WO2024045800A1

WO2024045800A1 - Cleaning robot and cleaning system

Info

Publication number: WO2024045800A1
Application number: PCT/CN2023/102060
Authority: WO
Inventors: 李汉政; 李建康; 刘宗波; 王兵峰; 肖成志; 刘武坤
Original assignee: 汤恩智能科技(上海)有限公司; 汤恩智能科技(常熟)有限公司
Priority date: 2022-08-31
Filing date: 2023-06-25
Publication date: 2024-03-07
Also published as: CN117956937A; WO2024045799A1

Abstract

A cleaning robot (1) and a cleaning system. The cleaning robot (1) comprises: a chassis (11), comprising a clean water tank (110) integrally formed at the top of the chassis (11); and a dirty water tank (12), which is nested on the clean water tank (110) so as to be combined with the chassis (11), and which comprises a built-in accommodating space (120) for recycling dirty water collected by the cleaning robot (1), the built-in accommodating space (120) and an accommodating space (1100) of the clean water tank (110) having an overlapping region in a vertical direction. The dirty water tank (12) is integrally formed with an external accommodating space for accommodating a battery (410), the battery (410) being used to supply power to the cleaning robot (1). According to the arrangement of the clean water tank (110) and the dirty water tank (12), the spatial layout of the cleaning robot (1) is optimized and the risk of rolling over caused by emergency parking is reduced.

Description

Cleaning robots and cleaning systems

Technical field

The present application relates to the technical field of cleaning robots, and specifically to a cleaning robot and a cleaning system.

Background technique

Keeping floor surfaces clean is an ongoing and time-consuming process in areas such as commercial, industrial, institutional, and public buildings where high volumes of water are used or large areas need to be cleaned. With the development of automation technology and artificial intelligence, robots are widely used in such situations to replace manual cleaning of floor surfaces, including tiles, stone, bricks, wood, concrete, carpets and other common surfaces.

Considering that the surface area to be cleaned is large in the high-capacity water or areas that require large-area cleaning, and the robot is required to have high cleaning power, in order to meet the cleaning requirements, the robot usually has a high water demand. Therefore, this type of robot is generally set up with a large volume to carry water for cleaning, which makes the robot's work efficiency low, and it cannot clean narrow areas such as narrow areas, corridors, aisles, etc. caused by placing objects in the area. Alternatively, frequent water changes for the robot are performed manually, which requires the operator to pay attention to the water status of the robot at all times, and the higher frequency of water changes increases the manual burden and loses the significance of the robot replacing human labor. Or, by transforming the waterway structure in the original regional environment to realize automatic water change by robots, although this method alleviates the manual burden, transforming the waterway structure in the original regional environment will inevitably cause great trouble to the operators, and even Some environments do not have the conditions for transformation or are not allowed to be transformed.

During the cleaning work of the cleaning robot, all the garbage on the surface to be cleaned cannot be effectively collected into the garbage box or dust collection room. In this way, the uncollected garbage will hinder the cleaning work of the cleaning robot.

Therefore, in areas with high volumes of water or large areas that need to be cleaned, miniaturizing the robot and failing to effectively collect garbage from the cleaning device without transforming the original environment are technical problems that need to be solved urgently in this application.

In addition, the robot usually needs to be equipped with an energy storage battery and a water storage tank such as a clean water tank and a sewage tank in its built-in space. It is common to set the clean water tank at a lower position and the sewage tank at the upper part of the clean water tank. , so that the sewage generated during the robot's operation can be collected into the sewage tank and discharged at the appropriate time. In order to avoid the overflow of sewage and the exposure of internal components such as batteries, the top of the robot is usually equipped with a cover to cover the internal space of the robot.

There is usually a filter box built into the sewage tank to prevent solid waste with larger particles from entering the sewage tank and causing blockage of the drainage pipe of the sewage tank. However, in practical applications, it is often found that after users open the cover and clean the garbage in the filter box, they forget to put the garbage box back into the sewage tank and close the cover to let the robot continue to work. This will still cause solid waste to be blocked. The condition of sewage channels.

Therefore, how to set up a detection method to prompt the user to clean up the garbage in the filter box and use the built-in process when closing the cover? Whether the filter box is installed is also a technical problem that needs to be solved urgently in this application.

Contents of the invention

In view of the above shortcomings of the related technologies, the purpose of this application is to provide a cleaning robot and a cleaning system to overcome the technical problem of imbalance caused by unreasonable layout of the clean water tank and sewage tank of the cleaning robot in the related technologies.

In order to achieve the above objectives and other related objectives, the first aspect disclosed in this application provides a cleaning robot, including: a chassis, including a clean water tank integrally formed on the top of the chassis; a sewage tank nested in the clean water tank The above is combined with the chassis and includes a built-in accommodation space for recycling sewage collected by the cleaning robot, and the built-in accommodation space and the accommodation space of the clean water tank have an overlapping area in the vertical direction; wherein , the sewage tank is integrally formed with an external accommodation space for accommodating a battery, and the battery is used to power the cleaning robot.

A second aspect disclosed in this application provides a cleaning system for docking with a cleaning robot including a clean water tank and a sewage tank. The workstation includes: a workstation body provided with at least two removable liquid storage barrels, and The water flow control assembly communicates with each liquid storage barrel; wherein, the bottom of the workstation body is also provided with a base for the cleaning robot to dock; the workstation body is also provided with a control device electrically connected to the water flow control assembly , the control device is used to execute the cyclic water exchange method disclosed in the first aspect of this application.

To sum up, the cleaning robot and cleaning system disclosed in this application have an overlapping area in the vertical direction between the built-in accommodation space and the accommodation space of the clean water tank, so that the space can be distributed from the vertical space. Look, the collected sewage will sink to the space area where the clean water tank is located, which not only ensures space utilization but also ensures the balance of the cleaning robot in the vertical direction, and the stored sewage will be stored opposite the cleaning robot. The bottom position reduces the risk of overturning caused by the forward flow of water. In addition, by forming an external storage space in the sewage tank to more reasonably place the heavier battery, the battery is placed in the center of the overall cleaning robot, which further stabilizes the overall weight of the cleaning robot.

Those skilled in the art will readily appreciate other aspects and advantages of the present application from the detailed description below. Only exemplary embodiments of the present application are shown and described in the following detailed description. As those skilled in the art will realize, the contents of this application enable those skilled in the art to make changes to the specific embodiments disclosed without departing from the spirit and scope of the invention covered by this application. Accordingly, the drawings and descriptions of the present application are illustrative only and not restrictive.

Description of drawings

The specific features of the invention to which this application relates are set forth in the appended claims. The features and advantages of the invention to which this application relates can be better understood by reference to the exemplary embodiments described in detail below and the accompanying drawings. A brief description of the drawings is as follows:

Figure 1 shows a schematic diagram of the external structure of a workstation in an embodiment of the present application.

Figure 2 shows a schematic diagram of the docking between a workstation and a cleaning robot in an embodiment of the present application.

Figure 3 shows a schematic diagram of the internal structure of a workstation in an embodiment of the present application.

FIG. 4 is a schematic flowchart of a cyclic water change method and an automatic water change method in an embodiment of the present application.

FIG. 5 shows a schematic flowchart of determining a target liquid storage barrel storing clean water according to the numbering order of four liquid storage barrels in an implementation of the present application.

Figure 6 shows a schematic diagram of historical event information in an example of this application.

Figure 7 shows a schematic diagram of historical event information in another example of the present application.

FIG. 8 is a schematic flowchart of a cleaning device of a cleaning robot in an embodiment of the present application.

FIG. 9 is a schematic flowchart showing a cleaning robot performing cleaning of the cleaning device in an embodiment of the present application.

Figure 10 shows a schematic flowchart of detecting whether the sewage recovery channel is blocked in an embodiment of the present application.

Figure 11 shows a structural block diagram of a power management system included in a workstation in an embodiment of the present application.

FIG. 12 is a schematic diagram of an electrical signal output by a power management module in an embodiment of the present application.

Figure 13 shows a structural block diagram of a power management module in an embodiment of the present application.

Figure 14 shows a structural block diagram of an electric energy conversion unit in an embodiment of the present application.

Figure 15 shows a structural block diagram of a robot in an embodiment of the present application.

Figure 16 shows a structural block diagram of a power supply management system in an embodiment of the present application.

Figure 17 shows a schematic diagram of the power supply management system forming a charging loop in an embodiment of the present application.

Figure 18 shows a schematic diagram of the power supply management system forming a first power supply loop in an embodiment of the present application.

Figure 19 shows a schematic diagram of the power supply management system forming a second power supply loop in an embodiment of the present application.

Figure 20 shows a structural block diagram of a power management module in an embodiment of the present application.

FIG. 21 is a schematic diagram of the circuit structure of a switch unit in an embodiment of the present application.

Figure 22 shows a schematic three-dimensional structural diagram of a cleaning robot in an embodiment of the present application.

Figure 23 shows an exploded structural diagram of a cleaning robot in an embodiment of the present application.

FIG. 24 is a schematic three-dimensional structural diagram of the cleaning robot from another perspective according to an embodiment of the present application.

Figure 25 shows a schematic diagram of a horizontal plane projection of a cleaning robot in an embodiment of the present application.

Figure 26 shows a schematic structural diagram of the bottom of the cleaning robot in an embodiment of the present application.

FIG. 27 shows a partial enlarged view of the bottom of the cleaning robot of FIG. 26 .

Figure 28 is a schematic three-dimensional structural diagram of a cleaning device in an embodiment of the present application.

Figure 29 shows a schematic structural diagram of the cleaning device after removing the roller brush in an embodiment of the present application.

Figure 30 shows a schematic diagram of the side cover of the roller brush assembly in an embodiment of the present application.

Figure 31 is a schematic three-dimensional structural diagram of a cleaning device in an embodiment of the present application.

Figure 32 is a schematic B-B cross-sectional view of the cleaning device shown in Figure 31 of the present application.

Figure 33 shows a schematic three-dimensional structural diagram of the blocking mechanism in an embodiment of the present application.

Figure 34 is a schematic side view of the blocking mechanism in the embodiment shown in Figure 33 of the present application.

Figure 35 shows a schematic three-dimensional structural diagram of the blocking mechanism in an embodiment of the present application.

Figure 36 shows a schematic three-dimensional structural diagram of the blocking mechanism in an embodiment of the present application.

Figure 37 shows a partial enlarged view of the blocking mechanism in the embodiment shown in Figure 36 of the present application.

Figure 38 shows a schematic three-dimensional structural diagram of the blocking mechanism in an embodiment of the present application.

Figure 39 shows a partial enlarged view of the blocking mechanism in the embodiment shown in Figure 38 of the present application.

Figure 40 shows a schematic structural diagram of an adapter in another embodiment of the present application.

Figure 41 shows a schematic diagram of the installation of the blocking mechanism in another embodiment of the present application.

42 to 43 are schematic diagrams showing the deformation of the lower edge of the blocking structure when the robot is walking in one embodiment.

FIG. 44 is a schematic three-dimensional structural diagram of a cleaning device from a back view in an embodiment of the present application.

Figure 45 shows an exploded schematic diagram of the water spray structure and the second roller brush provided in an embodiment of the present application.

Figure 46 shows a schematic diagram of the position of the water spray structure provided in an installation base in an embodiment of the present application.

Figure 47 shows a schematic diagram of the installation of the dirt collecting assembly in the robot according to an embodiment of the present application.

Figure 48 shows a schematic structural diagram of the dirt collection assembly in an embodiment of the present application.

Figure 49 shows a schematic diagram of the assembly structure of the dirt inlet seat and the water suction rake of the dirt collection assembly in one embodiment of the present application.

Figure 50 shows a schematic exploded view of the dirt collection assembly in an embodiment of the present application.

Figure 51 shows a schematic cross-sectional structural diagram of the dirt collection assembly in an embodiment of the present application.

Figure 52 shows a schematic structural diagram of a chassis in an embodiment of the present application.

Figure 53 is a schematic structural diagram of a horizontal cross-section of a sewage tank in an embodiment of the present application.

