from excessively increasing the floor space of the cleaning robot.
  • the machine body 10 includes a forward portion 12 and a rearward portion 13.
  • the forward portion 12 is roughly a rectangular body, that is, ignoring manufacturing errors, installation errors, etc., the circumferential outer surface of the rectangular body can include a corner area with arc transition,
  • the rectangular body here only emphasizes the general structure of the forward portion 12 .
  • the auxiliary cleaning head 23 is provided at a corner position of the forward portion 12 .
  • the auxiliary cleaning head 23 is disposed at a position close to the forward portion 12 of the machine body 10 , and a part of the auxiliary cleaning head 23 exceeds the load-carrying buffer 72 , even if the cleaning robot is subjected to Even if there are obstacles ahead, the auxiliary cleaning head 23 can also clean gaps and other parts in front, thereby improving the cleaning ability of the cleaning robot.
  • a preset angle is formed between the transverse axis of the machine body 10 and the cleaning head 21 , that is, the cleaning head 21 is arranged in an inclined manner, and the auxiliary cleaning head 23 is arranged on the side of the cleaning head 21 that is tilted backward. , thus the area of the auxiliary cleaning head 23 can be increased, that is, the area of the auxiliary cleaning head 23 can be made relatively larger without excessively increasing the portion of the auxiliary cleaning head 23 beyond the machine body 10 , thereby ensuring that the cleaning system 20 has a sufficient cleaning area.
  • the outer edge of the auxiliary cleaning head 23 is roughly circular, and arranging the auxiliary cleaning head 23 on the side of the cleaning head 21 that tilts backward can make the auxiliary cleaning head 23 have a larger cleaning area, and can also make the auxiliary cleaning head
  • the portion 23 overlaps the cleaning head 21 .
  • the auxiliary cleaning head 23 partially overlaps the cleaning head 21. On the basis of ensuring that the combination of the auxiliary cleaning head 23 and the cleaning head 21 can increase the cleaning area, the auxiliary cleaning head 23 and the cleaning head 21 can be avoided. There is a problem of leakage of cleaning, so as to improve the cleaning effect of the cleaning system 20.
  • the outer edge of the auxiliary cleaning head 23 exceeds the outer edge of the machine body 10 , that is, the auxiliary cleaning head 23 can clean the position outside the machine body 10 , such as walls, corners, etc., thereby improving the cleaning system. 20 cleaning area and increased cleaning performance of the cleaning robot.
  • the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231 , and the liquid supply part 22 sends cleaning liquid into the wet auxiliary cleaning head 231 .
  • the auxiliary cleaning head 23 can be disposed below the liquid supply part 22 , and the cleaning liquid inside the liquid supply part 22 is transmitted to the auxiliary cleaning head 23 through the water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the surface to be cleaned.
  • the cleaning system 20 may also include an auxiliary liquid supply channel, and the liquid supply part 22 sends the cleaning liquid into the wet auxiliary cleaning head 231 through the auxiliary liquid supply channel.
  • the auxiliary liquid supply channel may be a space formed inside the auxiliary cleaning head 23 , and the cleaning liquid is sent to the wet auxiliary cleaning head 231 through the liquid outlet.
  • the auxiliary liquid supply channel may be a liquid delivery pipe to deliver the cleaning liquid into the wet auxiliary cleaning head 231 .
  • the cleaning system 20 also includes: a water pump 24 , the water pump 24 is connected with the liquid supply part 22 to send the cleaning liquid in the liquid supply part 22 to the cleaning head 21 and on at least one of the auxiliary cleaning heads 23.
  • the water pump 24 can send the cleaning liquid in the liquid supply part 22 to the cleaning head 21 through the liquid supply channel, and/or send the cleaning liquid in the liquid supply part 22 to the auxiliary cleaning head 23 through the auxiliary liquid supply channel.
  • the water pump 24 there may be one water pump 24, and one water pump 24 connects the liquid supply channel and the auxiliary liquid supply channel at the same time. There may be two water pumps 24, and the two water pumps 24 are connected to the liquid supply channel and the auxiliary liquid supply channel respectively.
  • the water pump 24 can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, etc. The power/flow rate of the water pump 24 can be adjusted.
  • the water pump 24 can cooperate with valves and other devices to realize the flow of cleaning liquid in the liquid supply part 22 to the cleaning Liquid supply control of head 21 and auxiliary cleaning head 23.
  • the cleaning head 21 is rotatably arranged around the first axis, and the auxiliary cleaning head 23 is rotatably arranged around the second axis; there is a certain angle between the first axis and the second axis.
  • the cleaning head 21 may be a mopping roller brush.
  • the auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply part 22 passes through the penetration and centrifugal force of the cloth or wool, so that the water is evenly distributed on the auxiliary cleaning head 23 .
  • the auxiliary cleaning head 23 can float to a certain extent in the up and down direction.
  • the first axis is perpendicular to the second axis, that is, the first axis may be parallel to the surface to be cleaned, and the second axis may be perpendicular to the surface to be cleaned.
  • the auxiliary cleaning head 23 may be a side brush.
  • the rotation axis of the side brush is at a certain angle relative to the ground for moving residues on the surface to be cleaned into the cleaning area of the cleaning head 21 .
  • the auxiliary cleaning head 23 may be in the form of a disc brush, a roller brush, or the like.
  • the auxiliary cleaning head 23 may also include a main body part 232 , the wet auxiliary cleaning head 231 is connected to the main body part 232 , and the main body part 232 is disposed on the machine body 10 .
  • the main body part 232 may include a driving motor, and the driving motor may drive the wet auxiliary cleaning head 231 to rotate.
  • the wet auxiliary cleaning head 231 can be made of cloth or wool, and the main body 232 can include a support structure.
  • the support structure can be a tapered soft rubber support, which can transmit a large torque and allow the wet auxiliary cleaning head 231 to float up and down to a certain extent. This improves cleaning capabilities.
  • the liquid supply part 22 and the collection part 41 are stacked, thereby improving the space utilization of the cleaning robot and avoiding the problem of the cleaning robot being too large.
  • the liquid supply part 22 is located above the collection part 41 .
  • the liquid supply part 22 can be a clean water tank, and the collection part 41 can be a sewage tank.
  • the clean water tank is located above to facilitate liquid supply to the cleaning head 21 and the auxiliary cleaning head 23 .
  • the sewage tank is located below to facilitate the recycling of residues.
  • the clean water tank and the sewage tank can be stacked up and down, that is, as shown in Figure 15 and Figure 16, the liquid supply part 22 and the collection part 41 are stacked up and down.
  • the clean water tank can be located above the sewage tank.
  • the clean water tank is located above to facilitate cleaning.
  • the head 21 and the auxiliary cleaning head 23 supply liquid, and the sewage tank is located below to facilitate the recovery of residues, and the stacking of the clean water tank and the sewage tank will also prevent the center of gravity of the cleaning robot from changing much in the horizontal direction. , to ensure the stability of the cleaning robot and avoid large shaking during the cleaning process.
  • the collection part 41 can be located at the middle position of the machine body 10 , that is, the collection part 41 can be located on the side of the cleaning system 20 away from the load-bearing buffer 72 , so that when the amount of water in the collection part 41 changes, the center of gravity of the cleaning robot does not change. There will be too many changes to ensure that the cleaning robot can stably clean the cleaning surface without the problem of unstable center of gravity during use.
  • the liquid supply part 22 and the collection part 41 are stacked one above the other, the liquid supply part 22 is provided with a water inlet 221, and the collection part 41 is provided with a drainage port 413.
  • the water inlet 221 on the liquid supply part 22 is used to inject clean water into the liquid supply part 22
  • the drain port 413 on the collection part 41 is used to discharge the sewage in the collection part 41 out of the collection part 41 .
  • the water inlet 221 can be disposed on the side of the liquid supply part 22, and the drain port 413 can be disposed on the side of the collection part 41. For example, there can be two interfaces at the bottom or side of the machine body 10, and the two interfaces are convenient.
  • the two interfaces need to be blocked to avoid water leakage.
  • the water inlet 221 and the drain outlet 413 can be blocked by sealing members, and the liquid supply part 22 and the collection part 41 can be removed from the machine body 10 at the same time when filling or draining water.
  • the liquid supply part 22 and the collection part 41 are connected, so that the liquid supply part 22 and the collection part 41 can be removed from the machine body 10 simultaneously.
  • the liquid supply part 22 and the collection part 41 can be removed from the machine body 10, so that the liquid supply part 22 can be filled with liquid and the collection part 41 can be discharged with sewage.
  • the collection part 41 may have a special-shaped structure.