Figure 54 is a schematic structural diagram of a vertical cross-section of a cleaning robot in an embodiment of the present application.

Figure 55 shows a schematic structural diagram of a sewage tank from a top perspective in an embodiment of the present application.

Figure 56 shows a schematic structural diagram of the sewage tank being embedded in the clean water tank in one embodiment of the present application.

Figure 57 shows a schematic diagram of a drainage assembly disposed on a cleaning robot in an embodiment of the present application.

Figure 58 shows a schematic three-dimensional structural diagram of a drainage assembly in an embodiment of the present application.

Figure 59 is a schematic diagram of the C-C section of the drainage assembly in the embodiment shown in Figure 58 of the present application.

Figure 60 is a schematic diagram of a DD section of the drainage assembly in the embodiment shown in Figure 58 of the present application.

Figure 61 is a schematic diagram of the E-E cross-section of the drainage assembly in the embodiment shown in Figure 58 of the present application.

Figure 62 shows a schematic diagram of drainage using the second water inlet section and the second water outlet section in another embodiment of the present application.

Figure 63 shows an exploded view of the installation of the battery and built-in box of the cleaning robot of the present application in one embodiment.

Figure 64 shows a cross-sectional view of the internal structure of the built-in box in one embodiment of the present application.

Figure 65 shows a cross-sectional view of the internal structure of the built-in box in another embodiment of the present application.

Figure 66 shows a schematic diagram of the dust bag fixed on the built-in box in one embodiment of the present application.

Figure 67 shows a schematic diagram of a state where the detection element is placed on the cover and hangs down in an embodiment of the present application.

Figure 68 shows a schematic diagram of the detection element placed on the cover and lying flat in an embodiment of the present application.

Figure 69 shows a front schematic diagram of a detection element in an embodiment of the present application.

Figure 70 shows a schematic side view of a detection element in an embodiment of the present application.

Figure 71 shows a schematic diagram of the detection element hanging down when the cover is opened in an embodiment of the present application.

Figure 72 shows a schematic diagram of the detection element flipped to a horizontal state when the cover is closed in an embodiment of the present application.

Figure 73 shows a schematic diagram of a state in which the cover fails to be closed in an embodiment of the present application.

Figure 74 shows an exploded structural diagram of a built-in box in another embodiment of the present application.

Figure 75 shows a schematic diagram of the assembly structure of the built-in box in another embodiment of the present application.

Figure 76 shows a schematic diagram of the contact between the detection element and the element to be inspected in an embodiment of the present application.

Figure 77 shows a schematic diagram of the cover handle in an embodiment of the present application.

Figure 78 shows a schematic diagram of the cover handle flipping in one embodiment of the present application.

Figures 79 to 81 are schematic diagrams of the cover handle flipping in another embodiment of the present application.

Figure 82 shows a schematic diagram of the engagement method of the flip arm in an embodiment of the present application.

Figure 83 is an exploded schematic diagram of the connection relationship between the flip arm and the extension arm in an embodiment of the present application.

Figure 84 shows a schematic assembly diagram of the connection relationship between the flip arm and the extension arm in an embodiment of the present application.

Detailed ways

The following describes the implementation of the present application through specific embodiments. Those familiar with this technology can easily understand other advantages and effects of the present application from the content disclosed in this specification.

In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the application. It is to be understood that other embodiments may be utilized and module or unit composition, electrical, and operational changes may be made without departing from the spirit and scope of the present disclosure. The following detailed description should not be considered limiting, and the scope of embodiments of the present application is limited only by the claims of the published patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Although in some instances the terms first, second, etc. are used herein to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, a first fluid volume state may be termed a second fluid volume state, and similarly, a second fluid volume state may be termed a first fluid volume state, without departing from the scope of the various described embodiments. The first fluid volume state and the second fluid volume state both describe one fluid volume state, but they are not the same fluid volume state unless the context clearly indicates otherwise.

Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising" and "including" indicate the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not exclude one or more other features, steps, operations, The presence, occurrence, or addition of elements, components, items, categories, and/or groups. The terms "or" and "and/or" as used herein are to be construed as inclusive or to mean any one or any combination. Therefore, "A, B or C" or "A, B and/or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C" . Exceptions to this definition occur only when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some manner.

As mentioned in the background art, in areas with high volume of water or large areas that need to be cleaned, such as commercial areas such as hotels, supermarkets, and airports, or industrial areas such as production workshops and warehouses of industrial and mining enterprises; or nursing homes, offices, etc. Institutional areas; or other public building areas such as schools, hospitals, gymnasiums, theaters, etc. In order to meet the dual needs of cleaning area and cleaning intensity, the existing technology may need to sacrifice the work efficiency and convenience of the robot, such as increasing the size of the robot. The water carrying capacity, the size of the robot, the frequent manual water changes for the robot, or the need to change the internal environment of the original building have all brought certain obstacles to the widespread use of robots.

In view of this, the present application proposes a water-changing method and workstation in some embodiments. By setting up a workstation equipped with multiple rotatable liquid storage barrels and an adapted method of changing water for a robot, the large-scale robot can be replaced by a water-changing method. A large amount of water-carrying tasks are transferred to the workstation, and the robot only needs to retain the water-carrying capacity to meet a certain cleaning intensity. This allows the robots used to clean high-volume water or areas that require large-area cleaning to be miniaturized, thereby improving work efficiency and cleaning effects. In addition, the multiple liquid storage barrels of the workstation are removable, and the adapted method of rotating liquid storage barrels to change water for the robot eliminates the need to lay or modify the waterway structure of the original building. After the clean water in the bucket is used up, the operator, such as a cleaning staff, can uniformly change the water in the liquid storage bucket. There is no need for the operator to monitor the water usage status and frequently change the water for the robot.

The workstation described in this application is an equipment or device for robots to dock in order to provide robot services. Depending on the functions and application scenarios it provides, the workstation may also be called a base station, charging station, charging pile, recycling station, water changing station, etc. The workstation can complete various service tasks for the robot by running pre-arranged programs or rules, and also allows operators to intervene to operate the workstation.

The robot connected to the workstation in this application may also be called a mobile robot or a floor cleaning machine in some application scenarios. People, floor washing machines, automatic floor mopping machines, cleaning robots, etc. The robot can accept user commands, such as the operator pushing, pulling, or driving the robot to complete the work; another example, the operator can use the hand-held remote control or load the robot to complete the work. The application on the smart terminal controls the robot to perform work. The robot can also complete the work on its own, for example, by running pre-programmed programs or rules. In the following embodiments of the present application, a cleaning robot that can autonomously perform positioning and navigation and autonomously complete the cleaning work of the surface to be cleaned will be used as an example for explanation.

The robot system described in this application includes a combination of a robot and a workstation. In some application examples, the robot system may also include a remote control for operating or interacting with it, and an intelligent terminal installed with an application program. , and/or cloud servers/clusters that perform data storage and processing in the cloud. It should be understood that in the example where the robot is configured as a cleaning robot for performing cleaning operations, the robot system may also be called a cleaning system, which refers to a combination of a cleaning robot and a workstation.

The surface to be cleaned refers to the floor surface, including tiles, stone, bricks, wood, concrete, carpets and other common surfaces. The surface to be cleaned may also be called a cleaning surface, floor, surface, walking surface, etc. It should be noted that in this application, in order to facilitate description and understanding, the plane parallel to the surface to be cleaned, that is, the floor surface, is called a horizontal plane or a horizontal direction, and the plane perpendicular to the surface to be cleaned, that is, the floor surface, is called a horizontal plane. Call it the vertical plane or vertical direction.

Further, in order to facilitate description and understanding, in this application, the forward direction of the cleaning robot during work is defined as the forward direction (the direction indicated by the dotted line X in Figure 22). Correspondingly, the opposite direction of the forward direction during work Direction is defined as backward. It should be understood that the side of the cleaning robot in the forward direction during operation is defined as the front side or front end, and the side of the cleaning robot in the opposite direction away from the front side or front end is defined as the rear side or rear end. In order to easily distinguish the left side and the right side, the direction in which the cleaning robot moves forward during work is used as a reference to distinguish the left side and the right side.

In some embodiments, the workstation disclosed in the present application is used to dock a cleaning robot including a sewage tank and a clean water tank. The workstation is provided with at least two removable liquid storage barrels, so that it can be used alternately to provide the cleaning robot with Change water and make it easier for operators to change water in the workstation.

Please refer to Figures 1 and 2. Figure 1 shows a schematic diagram of the external structure of a workstation in one embodiment of the present application. Figure 2 shows a schematic diagram of the docking between a workstation and a cleaning robot in one embodiment of the present application. Figures 1 and 2 As shown in FIG. 2 , the workstation 2 includes a workstation body 20 , and a base 21 for a cleaning robot to dock is provided at the bottom of the workstation body 20 .

In the embodiment shown in FIG. 1 , for example, a docking space 200 is provided on the workstation body 20 , and the docking space 200 is located above the base 21 to allow all or part of the cleaning robot 1 to Enter the workstation 2; in the example of allowing all the cleaning robots 1 to enter the workstation 2 as shown in Figure 2, after the cleaning robot 1 completes the docking with the workstation 2, the cleaning robot 1 enters The docking space 200 is to be docked on the base 21, and the docking space 200 is not smaller than the volume of the cleaning robot 1 so that the cleaning machine When the person 1 stops on the base 21, he can completely enter the docking space 200.

Please refer to Figure 3, which is a schematic diagram of the internal structure of a workstation in an embodiment of the present application. As shown in the figure, a sewage holding area 210 is provided on the base 21, and the sewage holding area 210 is used to provide the cleaning Temporary storage space for sewage discharged by robots. Wherein, the temporary storage space refers to an area where water flow is allowed to enter and flow out. According to the flow difference between the entry and outflow of the temporary storage space, the water flow may or may not accumulate in the sewage storage space.

In one embodiment, the workstation is provided with at least two removable liquid storage barrels. In some examples, the water capacity of each liquid storage bucket is equal, and is set to be consistent with or smaller than the water capacity of the clean water tank of the cleaning robot. For example, the water capacity of each liquid storage tank is set to any value from 8L to 12L (for example, it can be 8L, 9L, 10L, 11L, or 12L). Among them, the number and water capacity of the liquid storage barrels are set in a numerical range that is sufficient to support the cleaning robot to run for a certain working time and meet the physical strength of the operator. In this way, the operator only needs to feed the workstation at a lower frequency. The water in the liquid storage tank can be changed, and there is no need to modify the waterway structure or manually push the cleaning robot to change the water at a high frequency. Wherein, the water capacity refers to the predefined volume allowed to store liquid in the liquid storage space. The liquid storage space is the space formed by the container for storing liquid, for example, the liquid storage barrel in this embodiment. space within. It should be understood that the predefined volume of liquid allowed to be stored is not necessarily equal to the liquid storage space, and is usually smaller than the liquid storage space. For example, if a liquid volume threshold is set for the container in advance, then the volume allowed in the liquid storage space will The standard volume of liquid stored should be consistent with this threshold. The liquid volume threshold preset for the container can be reflected, for example, in the form of a capacity scale. This application does not limit this, and the water capacity mentioned later is also based on this. Understood, no need to elaborate further.

Take the example of a cleaning robot working in an area of 2,000 square meters or less with a high volume of water or an area that requires large-scale cleaning. For example, two liquid storage barrels can be installed in the workstation, and the water capacity of each liquid storage barrel is Any value from 8L to 12L, that is, the total water capacity is 16L to 24L. When the water purification tank of the cleaning robot runs out, the cleaning robot can automatically return to the workstation to add water. The total water capacity of the workstation at this time can meet the cleaning requirements. The water consumption of the robot is half a day's work, and the large water volume of 16L to 24 liters is separated into two liquid storage barrels, so that a single liquid storage barrel can meet the physical requirements of the operator, that is, in a day's work of the cleaning robot, The operator only needs to change the water in the workstation's liquid storage tank twice.

Taking the embodiment shown in Figure 3 as an example, the workstation 2 is provided with four removable liquid storage barrels 22. Furthermore, the water capacity of each liquid storage barrel 22 is equal and can be set to 8L to 12L. In this embodiment, it is set to 10L as an example, that is, the total water capacity is 40L as an example. The water capacity of a single liquid storage barrel 22 is consistent with or less than the water capacity of the clean water tank of the cleaning robot. When the water in the clean water tank of the cleaning robot is used up, the cleaning robot can automatically return to the workstation to add water. The total water capacity of the workstation at this time can meet the water consumption of the cleaning robot for one day's work, and the water capacity of a single barrel is also It can meet the physical requirements of the operator, that is, during a day's work of the cleaning robot, the operator only needs to change the water in the liquid storage tank of the workstation once. It should be understood that the number of liquid storage tanks shown in Figure 3 is only an example. This does not mean a limitation to the present application. Depending on the actual application scenario, the number of liquid storage barrels 22 may also be set to three, five, six, etc.

As mentioned above, the numerical range set by the number of liquid storage barrels and the water capacity can ensure the water consumption requirements of the cleaning robot in areas with high volumes of water or large areas of cleaning, and the frequency of water changes by the operators is low. Reduces labor costs and improves cleaning efficiency.

In some embodiments, the workstation body is further provided with a water flow control component connected to the at least two liquid storage barrels and a control device (not shown) electrically connected to the water flow control component. The device is used to control the water flow control component to execute a cyclic water exchange method disclosed in this application. Of course, the cyclic water exchange method disclosed in this application can also be executed by other control devices, for example, a control device provided in an intelligent terminal that can communicate with a workstation, and this application does not limit this.

Please refer to Figure 4, which is a schematic flow chart of a cyclic water change method and an automatic water change method in an embodiment of the present application. The cyclic water change method is executed by a workstation disclosed in any embodiment of the present application. , as shown in the figure, the cyclic water exchange method includes step S110, step S120, and step S130. The automatic water changing method may be executed by a cleaning robot disclosed in any embodiment of the present application. The cleaning robot is used to dock with the workstation. The automatic water changing method includes step S210 and step S220. It should be noted that the flowchart from step S110 to step S130 shown in FIG. 4 is only for ease of understanding and does not mean that there are necessary sequence requirements between steps S110 to step S130.

In step S210, during the working process of the cleaning robot or when docking with the workstation, the cleaning robot sends liquid volume status information to the workstation based on liquid volume detection of its clean water tank and/or sewage tank.

Correspondingly, in step S110, during the working process of the cleaning robot or when docking with the workstation, the liquid volume status information of the cleaning robot is obtained.

In one embodiment, the working process of the cleaning robot refers to a process in which the cleaning robot performs floor surface cleaning work. During this process, the cleaning robot can send its liquid volume status information to the workstation. For example, a cleaning robot can send fluid level status information to a workstation via wireless transmission.

In one embodiment, when the cleaning robot docks with the workstation, it refers to the entire process of the cleaning robot returning and docking at the workstation until leaving the workstation again. During this process, the cleaning robot sends its liquid Liquid volume status information is sent to the workstation. For example, when the cleaning robot returns to the workstation, it sends the liquid volume status information through wireless transmission. For another example, when the cleaning robot docks at the workstation, it can be connected through a wired connection. Send liquid volume status information through interface or wireless transmission.

Wherein, the liquid volume status information includes at least one of clean water tank liquid volume status information and sewage tank liquid volume status information, and the clean water tank liquid volume status information is used to reflect the clean water tank of the cleaning robot. Liquid volume status, the sewage tank liquid The volume status information is used to reflect the liquid volume status of the sewage tank of the cleaning robot.

In some examples, the liquid volume status information sent by the cleaning robot at one time may include both the clean water tank liquid volume status information and the sewage tank status information. In this way, in step S110, the liquid volume status information obtained by the workstation at one time may reflect Fluid volume status of clean water tank and waste water tank.

In other examples, the liquid volume status information sent by the cleaning robot at one time may also include only one of the status information of the clean water tank and the sewage tank. In this way, the workstation can obtain the liquid volume status information of the clean water tank in batches. and recovery tank status information. It should also be noted that in the example of obtaining the liquid volume status information of the clean water tank and the status information of the sewage tank in stages, the two acquisitions do not necessarily have a sequence requirement, nor do they necessarily need to be before steps S120 and S130, only The liquid volume status information of the clean water tank needs to be obtained before step S120, and the liquid volume status information of the sewage tank needs to be obtained before step S130.

In step S120, when it is determined that the clean water tank is in the first liquid volume state based on the liquid volume status information, the liquid storage information of the at least two liquid storage barrels is detected to control one of the targets storing clean water. The liquid storage barrel delivers clean water to the clean water tank.

In one embodiment, the liquid storage information includes liquid storage type and liquid volume status. The liquid storage type refers to the type of liquid stored in the liquid storage tank. For example, the liquid type includes clean water and sewage, and the liquid storage type reflects that clean water or sewage is stored in the liquid storage tank. Wherein, the liquid volume state mentioned in the previous embodiment and this embodiment is used to represent the liquid volume in the container. The liquid volume state includes a first liquid volume state and a second liquid volume state. The first liquid volume state It means that the liquid volume in the container is not greater than the first preset threshold, which is used to indicate that the container is in a low liquid volume or even empty state; the second liquid volume state means that the liquid volume in the container is not less than the second preset threshold, Used to indicate that the container is in a high liquid state, in other words, that there is sufficient liquid in the container. It should be understood that the first preset threshold and the second preset threshold are only a reference standard. In different embodiments, the first preset threshold or the second preset threshold are not necessarily the same or different. Field technicians can set it according to actual needs. In different embodiments, the container is a corresponding component in the corresponding embodiment. For example, in the description of the relevant embodiments of the cleaning robot, the container refers to a clean water tank or a sewage tank. In this embodiment, the container is Refers to the liquid storage barrel. When the liquid volume state of the liquid storage barrel meets the second liquid volume state and the liquid storage type is clean water, it can be determined as the target liquid storage barrel storing clean water. When the liquid volume state of the liquid storage barrel is When the liquid volume state satisfies the first liquid volume state, it can be determined as the target liquid storage barrel for storing sewage.

In one embodiment, the workstation 2 detects the liquid storage information of the at least two liquid storage barrels to control one of the target liquid storage barrels storing clean water to deliver clean water to the clean water tank, including: following a preset setting. The cycle sequence detects the liquid storage information of corresponding liquid storage barrels in the at least two liquid storage barrels to determine the target liquid storage barrel in which clean water is stored.

Wherein, the preset circulation order is, for example, the numbering order or position order of the at least two liquid storage barrels.

Taking the numbering order of the four liquid storage barrels as an example, and the circulation sequence is the numbering sequence of the four liquid storage barrels, the four liquid storage barrels are respectively liquid storage barrel 1, liquid storage barrel 2, liquid storage barrel 3, and liquid storage barrel. Bucket 4, the preset cycle sequence is: each time it is docked, the detection starts from the next target storage tank containing clean water determined by the last docking. During the detection, the detection starts according to the determined storage tank. The liquid bucket numbers are detected in the order of increasing number until the liquid storage bucket storing clean water is determined, that is, it is used as the target liquid storage bucket storing clean water. This process will be described below with reference to Figure 5. Figure 5 shows a schematic flow chart of determining the target liquid storage barrel storing clean water according to the numbering order of the four liquid storage barrels in one implementation of the present application. First, clean the water at the workstation. When the robot performs the m-th water change cycle, it detects the liquid storage information of liquid storage tank n. Then, determine whether the liquid storage bucket n stores clean water. If so, determine the liquid storage bucket n as the target liquid storage bucket that stores clean water. If not, increase the number of the liquid storage bucket n by one and continue to determine whether Clean water is stored until the liquid storage tank in which clean water is stored is identified. Among them, it should be noted that in this embodiment, four liquid storage barrels are provided as an example, that is, the maximum number n of the liquid storage barrels is 4. Therefore, in the flow chart of this embodiment, when judging the liquid storage barrel After n, regardless of whether there is clean water stored, it is necessary to determine whether the number of liquid storage bucket n is already 4. If the number of liquid storage bucket n is already 4, the next detection (for example, the next detection in this docking , it can also be, for example, the first detection in the next water change cycle (that is, m=m+1 water change cycles) needs to be initially numbered 1, otherwise, the number can be directly incremented by one.

Taking the position sequence of the four liquid storage barrels and the circulation sequence as an example, the four liquid storage barrels are arranged side by side, and the preset circulation order is to detect from left to right, This cycle continues until the liquid storage tank containing clean water is determined and used as the target liquid storage tank. The cycle process can be as shown in Figure 5 , the only difference is that the number of the liquid storage barrel is set to the position of the liquid storage barrel, which will not be described again.

It should be understood that the preset cycle sequence can also be set in a specific manner according to different application scenarios, and is not limited only to the numbering sequence and position sequence, and the numbering sequence or position sequence mentioned is only an example, and the numbering method In different scenarios or with different location arrangements, those skilled in the art can design corresponding sequences and methods by themselves. For example, in some examples, based on the scene or physical environment where workstation 2 is located, in order to more balance the stability affected by the counterweight of workstation 2, the position order can be arranged diagonally, or side by side or side by side. Sort by position.

In one embodiment, the workstation 2 detects the liquid storage information of the at least two liquid storage barrels to control one of the target liquid storage barrels storing clean water to transport clean water to the clean water tank. A sensor disposed near the liquid storage barrel detects the liquid storage information to determine the target liquid storage barrel storing clean water. For example, sensors can be installed inside or around the liquid storage barrel to detect the liquid storage type and liquid volume status in the liquid storage barrel, thereby determining whether the liquid storage barrel is currently storing sewage or clean water, and storing clean water in it. The water storage tank is determined as the target storage tank.

In another embodiment, in the step of detecting the liquid storage information of the at least two liquid storage barrels to control one of the target liquid storage barrels storing clean water to deliver clean water to the clean water tank, the query can be performed by The historical event information of the liquid storage barrel is used to determine the liquid storage information, thereby determining the target liquid storage barrel storing clean water. The historical event information of the liquid storage barrel is, for example, stored in a storage device of a workstation or a storage device of a cleaning robot; the historical event information is stored, for example, in the form of a work log.

In an example, please refer to Figure 6, which is a schematic diagram of historical event information in an example of the present application. In the figure, liquid storage barrels numbered 1 to 4 are used as an example. In this example, the historical events The information includes the working status of the water flow control component in the workstation. The working status of the water flow control component includes: the last control action on each liquid storage barrel. The control action includes not starting, releasing water, and pumping water. In this example, according to the history The working status of the water flow control component in the event information can determine the liquid storage information. This process will be explained with reference to Figure 6. The last control action of the water flow control component for the liquid storage barrel 1 was to release water, and it was not started for the liquid storage barrels 2 to 4. Then the liquid volume of the liquid storage barrel 1 is determined. The information is the first liquid volume state (for example, empty state), and the liquid storage barrels 2 to 4 store clean water in the second liquid volume state. Select one of the liquid storage barrels 2 to 4 as the Target storage tank containing clean water.

In another example, please refer to Figure 7, which is a schematic diagram of historical event information in another example of the present application. In the figure, four liquid storage barrels numbered 1 to 4 are used as an example. The historical event information Including the stored liquid storage information, as shown in Figure 7, the target liquid storage barrel storing clean water can be determined by directly querying the stored liquid storage information in the historical event information. The stored liquid storage information can be determined, for example, by the working state of the water flow control component. Taking the working state of the water flow control component as shown in Figure 6, combined with the determination, the stored liquid storage information is: liquid storage barrel 1 In the first liquid volume state, clean water is stored in the liquid storage barrels 2 to 4, and the liquid volume is in the second liquid volume state. The stored liquid storage information will be updated when a change in the working state of the water flow control component is detected, or when a change in the liquid storage information is detected by the sensor.