  • the collection part 41 may include a main body 414 and an extension part 415 connected to the main body 414.
  • the main body 414 and the extension part 415 together form a chamber for collecting sewage, and the main body 414 can be roughly a rectangular body, and the extension portion 415 can be an irregular special-shaped structure.
  • the extension portion 415 can be roughly divided into triangles and rectangles, or semicircles and rectangles, etc., which are not limited here, and the extension portion 415 accommodates
  • the space for sewage is smaller than the space for the main body 414 to accommodate sewage.
  • the drain port 413 on the extension part 415 when the sewage is discharged, the sewage can be concentrated at the extension part 415 by tilting the collection part 41, thereby ensuring the smooth discharge of sewage and avoiding the accumulation of large amounts in the collection part 41. There is a lot of sewage that cannot be removed.
  • a plurality of cliff sensors may be provided on the machine body 10.
  • the plurality of cliff sensors are provided around the circumferential edge of the machine body 10, and the auxiliary cleaning head 23 is located at the corner of the machine body 10.
  • the machine The body 10 can be provided with a cliff sensor near the auxiliary cleaning head 23 , and the machine body 10 can be provided with at least two cliff sensors near the auxiliary cleaning head 23 .
  • the cliff sensors can identify the surface to be cleaned to determine the surface to be cleaned.
  • the physical characteristics of the surface include surface material, cleanliness, etc., and the control system 80 can control the operating status of the auxiliary cleaning head 23 according to the recognition results of the cliff sensor, so as to ensure the cleaning function of the auxiliary cleaning head 23, for example, the cliff sensor
  • the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect; or when the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to reduce the humidity. Avoid getting the blanket wet.
  • the detection system 60 of the cleaning robot is disposed on the machine body 10 , and at least part of the detection system 60 extends from the outer edge of the machine body 10 , thereby increasing the detection system 60 detection range, thus increasing the flexible adjustment capabilities of the cleaning robot.
  • the detection system 60 may be an ultrasonic, infrared, or other sensor, used to detect changes in the material of the surface to be cleaned, changes in the level of the surface to be cleaned, or detect dirt.
  • the detection system 60 is movably arranged relative to the machine body 10, so that the position of the detection system 60 can be reliably adjusted to adapt to different application environments.
  • the detection system 60 can be driven by a driving mechanism to realize position adjustment, or the detection system 60 can include a flexible mechanism, and the position adjustment can be realized by deforming the flexible mechanism.
  • the detection system 60 is telescopically disposed on the machine body 10.
  • the detection system 60 has an extended state and a contracted state.
  • the detection system 60 can be installed near the corner of the cleaning robot to facilitate the detection system 60 to detect the ground conditions in front or side in the telescopic state.
  • the detection system 60 can be disposed at the front of the cleaning robot.
  • At least part of the detection system 60 can extend from the outer edge of the machine body 10, so that the detection system 60 has a retracted state of being retracted in the machine body 10 and an extended state of extending out of the machine body 10.
  • Control The system 80 can control the movement of the detection system 60 between the contracted state and the extended state, so that the detection system 60 can be adjusted in real time according to the operating state or operating path of the cleaning robot, thereby ensuring that the detection system 60 can accurately determine the surface to be cleaned. state.
  • the driving system 30 can drive the cleaning robot to run on the work surface.
  • the control system 80 can drive the detection system 60 to move from the retracted state to the extended state, so that the detection system 60 can monitor the status of the work surface in real time.
  • the detection system 60 has a detection perspective toward the work surface, so that it can accurately detect the status of the work surface, such as changes in the material of the work surface, changes in the level of the work surface, or dirt detection.
  • the detection system 60 can be connected to the corner of the machine body 10 , and the auxiliary cleaning head 23 can be located at a position of the machine body 10 close to the detection system 60 .
  • the detection system 60 The surface to be cleaned can be identified in advance to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and the control system 80 can control the operating status of the auxiliary cleaning head 23 based on the identification results of the detection system 60, so as to Ensure the cleaning function of the auxiliary cleaning head 23.
  • the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect; or, the surface to be cleaned identified by the cliff sensor is When the blanket is being used, the auxiliary cleaning head 23 can be controlled to reduce the humidity and avoid getting the blanket wet.
  • the detection system 60 is telescopically disposed on the forward portion 12 of the machine body 10, so that the detection system 60 can determine the status of the surface to be cleaned earlier, thereby feeding back to the control system 80, so that the control system 80 can adjust the walking route and cleaning mode of the cleaning robot according to the information fed back by the detection system 60 .