In view of this, in some embodiments, a cyclic water exchange method disclosed in the present application also includes the step of updating historical event information of each liquid storage tank. The historical event information of each liquid storage barrel can be updated every time the liquid storage type or liquid volume state of the liquid storage barrel changes. This change can occur, for example, when the workstation automatically changes water for the cleaning robot, or it can For example, the operator's human intervention causes the liquid storage type or liquid volume state of the liquid storage barrel to change, and this application does not limit this. Taking this change as an example when the workstation automatically changes water to the cleaning robot, and combined with Figure 6, step S120 has been completed, that is, the clean water in the liquid storage tank 2 as the target liquid storage tank has been sent to the clean water tank, then In this cycle, the action of the water flow control component on the liquid storage tank 2 is updated to release water.

In order to avoid errors in historical event information, in some embodiments, the workstation 2 detects the liquid storage information of the at least two liquid storage barrels to control one of the target liquid storage barrels storing clean water to deliver clean water to the destination. The step of the clean water tank includes: querying the historical event information of the liquid storage barrel to determine the liquid storage information, and when determining the liquid storage barrel in which clean water is stored based on the liquid storage information, detecting the liquid storage barrel through a sensor. The liquid storage information of the liquid storage tank storing clean water is determined to determine that it is indeed the target liquid storage tank storing clean water. In other words, in this embodiment, the buckets in the liquid storage buckets that may store clean water can be first determined through the queried historical event information, and then the sensors are used to detect and verify the storage liquids containing clean water determined by the historical event information. The bucket is indeed the target liquid storage bucket containing clean water. In this way, errors in historical event information are avoided. The target liquid storage tank determined by query does not store clean water, ensuring reliability.

It should be noted that in the foregoing embodiments involving detecting the liquid storage information of the at least two liquid storage barrels to control one of the target liquid storage barrels storing clean water to transport clean water to the clean water tank, it is possible The detection is based on a preset cycle sequence. In this way, whether it is through sensor detection or querying historical event information, the preset cycle sequence can be followed. Once a liquid storage barrel containing clean water is detected, it is determined to be the target storage tank. Liquid bucket. However, in some other embodiments, if there is no preset cycle sequence, and all liquid storage barrels are detected through sensor detection or querying historical event information, multiple liquid storage tanks may be detected. Water storage barrels, any one of them can be used as the target liquid storage barrel, or one of them can be selected as the target liquid storage barrel according to preset rules. This application does not limit this.

In view of the fact that when the operator changes the water in the liquid storage tank of the workstation, the amount of water added by the operator may be higher than the water capacity of the liquid storage tank. For example, the water capacity of the liquid storage tank is 10L marked on the scale, and the amount of water added by the operator is higher than the scale. , In this way, directly delivering the clean water in the liquid storage bucket to the clean water tank of the cleaning robot will cause the amount of water in the clean water tank to be too large or even exceed the warning value. Therefore, in some embodiments, step S120 includes: controlling the target liquid storage bucket in which clean water is stored to deliver a preset volume of water to the clean water tank of the cleaning robot. The preset volume of water needs to be no larger than the water capacity of the clean water tank of the cleaning robot. For example, it is set to 10L. That is, the workstation will control the target liquid storage bucket storing clean water to deliver 10L of water to the clean water tank. After the tank is opened, stop draining water.

Consider that only part of the water in the target liquid storage tank storing clean water is transported out at the workstation, then there is still clean water left in the target liquid storage tank storing clean water. In some examples, there is less clean water remaining in the target liquid storage tank, for example, so that the liquid volume state of the target liquid storage barrel is in the first liquid volume state (ie, lower than the first preset threshold), then in subsequent step S130 , according to its liquid volume status, it can be determined that it can be used to store sewage; in other examples, there is more clean water remaining in the target liquid storage barrel, for example, it will make the liquid volume status of the target liquid storage barrel higher than the first liquid volume above the state (higher than the first preset threshold), the liquid volume state also includes a third liquid volume state. The third liquid volume state means that the liquid volume of the container is higher than the first preset threshold and lower than the third liquid volume state. Two preset thresholds. Then, step S120 includes: judging according to the liquid storage information that the liquid volume state of the liquid storage barrel is the third liquid volume state, and when the liquid storage type is clean water, using the liquid storage barrel as a target storage for storing clean water. Liquid bucket. In some other examples, in order to ensure that a preset volume of water is delivered to the cleaning robot, step S120 includes: controlling the first target liquid storage tank storing clean water and the second target liquid storage tank storing clean water to transport clean water. water to the clean water tank of the cleaning robot, where the first target liquid storage tank is, for example, the liquid volume state is the third liquid volume state, the liquid storage type is a liquid storage barrel of clean water, and the second target liquid storage barrel is, for example, the liquid volume state The state is the second liquid volume state, and the liquid storage type is a liquid storage barrel of clean water. Of course, the first target liquid storage tank and the second target liquid storage tank are not limited to this, as long as they can jointly provide the preset volume of water required for cleaning the robot's water purification tank.

In one embodiment, the workstation is further provided with a solvent storage component, and the step S120 further includes: controlling the opening of the solvent storage component to add a predetermined dose of solvent to the purified water delivered to the purified water tank.

As described in the previous embodiments, it can be seen that in step S120, by detecting the liquid storage information of the liquid storage barrel, a target liquid storage barrel storing clean water can be determined, and then the clean water in the target liquid storage barrel can be transported Give the clean water tank. Therefore, the predetermined dose of solvent is added to the purified water delivered to the purified water tank. For example, the predetermined dose of solvent can be added to the target liquid storage tank storing the purified water, or the predetermined dose of solvent can be added, for example. In the connecting pipeline between the target liquid storage barrel and the clean water tank, this application does not limit the location where the predetermined dose of solvent is added, as long as the solvent is finally mixed with the clean water tank transported to the clean water tank.

In some embodiments, the predetermined dose of solvent can be set by controlling the opening duration of the solvent storage component. Therefore, the controlling the opening of the solvent storage component to add the predetermined dose of solvent to the clean water tank. The step of purifying water includes: closing the solvent storage component when it is determined that the solvent storage component is open for a predetermined time. It should be understood that the predetermined dose of solvent can also be set in other ways. For example, in an application scenario where the solvent storage component is a pump-type storage component, it can also be set by controlling the pumping of the solvent storage component. For setting the number of times, for another example, the solvent storage component can be provided with an adjustable outlet, and the predetermined dose of solvent can be determined by controlling the size and opening time of the outlet. This application does not limit this. It should also be noted that different types of solvents can be provided in the solvent storage component or can be replaced by different types of solvents. In view of this, the setting of the predetermined dose is also related to the fluidity of the solvent. Therefore, according to the application scenario Differently, the predetermined dose can be determined by setting their respective corresponding opening durations, or pumping times, or outlet sizes for different types of solvents. In some embodiments, the means for pumping the solvent may be, for example, a peristaltic pump, a metering pump, or a flow meter controlled pumping of the solvent.

Please continue to refer to Figure 4. In step S130, when the workstation determines that the sewage tank is in the second liquid volume state based on the liquid volume status information, it issues a first control command to the cleaning robot to clean the sewage tank. The sewage is recycled into the target storage tank for storing sewage. Correspondingly, in step S220, the cleaning robot receives the first control command sent by the workstation to discharge the sewage in the sewage tank based on the first control command.

Among them, in different application scenarios, step S130 may be located after step S120, before step S120, or performed simultaneously with step S120. That is to say, the workstation can first add water to the clean water tank, and then recycle the sewage in the sewage tank; it can also recycle the sewage in the cleaning robot's sewage tank first, and then add water to the clean water tank; it can also refill the clean water tank at the same time. , while recycling the sewage from the sewage tank. For example, when the liquid storage tanks of the workstation all have clean water higher than the first liquid volume state, step S130 is located after step S120. The workstation first adds water to the clean water tank, and then recovers the sewage in the sewage tank. The cleaning robot has two liquid storage barrels, namely liquid storage barrel 1 and liquid storage barrel 2. For example, the cleaning robot initially carries clean water for cleaning operations, and then needs to change the water. For example, the workstation first removes the clean water from one of the liquid storage barrels. The water is delivered to the clean water tank, which is then used to recycle sewage in the sewage tank. For another example, when at least one liquid volume state in the liquid storage barrel of the workstation is the first liquid volume state, step S130 can be performed after step S120, before, or simultaneously with step S120, so that the cleaning robot has two liquid storage barrels. respectively Taking the liquid storage barrel 1 in the first liquid volume state and the liquid storage barrel 2 in the second liquid volume state as an example, if the cleaning robot needs to change water, the workstation only needs to transport the clean water in the liquid storage barrel 2 to the clean water tank. The liquid storage barrel 1 can be used to recover sewage. There is no requirement in the sequence. Of course, when the clean water in the liquid storage barrel 2 is first transported to the clean water tank, you can choose the liquid storage barrel 1 and the liquid storage tank 1. Either one of barrel 2 recycles sewage.

Wherein, the second liquid volume state of the sewage tank means that the liquid volume in the sewage tank is higher than the second preset threshold, reflecting that the liquid volume in the sewage tank is sufficient. In one embodiment, the first control command issued by the workstation is used to instruct the cleaning robot to open the sewage outlet of the sewage tank to discharge sewage, and the cleaning robot discharges the sewage to the sewage holding area of the workstation based on the first control command, In view of this, the method of recycling the sewage in the sewage tank into the target liquid storage barrel for storing sewage is to control the work of the water flow control component to suck the sewage in the sewage holding area into the target liquid storage tank for storing sewage. in the target reservoir.

In one embodiment, the target liquid storage barrel used to store sewage detects the liquid storage information of the liquid storage barrel through a sensor provided at the accessory of the liquid storage barrel to determine the liquid storage tank with the first liquid volume state. The bucket is a target liquid storage bucket used to store sewage. For example, sensors can be disposed inside or around the liquid storage barrel to detect the liquid storage type and liquid volume state in the liquid storage barrel, so that it can be determined that the liquid storage barrel currently in the first liquid volume state is used to store sewage. target reservoir.

In another embodiment, the target liquid storage tank for storing sewage is determined by querying historical event information of the liquid storage tank.

In one example, querying the historical event information of the liquid storage barrel to determine the target liquid storage barrel for storing sewage includes: determining the target liquid storage barrel for storing sewage based on the working status of the water flow control component in the historical event information. Target reservoir. In this example, taking the example shown in Figure 6, the working status of the water flow control component includes: the last control action on each liquid storage barrel. The control action includes not starting, releasing water, and pumping water. In this example, according to The working status of the water flow control component in the historical event information can determine the liquid storage information. As shown in Figure 6, the last control action of the water flow control component on the liquid storage barrel 1 was to release water, and the liquid storage barrel 2 to the liquid storage barrel was 4 means not started, then it is determined that the liquid volume information of liquid storage barrel 1 is the first liquid volume state, and liquid storage barrels 2 to 4 store clean water in the second liquid volume state. Select liquid storage barrel 1 that is As a target storage tank for storing sewage. It should be noted that in some embodiments, step S130 is executed after step S120. For example, in step S120, if the liquid storage bucket 2 is selected to deliver clean water to the clean water tank, then in the working state shown in Figure 6, In step S120, the liquid storage barrel 2 is correspondingly updated to the water discharging action. Then in step S130, it is determined that the liquid volume information of the liquid storage barrel 1 and the liquid storage barrel 2 is the first liquid volume state. The liquid storage barrel 2 and the liquid storage barrel 2 are in the first liquid volume state. Bucket 4 stores clean water in a second liquid volume state. The workstation can select one of liquid storage bucket 1 and liquid storage bucket 2 as a target liquid storage bucket for recycling sewage according to pre-designed rules.

In another example, querying the historical event information of the liquid storage barrel to determine the target liquid storage barrel for storing sewage includes querying the liquid storage information stored in the historical event information to compare the first liquid storage barrel with the first liquid storage barrel. The liquid storage tank in the liquid state is determined as the target liquid storage tank for storing sewage. In this example, taking the example shown in Figure 7, you can directly query the historical event information The stored liquid storage information can determine that the liquid storage barrel with the first liquid volume state is liquid storage barrel 1, which is used as the target liquid storage barrel for storing sewage. It should be noted that in some embodiments, step S130 is executed after step S120. For example, in step S120, if the liquid storage bucket 2 is selected to deliver clean water to the clean water tank, then in the liquid storage information as shown in Figure 7, The liquid volume information corresponding to the liquid storage tank 2 will be updated to the first liquid volume state in step S120. Then in step S130, it is found that the liquid volume information of the liquid storage barrel 1 and the liquid storage barrel 2 is the first liquid volume state. , the workstation can select one of the liquid storage barrel 1 and the liquid storage barrel 2 as the target liquid storage barrel for recycling sewage according to the pre-designed rules.

In order to avoid errors in the historical event information, in some embodiments, the method of determining the target liquid storage barrel for storing sewage includes: querying the historical event information of the liquid storage barrel to determine the first liquid volume state. When the liquid storage barrel is used, the liquid storage barrel with the first liquid volume state is detected by a sensor to determine whether it is indeed a target liquid storage barrel for storing sewage. In other words, in this embodiment, the liquid storage barrel with the first liquid volume state in the liquid storage barrel can be determined first through the queried historical event information, and then the sensor is detected to verify the liquid storage barrel with the first liquid volume state determined by the historical event information. If the liquid storage barrel in the liquid volume state is indeed in the first liquid volume state, it is determined to be the target liquid storage barrel for storing sewage, ensuring reliability.

It should be noted that in the above-mentioned embodiments involving the determination of the target liquid storage tank for storing sewage, the detection may be based on a preset cycle sequence. In this way, whether it is through sensor detection or querying historical event information, According to the preset cycle sequence, once the liquid storage barrel with the first liquid volume state is detected, it is determined to be the target liquid storage barrel. However, in some other embodiments, if there is no preset cycle sequence and all liquid storage barrels are detected through sensor detection or historical event information query, multiple liquid storage tanks may be detected. If the liquid storage barrels have different liquid volume status, any one of them can be used as the target liquid storage barrel, or one of them can be selected as the target liquid storage barrel according to the preset rules. This application does not limit this. The circulation sequence may be, for example, the numbering sequence or the position sequence of the liquid storage barrels. For details, please refer to the aforementioned embodiment of step S120 to detect the liquid storage information of the liquid storage barrels according to the preset circulation order to determine the storage information stored therein. The only difference from the description of the liquid storage barrel containing clean water is that the detection target in this embodiment is to determine the liquid storage barrel containing the first liquid volume, which will not be described again here.

Considering the recycling of water resources, in some embodiments, the workstation and the cleaning robot also cooperate with each other to clean the cleaning device of the cleaning robot. Therefore, in this embodiment, please refer to FIG. 8 , which is a schematic flow chart of a cleaning device of a cleaning robot in an embodiment of the present application. Step S130 also includes step S131. In step S131, the workstation determines the location of the cleaning device. When the liquid volume in the sewage holding area is greater than a threshold, a second control command is sent to the cleaning robot to clean the cleaning device of the cleaning robot.

Among them, as mentioned above, the sewage holding area provides a temporary storage space for the sewage discharged by the cleaning robot. When the cleaning robot releases sewage, the workstation can control no water flow out of the sewage holding area (for example, it can control the water flow control component to stop suction of sewage or Closing the water outlet of the sewage holding area), so that sewage accumulates in the sewage holding area, the workstation can e.g. A sensor is used to detect the liquid volume in the sewage holding area. According to the detection results, it is determined that the liquid volume in the sewage holding area is greater than a first threshold (the first threshold is a set reference standard used to indicate that a certain amount of liquid has accumulated in the sewage holding area). The amount of liquid is sufficient for cleaning the cleaning device of the cleaning robot), and the workstation sends a second control command to the cleaning robot.

Please continue to refer to FIG. 8. Correspondingly, the automatic water changing method performed by the cleaning robot also includes step S230. In step S230, the cleaning robot receives a second control command to clean the cleaning device.

Please refer to FIG. 9 , which is a schematic flowchart of a cleaning robot performing cleaning of a cleaning device in an embodiment of the present application. As shown in the figure, step S230 also includes step S2301 and step S2302.

In step S2301, the cleaning robot stops discharging sewage based on the second control command and drives the cleaning device to descend into the sewage containing area and rotate. Here, the cleaning robot can use the sewage accumulated in the sewage holding area to clean the cleaning device.

In step S2302, after determining that the cleaning device rotates for a predetermined period of time, the cleaning device is controlled to rise. The predetermined rotation time is a pre-designed cleaning time, which can be any value from 1 minute to 5 minutes (for example, it can be 1 min, 2 min, 3 min, 4 min, or 5 min). Furthermore, it can be selected, for example. 3 minutes is the cleaning time.

After completing the cleaning work of the above-mentioned cleaning device, correspondingly, in step S130, the workstation controls the cleaning robot to continue to discharge sewage and controls the water flow control component of the workstation to continue to suck sewage.

In view of the fact that sewage usually contains many impurities, in order to ensure that the workstation can recycle the sewage normally, in some embodiments, the step of recycling the sewage in the sewage tank into a target liquid storage tank for storing sewage also includes the step S132 (not shown), in step S132, the workstation detects whether the sewage recovery passage is blocked.

Please refer to FIG. 10 , which is a schematic flowchart of detecting whether the sewage recovery channel is blocked in an embodiment of the present application. As shown in the figure, the step of detecting whether the sewage recovery channel is blocked includes step S1321 and step S1322.

In step S132, when it is determined that the liquid volume of the sewage holding area is greater than the second threshold, a third control command is sent to the cleaning robot to cause the cleaning robot to stop discharging sewage. The second threshold is a set reference standard. If the liquid volume in the sewage holding area is greater than the second threshold, it means that the liquid volume in the sewage holding area has accumulated too much, and there may be a risk of blockage of the sewage recovery passage. The sewage recovery passage is a passage from the sewage holding area to the target liquid storage tank for storing sewage, which may include at least part of the water flow control assembly (such as a pipe structure) and/or the sewage holding area. At least some components (such as water outlet), this application does not limit this.

In step S133, after controlling the water flow control component to continue the suction operation for a predetermined time, when it is determined that the liquid volume in the sewage holding area is greater than the third threshold, it is determined that the sewage recovery passage is blocked.

Wherein, the third threshold is also a reference standard set to measure the liquid volume in the sewage containing area, which is not greater than the second threshold. The liquid volume in the sewage containing area is greater than the third threshold, which means that the liquid volume accumulated in the sewage containing area is The amount is measured after the scheduled time of suction and If there is no obvious reduction, it is deemed that the sewage recovery channel is blocked. In some examples, when it is determined that the sewage recovery channel is clogged, a prompt message (such as a screen display prompt message, a light flashing or an audible warning, etc.) is issued to remind the operator to perform manual intervention, such as manual unblocking or maintenance. In other examples, when it is determined that the sewage recovery channel is blocked, the workstation can also automatically perform operations to clear the channel, such as increasing the suction power of the water flow control component.

Considering that after multiple water exchange cycles, there may be no available target liquid storage barrel in the liquid storage barrel, in some embodiments, the cyclic water exchange method further includes: after determining the at least two When there is no target liquid storage tank in the liquid storage tank, a prompt message is sent to remind the operator of the steps to change the water in the liquid storage tank. Wherein, the target liquid storage tank can be, for example, a target liquid storage tank storing clean water, or a target liquid storage tank used to store sewage. In the above step S120 or step S130, once at least two liquid storage tanks are determined, If there is no target liquid storage tank for storing clean water in the bucket, or there is no target liquid storage tank for storing sewage, the workstation will issue a prompt message. The prompt message may be, for example, a sound prompt message (such as a buzzer or voice prompt), or a light. Prompt information (such as light flashing), or screen display prompt information (screen display text or icons), etc., the operator can promptly change the water in the liquid storage tank according to the prompt information.

In some embodiments, when the robot is working, it needs to have its own battery to provide the power required for its work. However, the battery capacity of the robot itself is limited. Therefore, the workstation is also used to charge the battery of the robot. Since the robot does not It always works continuously, and the workstation can also assume the function of the robot's docking position. After the robot is fully charged, the robot can still be docked on the workstation. In this non-working state of the robot, it generally needs to remain in a standby state to respond to work at any time. .

In the related art, due to limitations of the circuit structure of the robot, usually the electrical signal path between the workstation and the robot is disconnected after the robot's battery is fully charged, and the robot's battery supplies power to the robot in its standby state. In this way, on the one hand, the battery power has been consumed when the robot leaves the workstation, and the remaining battery capacity reduces the working time of the robot. The robot needs to frequently return to the workstation to recharge; on the other hand, when the robot is on the workstation, the battery will Being frequently charged greatly affects the service life of the battery.

In view of this, a workstation proposed in some embodiments of the present application may include a power management system (not shown). The power management system determines that the battery is fully charged through the battery power information of the robot and the robot is still docked. When on the workstation, the electrical signal output by it will be switched (for example, the first electrical signal output to charge the battery of the robot is switched to the second electrical signal that supplies power to the robot's standby state), so that the workstation supplies power to the robot's standby state. , the battery is kept at full power after it is fully charged, which can greatly improve the service life of the battery and the working time of the robot.

It should be noted that in this embodiment, on the basis of including the power management system, the workstation may include the structure of the workstation in any one of the embodiments shown in Figures 1 to 10 and its related descriptions, combined with Figures 1 to 10 and as shown in its description, the The power management system can be installed on the workstation body 20, and some components/modules/units of the power management system can be further installed on the control device provided in the workstation body 20, or can also be used as independent parts and controls. The device is electrically connected. Of course, the workstation can also adopt other structures, as long as the workstation includes a power management system.

Please refer to FIG. 11 , which is a structural block diagram of a power management system included in a workstation in an embodiment of the present application. As shown in the figure, the power management system 23 includes: two power supply terminals (identified as No. 1 in FIG. 11 respectively). A power supply terminal 231, a second power supply terminal 232) and a power management module 230. When the robot is docked with the workstation (for example, as shown in Figure 2), the first power supply terminal 231 and the second power supply terminal 232 are respectively connected to the corresponding power terminals (not shown) on the robot. For example, the robot includes The first power supply terminal and the second power connection terminal, the first power supply terminal 231 is connected to the corresponding first power connection terminal, and the second power supply terminal 232 is connected to the corresponding second power connection terminal.

In one embodiment, the first power supply terminal 231 and the second power supply terminal 232 are used to form the necessary electrical connection with the robot during the power supply process. They can be made of conductive material so that they can be contacted by the robot to form an electrical connection. One of them is The power supply end is set as the positive power connection end, and the other power supply end is set as the negative power connection end.

In one embodiment, the first power supply terminal 231 and the second power supply terminal 232 respectively include electrodes, in which the electrode included in the first power supply terminal 231 as the positive power connection terminal is a positive electrode, and the second power supply terminal 232 as the negative power connection terminal includes The included electrode is the negative electrode. The electrodes may be configured as metal sheets, metal strips, metal rods, or metal wheels.

In one embodiment, the first power supply end 231 and the second power supply end 232 each further include an elastic structure, and the elastic structure provides elastic force for the electrode. Specifically, during the process of the robot docking with the workstation, the power terminal of the robot comes into contact with the electrode and further pushes the electrode so that the elastic structure is squeezed, which further causes the power management system 23 to conduct the circuit that supplies power to the robot to provide power to the robot. ; When the robot leaves the workstation, that is, when the robot's power terminal is separated from the electrode, the elastic structure uses the restoring force to push the electrode to reset, further causing the power management system 23 to disconnect the circuit that supplies power to the robot.

Please continue to refer to Figure 11. As shown in the figure, the power management module 230 is electrically connected to the first power supply terminal 231 and the second power supply terminal 232. When it detects that the robot is docked with the workstation, it outputs a first electrical signal to the battery of the robot. charging, and when it is determined that the robot's battery is fully charged based on the robot's battery power information, and when it is determined that the robot is still docked, it switches to outputting a second electrical signal to power power-consuming components of the robot in standby mode.