  • the detection system 60 is disposed at the corner of the forward part 12, so that the detection system 60 can be reasonably laid out, avoiding the detection system 60 from occupying a large area, and enabling the detection system 60 to reliably monitor the work surface located at the corner of the machine body 10 status to ensure that the cleaning robot can clean the work surface more efficiently.
  • At least one detection system 60 is disposed adjacent to the auxiliary cleaning head 23 , and at least part of the detection system 60 is located directly above the auxiliary cleaning head 23 , so that the detection system 60 can be avoided. 60 interferes with the auxiliary cleaning head 23, and the corner position of the machine body 10 can be utilized to a greater extent, thereby rationally laying out the installation positions of the detection system 60 and the auxiliary cleaning head 23.
  • control system 80 can be connected to the detection system 60, and the control system 80 can control the telescopic state of the detection system 60.
  • the control system 80 can control the detection system 60 to move from the retracted state to the telescopic state. extended state; or, when the cleaning robot stops running, the control system 80 can control the detection system 60 to operate from the extended state to the retracted state.
  • the control system 80 controls the cleaning system 20 or the driving system 30 to change the working state, and the working surface becomes the surface to be cleaned.
  • the control system 80 can control the driving system 30 to decelerate, and the control system 80 can also control the cleaning system 20 to decelerate and rotate.
  • the control system 80 can control the driving system 30 to accelerate, and the control system 80 can also control the cleaning system 20 to accelerate the rotation.
  • the detection system 60 can be used to detect changes in the material of the surface to be cleaned, changes in the level of the surface to be cleaned, or detect dirt, etc., so that it can be fed back to the control system 80 to control the operating status of the cleaning robot. For example, the detection system 60 detects the surface to be cleaned.
  • the control system 80 can control the cleaning robot to slow down to ensure that the cleaning system 20 can better clean the surface to be cleaned; or, when the detection system 60 detects that the surface to be cleaned is the floor, the control system 80 can Control the water pump 24 to increase the flow rate of the cleaning liquid in the liquid supply part 22 into the cleaning head 21 and the auxiliary cleaning head 23 to ensure reliable cleaning of the floor; alternatively, the control system 80 can adjust according to the information fed back by the detection system 60 The walking route and cleaning mode of the cleaning robot, etc., for example, when the detection system 60 is in the extended state, the detection system 60 can be located in front of the machine body 10, so that the detection system 60 can determine the status of the surface to be cleaned earlier and provide feedback.
  • the detection system 60 can detect changes in ground material earlier. For example, when the ground changes from floor to carpet, the detection system 60 can immediately provide relevant information to the control system 80 so that the control system 80 can promptly Control the walking direction or cleaning mode of the cleaning robot.
  • the cleaning robot can be controlled to decelerate when changing from the floor to the carpet, or the cleaning robot can be controlled to reduce the liquid supply to the cleaning head 21 and the auxiliary cleaning head 23 when changing from the floor to the carpet. quantity.
  • there may be multiple detection systems 60 which can effectively expand the detection range of the detection system 60 , thereby accurately assisting the working status of the cleaning system 20 or the driving system 30 .

Landscapes

  • Cleaning In General (AREA)

Abstract

Robot de nettoyage, comprenant : un corps de robot (10) ; et un système de nettoyage (20). Le système de nettoyage (20) est disposé sur le corps de machine (10), et le système de nettoyage (20) comprend une tête de nettoyage (21), une tête de nettoyage auxiliaire (23) et une partie d'alimentation en liquide (22), la partie d'alimentation en liquide (22) fournissant un liquide de nettoyage dans la tête de nettoyage (21) et dans la tête de nettoyage auxiliaire (23), de telle sorte qu'une surface à nettoyer peut être nettoyée de manière fiable au moyen de la tête de nettoyage (21) et de la tête de nettoyage auxiliaire (23), ce qui permet d'améliorer la capacité de nettoyage du robot de nettoyage et d'améliorer les performances d'utilisation du robot de nettoyage.
PCT/CN2023/081697 2022-04-08 2023-03-15 Robot de nettoyage WO2023193581A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210380603.3 2022-04-08
CN202210380603.3A CN116919260A (zh) 2022-04-08 2022-04-08 清洁机器人

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