Wherein, the first electrical signal and the second electrical signal include voltage and current respectively. In one embodiment, in order to protect the battery and facilitate and simplify the control of the relevant circuit structures on the robot, the second electrical signal is set to have a voltage slightly smaller than the first electrical signal and greater than the rated voltage of the battery. Please refer to Figure 12, which is shown as A schematic diagram of the electrical signal output by the power management module in an embodiment of the present application. The abscissa in Figure 12 represents the signal switching timing, and the ordinate represents the electrical signal Sig output by the power management module 230. The electrical signal Sig includes voltage V and current C. In Before t, that is, the battery charging stage, the power management module 230 outputs The first electrical signal Sig1 includes voltage v1 and current c1. The power management module 230 charges the robot's battery through the first electrical signal Sig1; at time t, the battery is fully charged and the robot is still docked with the workstation. The power management module 230 The second electrical signal Sig2 is switched to output. The second electrical signal Sig2 includes the voltage v2 and the current c1. The power management module 230 outputs the second electrical signal Sig2 to supply power to the power-consuming components of the robot in the standby state. In other embodiments, the voltage of the second electrical signal can also be set to be less than the rated voltage of the battery, and only the relevant circuit structure on the robot needs to be controlled accordingly. The specific control of the relevant circuit structure of the robot will be discussed later. The details are described in the embodiment of the robot and will not be described again here.

In order to ensure that the power management module 230 of the workstation supplies power to the power-consuming components of the robot in the standby state, further, the current of the second electrical signal is set to not exceed 10A, for example, it can be set to 2A, 4A, 6A, 8A, Or 10A etc.

In order to save power, in some embodiments, the power management module can also stop outputting the electrical signal when it determines that its current is lower than the preset load value based on the second electrical signal. In this way, the robot can leave the workstation or does not need power supply (or it can It is understood that the power management module stops power supply in time when there is no load. Specifically, when the power management module detects that the current of the second electrical signal is lower than the preset load value, it will consider that the connected robot has left or no longer requires power supply, and the power management module will cut off power, that is, stop outputting power. Signal. Wherein, the preset load value can be set to any value from 0 to 400mA, preferably, it can be set to 300mA, for example.

Please refer to FIG. 13 , which is a structural block diagram of a power management module in an embodiment of the present application. As shown in the figure, the power management module 230 includes a detection unit 2300 and a power conversion unit 2301 . The detection unit 2300 can be communicatively connected with the robot and used to detect the status of the robot. For example, the detection unit 2300 may include an interface circuit. The interface circuit may communicate with the robot through wired or wireless transmission. Detecting the status of the robot includes the robot sending its status to the interface circuit or the interface circuit acquiring and identifying it. The status of the robot. The status of the robot includes but is not limited to: battery power information, docking status information, electrical signal information on the power connection terminal, etc. The electric energy conversion unit 2301 is electrically connected to the first power supply end 231 and the second power supply end 232, and the detection unit 2300, and is used to output a first electrical signal or a second electrical signal based on the state of the robot, for example, electrical energy. The conversion unit 2301 may output a first electrical signal when the robot's status reflects that the robot is docked with the workstation and the battery is low, and output a second electrical signal when the robot's status is reflected that the robot's battery is full and docked with the workstation.

Please refer to Figure 14, which is a structural block diagram of a power conversion unit in an embodiment of the present application. As shown in the figure, the power conversion unit 2301 includes a first power conversion circuit 23010 and a second power conversion circuit 23011. The first power conversion circuit 23010 and the second power conversion circuit 23011 are electrically connected to external power sources respectively. The first power conversion circuit 23010 is also electrically connected to the detection unit 2300 and is used to convert the power provided by an external power supply into power suitable for use by the detection unit 2300 . The second power conversion circuit 23011 is also electrically connected to the first power supply terminal 231 and the second power supply terminal 232, and is used to convert the power provided by the external power supply into a first electrical signal or a second electrical signal to pass through the first power supply terminal 231 and the second power supply terminal 232. Two power supply terminals 232 provides electrical energy to the robot to meet its electrical energy needs. For example, the first power conversion circuit 23010 and the second power conversion circuit 23011 can be configured as switching power supplies respectively.

In the architecture of the power conversion unit as shown in Figure 14, at least two power conversion circuits need to be set up to meet the power management system of the workstation and the power needs of the robot. This makes the circuit structure, design and layout of the power management system of the workstation complex. The difficulty increases. In view of this, in some embodiments, the power conversion unit 2301 may include a power conversion circuit (not shown). In order to distinguish it from the aforementioned first and second power conversion circuits, here, the power conversion circuit is called It is a third electric energy conversion circuit. The third electric energy conversion circuit can output the first or second electric signal based on the state of the robot, and can also provide electric energy to the detection unit.

In some embodiments of the present application, a robot is also disclosed, which can be docked with the workstation described in any of the foregoing embodiments, so that the workstation provides services to the robot.

In one embodiment, the robot may include a power supply management system, which may switch an electrical circuit so that when the robot's battery is fully charged, the workstation supplies power to the power-consuming components of the robot in a standby state. The robot may be, for example, a cleaning robot, and the cleaning robot may be a cleaning robot configured in any of the subsequent embodiments shown in FIGS. 22 to 83 and its related descriptions.

Please refer to Figure 15, which is a structural block diagram of a robot in an embodiment of the present application. As shown in the figure, the robot 4 includes a control device 40 and the power supply management system 41, which is provided or coordinated by the control device 40. Power supply for each electrical component on the robot 4.

Please refer to FIG. 16 , which is a structural block diagram of a power supply management system in an embodiment of the present application. As shown in the figure, the power supply management system 41 includes: a battery 410 and two power terminals (labeled respectively in FIG. 16 The first power terminal 411, the second power terminal 412) and the power management module 413.

As shown in FIG. 16 , the first power terminal 411 and the second power terminal 412 are electrically connected to the battery 410 to form a charging circuit, and are electrically connected to the robot control device 40 to form the first power terminal. The electrical terminal 411 and the second electrical terminal 412 are connected to the first power supply circuit of the control device 40 . In one embodiment, the first power connection terminal 411 and the second power connection terminal 412 may be configured to be made of conductive material to form electrical connections with the workstation, and one of the power connection terminals is configured as the positive power connection terminal. The other power connection terminal is set as a negative power connection terminal. Taking the example shown in FIG. 16 as an example, the first power connection terminal 411 is set as a positive power connection terminal, and the second power connection terminal 412 is set as a negative power connection terminal. In one embodiment, the first electrical connection terminal 411 and the second electrical connection terminal 412 respectively include electrodes, wherein the electrode included in the first electrical connection terminal 411 as the positive electrical connection terminal is a positive electrode, and the second electrical connection terminal as the negative electrical connection terminal includes The electrode included in the electrical terminal 412 is a negative electrode. The electrodes may be configured as metal sheets, metal strips, metal rods, or metal wheels.

The power management module 413 is electrically connected to the battery 410 and at least one electrical terminal. For example, in Figure 16, the power management module 413 is electrically connected to the negative electrode of the battery 410 and the second electrical terminal 412. The power management module 413 is used to connect the robot to the workstation. hour The charging circuit is turned on so that the workstation charges the battery 410 through the first power terminal 411 and the second power terminal 412, and it is judged based on the battery power information that when the battery 410 is fully charged, it shuts down all the cells. The charging circuit is configured such that the workstation supplies power to the power-consuming components in the standby state of the robot through the first power supply circuit. In conjunction with the aforementioned control device 40 providing or coordinating the power supply of various electrical components on the robot 4, it should be understood that, that is, the workstation supplies power to the power-consuming components in the standby state of the robot through the first power supply circuit. It means that the workstation supplies power to the control device 40 through the first power supply circuit, and the control device 40 determines the components that are still working in the standby state of the robot (i.e., power-consuming components) and supplies power to the power-consuming components. For example, the power-consuming components include: the control device itself, a parking device, a sensor device, a communication device, etc. The parking component includes a parking motor, for example, and the sensor includes a liquid level detection sensor, for example.

In one embodiment, the workstation can be configured as a workstation as described in any of the embodiments described in Figures 11 to 14 and its description in this application. When the robot docks with the workstation, the first power supply end 231 of the workstation is connected as shown in The first power terminal 411 and the second power supply terminal 232 of the robot shown in Figure 16 are connected to the second power terminal 412 of the robot shown in Figure 16. The workstation can output a first electrical signal to the robot according to the status of the robot. The battery 410 is charged, or a second electrical signal can be output to power power-consuming components of the robot in a standby state. For the structure and working principle of the workstation outputting the first electrical signal and the second electrical signal, please refer to the foregoing description of any of the embodiments in FIGS. 11 to 14 and their descriptions, and will not be described again here.

The following describes the switching process between the charging circuit and the first power supply circuit when the robot cooperates with the workstation in conjunction with Figures 17 and 18.

Please refer to Figure 17, which is a schematic diagram of a charging loop formed by the power supply management system in an embodiment of the present application. As shown in the figure, when the robot is docked with the workstation, that is, the first power supply end 231 of the workstation is connected to the first connector of the robot. The electric terminal 411 and the second power supply terminal 232 are connected to the second electric terminal 412 of the robot. The power management module 413 will conduct a charging circuit composed of the first electric terminal 411, the battery 410 and the second electric terminal 412, such as The arrows in Figure 17 indicate the flow of electrical signals in the charging circuit. Here, the workstation outputs the first electrical signal Sig1 through the first power supply terminal 231 and flows through the first power terminal 411, the battery 410, the second power terminal 412 to The second power supply terminal 232 is used to charge the battery 410 . It should be understood that during the process of charging the battery 410 as shown in Figure 17, the workstation can also provide power to the robot's control device 40 through the first power supply circuit. In order to describe the charging process, Figure 17 does not illustrate the charging process. For other line flows, Figure 17 should not be construed as a limitation.

Please refer to Figure 18, which is a schematic diagram of the first power supply loop formed by the power supply management system in an embodiment of the present application. As shown in the figure, when the battery 410 is fully charged, on the one hand, the workstation can determine that the battery 410 is charged through the battery power information. is fully charged, and when it is determined that the robot is still in the docking state, it will switch to output the second electrical signal Sig2; on the other hand, the robot's power management module 413 can determine that the battery is fully charged and will disconnect the charging circuit as shown in Figure 17, also That is, the power management module 413 will cut off the connection between the battery 410 and at least one power terminal (as shown in Figure 17, cut off the negative electrode of the battery 410 and the second power terminal 412. connection), given that the control device 40 is connected to the first power terminal 411 and the second power terminal 412, the disconnection of the circuit between the battery 410 and the second power terminal 412 means that the power between the battery 410 and the control device 40 is disconnected. The connection channel is cut off. The second electrical signal Sig2 output by the workstation through the first power supply terminal 231 flows through the first power connection terminal 411, the control device 40, the second power connection terminal 412 and the second power supply terminal 232, so that the workstation supplies power through the first power supply circuit. Power the power-consuming parts of the robot in standby mode.

According to Figure 18 and its description, when the robot is docked with the workstation, the workstation can output the second electrical signal Sig2 to power the power-consuming components of the robot in the standby state, as can be seen from the previous description of the embodiment of the power management system in the workstation. , in some embodiments, the voltage of the second electrical signal Sig2 is greater than the rated voltage of the battery 410 . In view of this, in one embodiment, the power management module 413 is also used to conduct the second power supply loop composed of the battery 410 and the control device 40 when it is determined that the power supply of the first power terminal 411 and the second power terminal 412 is abnormal. , the power supply abnormality refers to the situation where the voltage of the second electrical signal Sig2 received by the first power terminal 411 and the second power terminal 412 is less than the rated voltage of the battery 410 .

Please refer to Figure 19, which is a schematic diagram of the power supply management system forming a second power supply loop in an embodiment of the present application. As shown in the figure, when the robot is docked at the workstation and the battery 410 is fully charged, the power management module 413 detects The voltage between the first power terminal 411 and the second power terminal 412 is less than the rated voltage of the battery 410, which will open the path between the negative electrode of the battery 410 and the second power terminal 412, thus forming a path formed by the positive electrode of the battery 410. A second power supply circuit to the control device 40 to the negative electrode of the battery 410 . It should be understood that when the robot leaves the workstation, the connections between the first power supply terminal 231 and the first power connection terminal 411 and the second power supply terminal 232 and the second power connection terminal 412 shown in Figure 18 will be disconnected. , the power management module 413 detects that the voltage between the first power terminal 411 and the second power terminal 412 must be less than the rated voltage of the battery 410, and the power management module 413 controls the connection between the negative electrode of the battery 410 and the second power terminal. 412, that is, the battery 410 supplies power to the robot during its operation.

As can be seen from the previous description of the embodiments of the power management system in the workstation, in some embodiments, the voltage of the second electrical signal Sig2 may also be less than the rated voltage of the battery 410. Here, it is only necessary to ensure that the power management module 413 keeps cutting off the battery. The connection between 410 and the second power terminal 412 is as shown in FIG. 18 to avoid the possibility of preferential power supply of high voltage caused by the rated voltage of the battery 410 being greater than the second electrical signal Sig2.

Please refer to Figure 20, which is a structural block diagram of a power management module in an embodiment of the present application. As shown in the figure, the power management module 413 includes a switch unit 4130 and a control unit 4131. The switch unit 4130 is used to conduct Turn on or off the electrical connection between the battery 410 and at least one electrical terminal. As shown in FIG. 20 , the switch unit 4130 can be used to turn on or off the electrical connection between the negative electrode of the battery 410 and the second electrical terminal 412 . The control unit 4131 is used to control the on or off of the switch unit according to the state of the robot. The status of the robot includes but is not limited to: battery power information, docking status information, electrical signal information on the power connection terminal, etc.

Please refer to Figure 21, which is a schematic diagram of the circuit structure of the switch unit in an embodiment of the present application. As shown in the figure, The switch unit 4130 includes at least two switch tubes connected in reverse series. Specifically, as shown in Figure 21, the switch unit 4130 includes a first switch tube N1 and a second switch tube N2, with the first switch tube N1 and the second switch tube N2. As an example, the two switching tubes N2 are both set as N-type field effect tubes. The control terminal gates g of the first switching tube N1 and the second switching tube N2 are electrically connected to the control unit 4131, and the source s of the first switching tube N1 is electrically connected. On the negative electrode of the battery 410, the drain d of the first switch N1 is electrically connected to the drain d of the second switch N2, and the source s of the second switch N2 is electrically connected to the second power terminal 412. When the battery 410 is being charged (that is, the charging circuit is turned on), the control unit 4131 controls the second switch transistor N2 to be turned on to form a body diode formed by the first switch transistor N1 between the negative electrode of the battery 410 and the second power connection terminal 412 D1, the path from the drain d to the source s of the second switch transistor N2. When the battery 410 does not provide power (that is, powered by the first power supply circuit), the control unit 4131 controls both the first switching tube N1 and the second switching tube N2 to turn off, and the battery 410 cannot provide power to the control device 40 . When the battery 410 supplies power to the control device 40 (that is, powered by the second power supply circuit), the control unit 4131 controls the first switch N1 to conduct, so as to form a second switch between the negative electrode of the battery 410 and the second power terminal 412. The path from the body diode D2 of the transistor and the drain d to the source s of the first switching transistor N1. It should be understood that the N-type switch tube shown in FIG. 21 is only an example. The first switch tube N1 and the second switch tube can also be set as P-type field effect tubes. The characteristics can be adjusted to correspond to the connection and control of the P-type field effect transistor, which will not be described in detail here in this application.

In some embodiments, the robot described in any of the embodiments shown in FIGS. 15 to 21 and its related descriptions may be, for example, a cleaning robot for performing cleaning operations. The structure of the robot may adopt, for example, any of the methods described in this application. In the cleaning robot or the structure of the robot mentioned in the embodiment, some of the components/modules/units, etc. of the power supply management system described in Figures 15 to 21 can be further provided on the control device to be shared with the control device The same circuit board can also be used as an independent part and connected to the circuit board corresponding to the control device. Of course, the robot can also be a robot in other application scenarios, or adopt other structures, and this application does not limit this.

In some scenarios, for areas with high volumes of water or large areas that need to be cleaned, the robots commonly used for cleaning (in this scenario, the robots are also called cleaning robots in subsequent embodiments) have large volumes. It is not suitable for cleaning in areas with an area of less than 2,000 square meters, for example. This is because of its large size. On the one hand, it cannot clean narrow areas (such as aisles, corners, etc.) formed by the placement of objects in the area. On the other hand, it will cause inconvenience to the free movement of people in the area. In some embodiments, the volume of the robot can be reduced by directly reducing the capacity of the water tank of the robot. However, the volume reduction caused by this method is foreseeable and will lead to an imbalance in the overall weight of the robot; furthermore, cleaning During the work process, the robot is often disturbed by external factors (such as the sudden appearance of obstacles or people on the route) and emergency parking/braking. Due to inertia, the water flow stored in the cleaning robot's water tank will surge forward due to inertia, and then There is a risk of overturning.

Therefore, in some embodiments of the present application, a robot is disclosed, which integrates a clean water tank into a part of the chassis. The battery storage space is integrated into a part of the sewage tank, and the storage areas of the clean water tank and the sewage tank have overlapping areas in the vertical direction, further optimizing the spatial layout of the robot to balance the robot's counterweight and water capacity. At the same time, the size of the robot is greatly reduced. At the same time, this application also takes into account the risk of rollover caused by the forward flow of water due to emergency parking, and optimizes the accommodation space of the clean water/dirty water tank, thereby slowing down the forward flow of water. risks posed by surges. It should be noted that since in this embodiment the robot is equipped with a clean water tank and a sewage tank for performing cleaning work, the robot will be called a cleaning robot in subsequent embodiments.

In one embodiment, please refer to FIG. 22 and FIG. 23 . FIG. 22 is a schematic three-dimensional structural diagram of a cleaning robot in an embodiment of the present application, and FIG. 23 is a disassembly of the cleaning robot in an embodiment of the present application. Schematic. As shown in the figure, the cleaning robot 1 includes a body 10. The body 10 includes a chassis 11 and a sewage tank 12. The chassis 11 includes a clean water tank 110 integrally formed on its top. The sewage tank 12 is nested in The clean water tank 110 is combined with the chassis 11 and includes a built-in accommodation space 120 for recycling sewage collected by the cleaning robot. The built-in accommodation space 120 is in the same position as the accommodation space 1100 of the clean water tank. There is an overlapping area in the vertical direction. Wherein, having overlapping areas in the vertical direction means that the projections of two areas or spaces on a vertical plane have overlapping portions.

Wherein, the chassis can be integrally formed from materials such as plastic, metal or other materials used in the art, and includes a plurality of pre-formed grooves, recesses, latches or similar structures for connecting related devices, components, assemblies or mechanisms. etc. installed or integrated on the chassis.

Please refer to Figure 24, which is a schematic three-dimensional structural diagram of the cleaning robot in an embodiment of the present application from another perspective. As shown in the figure, the bottom of the chassis 11 is provided with a moving device 13, a side brush assembly 14, a cleaning device 15, and sewage collection assembly 16.

In one embodiment, the mobile device 13 includes a first driving assembly 130 and driving wheels 131 disposed on opposite sides of the bottom of the chassis. The driving wheels 131 are driven by the first driving assembly 130 to drive the moving device 130 . The cleaning robot 1 moves. Specifically, the driving wheels are driven to drive the cleaning robot 1 to perform forward and backward reciprocating movements, rotational movements, curved movements, etc. according to the planned movement trajectory, or to drive the cleaning robot 1 to adjust its attitude and provide the cleaning function. Two contact points between robot 1 and the cleaning surface. In other embodiments, the mobile device 13 further includes a driven wheel 132 located in front of the driving wheel 131 , and the driven wheel 132 and the driving wheel 131 together maintain the cleaning The balance of robot 1 in motion.

The side brush assembly 14 is provided at the edge of the bottom of the chassis 11. In some embodiments, the side brush assembly 14 may include a cleaning side brush and a side brush motor for controlling the cleaning side brush. In the embodiment shown in Figure 13, the number of cleaning side brushes can be at least one, which is arranged on the opposite side of the front of the cleaning robot. The cleaning side brush can be a rotating cleaning side brush, which can be connected to the side brush motor. Rotate under control. In some embodiments, the rotation axis in the rotating cleaning side brush is at a certain angle relative to the surface to be cleaned (the surface to be cleaned can be set to be parallel to the bottom surface of the chassis of the robot body). For example, the setting angle can be Make sure that the outer bristles of the cleaning side brush are lower than the inner bristles, so that the outer bristles are closer to the surface to be cleaned, which is more conducive to sweeping garbage into the cleaning area of the cleaning device.

In some embodiments, the cleaning device is located in the middle area of the bottom of the chassis, and the cleaning device is located within the maximum outer contour of the cleaning robot body on the horizontal plane. That is to say, from a horizontal plane projection, the cleaning robot body is on the horizontal plane. The projected outline on can cover the projected outline of the cleaning device. In this way, when cleaning the dead corner area, the cleaning robot can only rely on the side brush assembly to sweep the garbage in the dead corner area (including corner areas, blocked areas, etc., the blocked area can be, for example, the projection area under the signboard) to the cleaning device. In the cleaning area, due to the limited cleaning power of the side brush assembly, it can only clean large particles of garbage. Stains, sticky objects, etc. are still unable to be cleaned and are left behind. Even the cleaning of the side brush assembly further increases the stains. degree.

In view of this, in some embodiments, please refer to Figure 25 in conjunction with Figure 24. Figure 25 shows a schematic diagram of a horizontal plane projection of the cleaning robot in an embodiment of the present application. As shown in the figure, the cleaning device 15 is disposed on the chassis. 11 bottom, and protrudes to the right from the maximum outer contour of the cleaning robot body 10 on the horizontal plane, that is to say, from the perspective of horizontal plane projection, the projection of the cleaning robot body 10 on the horizontal plane cannot wrap the cleaning device 15 projection outline. Specifically, as shown in Figure 13, the right side wall of the chassis 11 is provided with a recessed area 111 with an opening facing the surface to be cleaned, and the cleaning device 15 provided at the bottom of the chassis 11 passes through the recessed area 111 to protrude to the right. on the cleaning robot body 10 so that the projection of the cleaning device 15 on the horizontal plane protrudes beyond the maximum outer contour of the cleaning robot body 10 projected on the horizontal plane. In some examples, the projection of the cleaning device 15 on the horizontal plane protrudes to the right from the maximum outer contour of the cleaning robot body 10 projected on the horizontal plane by a distance d of 1 cm to 4 cm, between 1 cm and 4 cm. Any value (for example, 1 cm, 2 cm, 3 cm, or 4 cm) can ensure that the cleaning device 15 contacts the aforementioned dead space area, and the cleaning device 15 cleans the dead space area. Furthermore, the distance that the projection of the cleaning device 15 on the horizontal plane protrudes to the right from the maximum outer contour of the cleaning robot body 10 on the horizontal plane can be set to 2 cm.

In one embodiment, as shown in FIG. 24 , the cleaning device 15 includes a mounting base 150 and a roller brush assembly (not labeled). The mounting base 150 is used to be installed on the bottom of the chassis 11 to configure the cleaning device 15 on the cleaning robot 1 . The roller brush assembly is provided on the mounting base 150. When the cleaning device 15 is configured on the cleaning robot 1 as shown in Figure 13, the roller brush assembly is located on the front side of the dirt collection assembly 16 to clean during rotation. The surface to be cleaned, so that the dirt collecting assembly 16 can collect the sewage used by the roller brush assembly to clean the surface to be cleaned. The sewage is, for example, the liquid left behind by the roller brush assembly washing the surface to be cleaned.

In some embodiments, the roller brush assembly of the cleaning device is usually configured as a double roller brush structure, with the forward direction of the cleaning robot being defined as the front. The double roller brush structure has a front roller brush and a rear roller brush. Wherein, the front roller brush may also be called the first roller brush, which is rotatably arranged on the mounting base and used for cleaning the surface to be cleaned when rotating. The rear roller brush may also be called It is a second roller brush, which is rotatably arranged on the mounting base and is located on the rear side of the front roller brush/first roller brush. It can be wetted to wash the surface to be cleaned when rotating. In other words, the double roller brush structure can achieve a cleaning method in which the front roller brush/first roller brush pre-cleans the surface to be cleaned, and the rear roller brush/second roller brush scrubs the surface to be cleaned.

It should be understood that the use of the first roller brush to clean the surface to be cleaned means that the first roller brush brings/sweeps/rolls the garbage on the surface to be cleaned into the cleaning device or the garbage configured on the cleaning robot body. Box/Dust Chamber. The second roller brush used to wash the surface to be cleaned means that the second roller brush uses liquid to clean the surface to be cleaned. In this way, the cleaning device can clean the liquid (such as milk, tea, etc.) on the surface to be cleaned. ), highly adhesive dirt, wet garbage, etc.

However, in this double roller brush structure, the two roller brushes usually contact each other during operation, so that the rear roller brush/second roller brush will wet the front roller brush/first roller brush during the work of washing the surface to be cleaned. , the front roller brush/first roller brush will be stained with garbage, which will affect the entry of garbage into the garbage box/dust collection room, and will also bring garbage stains into the water-stained rear roller brush/second roller brush, causing the rear roller brush/ The second roller brush washes the surface to be cleaned when it is contaminated by the front roller brush/first roller brush, which will seriously affect the cleaning effect.

In view of this, in some embodiments, please refer to Figures 26, 27, and 28. Figure 26 shows a schematic structural diagram of the bottom of the cleaning robot in one embodiment of the present application, and Figure 27 shows the bottom of the cleaning robot of Figure 26 28 is a schematic three-dimensional structural diagram of a cleaning device in an embodiment of the present application. As shown in the figure, the cleaning device 15 includes a mounting base 150 , a first roller brush 151 , and a second roller brush 152 . The mounting base 150 is used to be installed on the bottom of the chassis 11 . The first roller brush 151 is rotatably disposed on the mounting base 150 and is used for cleaning the surface to be cleaned when rotating. The second roller brush 152 is rotatably disposed on the mounting base 150 , and the second roller brush 152 can be wetted to wash the surface to be cleaned while rotating. The first roller brush 151 is arranged in front, and the second roller brush 152 is arranged in the rear of the first roller brush 151. The axial distance h between the first roller brush 151 and the second roller brush 152 is greater than the second roller brush 151. The sum of the radius r1 of the first roller brush 151 and the radius r2 of the second roller brush 152 is such that the first roller brush 151 and the second roller brush 152 do not contact each other when rotating.

It should be understood that the radius of the first roller brush refers to the radius of the largest circular outline formed by the rotation of the first roller brush (r1 as shown in Figure 27), and the radius of the second roller brush refers to the radius of the second roller brush. The radius of the largest circular outline formed by the rotation (r2 as shown in Figure 27), so that the axial distance between the first roller brush and the second roller brush is greater than the sum of the radii of the first roller brush and the second roller brush It can ensure that the two do not contact each other when rotating.

Please continue to refer to Figure 28. In one embodiment, a second driving assembly 153 is provided at one end of the mounting base 150. The second driving assembly 153 includes a first driving module 1530 and a second driving module 1531. Therefore, The first drive module 1530 is used to electrically connect the first roller brush 151 to drive the first roller brush 151 to rotate, and the second drive module 1531 is used to electrically connect the second roller brush 152 to drive the second roller brush 152 . The roller brush rotates 152 times. In this way, the second driving component can be miniaturized and dispersed, which facilitates control, layout, and saves space. Furthermore, in some examples, combined with FIG. 29 , a schematic structural diagram of the cleaning device after removing the roller brush in an embodiment of the present application is shown. The first driving module 1530 and the second driving module 1531 respectively include The rotating support member 1532 provides a placement space for the first roller brush 151 and the second roller brush 152 and enables the first roller brush 151 and the second roller brush 152 to rotate.

In one embodiment, please refer to Figures 28 and 29. The first roller brush 151 and the second roller brush 152 respectively include a roller shaft 1510 and a brush body 1511. Both ends of the roller shaft 1510 are provided as mounting parts (not shown). The mounting parts are used to be arranged on the rotating support 1532 and allow the first roller brush 151 and the second roller brush 152 to be selected. It can be permanently removed or loaded from the mounting base 150 to facilitate cleaning, repair, replacement, etc. The brush body 1511 is arranged in a spiral around the roller shaft 1510. The growth direction of the brush body 1511 is substantially consistent with the radial direction of the roller shaft. Here, the radius of the first roller brush 151 or the second roller brush 152 It refers to the radius with the axis center of the roller shaft 1510 as the center of the circle and the circular outline formed by the brush body 1511 as the boundary.

In one embodiment, the brush body of the first roller brush is configured as a brush body, and the brush body cleans the garbage on the surface to be cleaned. In another embodiment, the brush body of the first roller brush is configured as a rubber brush body, and the rubber brush body cleans the garbage on the surface to be cleaned. Of course, in other embodiments, the brush body of the first roller brush can also be composed of a bristle brush body and a rubber brush body alternately arranged at intervals. This application does not limit the material of the brush body, as long as it can be cleaned. Just clean up the trash.

In one embodiment, the brush body of the second roller brush is configured as a bristle brush body or a cloth brush body so that it can be wetted to perform scrubbing work on the surface to be cleaned.

In one embodiment, as shown in Figures 26 and 27, the brush bodies of the first roller brush 151 and the second roller brush 152 are respectively arranged in a V-shape. Wherein, the first roller brush 151 is configured to rotate counterclockwise during the cleaning operation (as shown by the indicator arrow corresponding to the first roller brush 151 in Figure 26), and the V-shaped shape of the brush body of the first roller brush 151 The tip is located in the middle of the roller shaft and faces forward. In this way, during the rotation of the roller, the opposite sides of the V-shaped structure collect the garbage from both sides to the middle position, so that some dust, especially large particles of garbage, is collected. Easier to clean. Wherein, the V-shaped tip of the second roller brush 152 can face forward, so that the V-shaped opening of the second roller brush 152 conforms to the V-shaped opening of the first roller brush (as shown in Figure 28), or it can also face the front. rear so that the V-shaped opening of the second roller brush is opposite to the V-shaped opening of the first roller brush (as shown in Figures 26 and 27), wherein the second roller brush 152 can be disposed during cleaning operations. To rotate counterclockwise or clockwise. For example, in the example in Figure 28 in which the V-shaped opening of the second rolling brush is consistent with the V-shaped opening of the first rolling brush, the second rolling brush 152 is set to rotate counterclockwise, and the first rolling brush 151 is set to rotate counterclockwise. When the hour hand rotates, that is, the second roller brush 152 and the first roller brush 151 rotate in the same direction. As shown in Figures 26 and 27, in the example where the V-shaped opening of the second roller brush is opposite to the V-shaped opening of the first roller brush, the second roller brush 152 is set to rotate clockwise, and the first roller brush 151 is set to rotate counterclockwise. When the hour hand rotates, that is, the second roller brush 152 and the first roller brush 151 rotate in opposite directions. It is understood that V-shaped structure does not mean that the structure is in a standard V-shape. For example, in some scenarios, U-shaped structure or herringbone structure can also be called V-shaped structure.

In one embodiment, the distribution density of the brush body of the first roller brush is greater than the distribution density of the brush body of the second roller brush. like As shown in Figures 26 and 27, the brush bodies of the first roller brush 151 and the second roller brush 152 are respectively configured as brush bodies. The brush bodies are composed of multiple rows of V-shaped brush clusters. The first roller brush 151 has The distance between two adjacent rows of brush tufts in the brush body is smaller than the distance between two adjacent rows of brush tufts in the brush body of the second roller brush 152, so that the distribution density of the brush body of the first roller brush 151 is greater than that of the second roller brush 152. The brush body distribution density of the roller brush 152. In this way, the first roller brush uses a higher-density brush body to draw in garbage, and the second roller brush uses a low-density brush body to wash the surface to be cleaned, which can prevent the brush body of the second roller brush from contacting garbage and affecting the performance of the first roller brush. Cleaning work.

In one embodiment, during the cleaning operation, the rotation speed of the first roller brush is greater than the rotation speed of the second roller brush. In this way, during the cleaning operation, the speed difference enables the first roller brush to roll faster. This further prevents the second roller brush from interfering with the cleaning operation of the first roller brush due to the second roller brush getting wet. The difference in rotation speed of the two roller brushes can be achieved by providing different driving powers by the first driving module and the second driving module respectively.

In one embodiment, the mounting base of the roller brush assembly includes a side cover. The side cover can be opened or closed on one side of the mounting base. The side cover is used to engage all the components in a closed state. The passive ends of the first roller brush and the second roller brush, when the side cover is opened, the first roller brush and the second roller brush of the roller brush assembly can be taken out from the outside along its axial direction.

Please refer to Figure 30, which is a schematic diagram of the side cover of the roller brush assembly in an embodiment of the present application. As shown in the figure, the side cover 157 is axially connected to the robot body 10. Specifically, the side cover 157 The shaft is connected to the mounting base 150. The vertical dotted line shown in the figure is the axis line of the side cover 157. After the side cover 157 is released or unlocked, it can rotate around the axis line to open, and then can be exposed. The first roller brush and the second roller brush are shielded inside, so that the first roller brush and the second roller brush can be taken out from the outside along the axial direction.

In the embodiment shown in FIG. 30 , the side cover 157 is located on the side of the roller brush assembly that protrudes from the robot body 10 . The side cover 157 includes: a cover body 1570 , a shaft connecting portion 1571 , and a locking portion 1572 .

The cover body 1570 is provided with a notch 1574 (or called a groove) for engaging the passive ends of the first roller brush and the second roller brush; in this embodiment, the active ends of the roller brush assembly are linked The driving assembly, specifically, is linked with the second driving assembly 153 as shown in Figure 28. The second driving assembly 153 includes a first driving module 1530 and a second driving module 1530. The first driving module 1530 is used to drive the first roller brush 151 to rotate, the second drive module 1530 is used to drive the second roller brush 152 to rotate, the first roller brush 151 and the second roller brush 152 of the roller brush assembly The active ends of the roller brush assembly are respectively provided with spring elements to provide continuous resisting force to press the passive end of the roller brush assembly against the notch 1574 of the side cover 157, thereby causing the first roller brush 151 and the second roller brush assembly to The roller brush 152 is provided in the mounting base 150 .

The shaft connection portion 1571 is shaft-connected to the rear side of the cover body 1570 (the side adjacent to the second roller brush), and is used to operate the side cover 157 when the cover body 1570 is unlocked. The rotation shaft rotates to cause the side cover 157 to rotate outward and open in the direction of rotation as shown in FIG. 30 .

The locking part 1572 fixes the cover body 1570 to the mounting base through a locking element such as an elastic pin. 150, in this embodiment, the mounting base 150 has a top plate located at the top of the roller brush assembly, and the top plate is provided with a lock hole or a lock slot corresponding to the locking portion 1572, and the locking element passes through It penetrates the locking portion 1572 and is locked in the lock hole or groove. When the user needs to disassemble the first roller brush and the second roller brush located in the side cover 157, the locking portion 1572 is pulled up to separate it from the top plate of the roller brush assembly, and then the side cover 157 is unlocked. cover 157, and then operate the side cover 157 to rotate around the rotation axis, so that the side cover 157 rotates outward to open. Due to the pressing force of the passive ends of the first roller brush and the second roller brush of the roller brush assembly, Release, and with the help of the elastic force of the active end springs of the first roller brush and the second roller brush of the roller brush assembly, the first roller brush and the second roller brush of the roller brush assembly can easily move along their axes. It can be taken out from the outside to facilitate the operator to maintain or replace the roller brush.

In order to more firmly combine the cover body 1570 with the mounting base 150 , the cover body 1570 further includes an engaging portion 1573 , and the engaging portion 1573 is located on the front side of the cover body 1570 . The locking portion 1572 is located between the shaft connecting portion 1571 and the engaging portion 1573 . In a specific implementation, the engaging portion 1573 is, for example, a combination of a hook and a locking block.

The side cover 157 also includes a protective piece 1575 fixed on the lower side of the cover body 1570 to extend the side cover 157 and shield the roller brush assembly. The protective sheet 1575 is made of flexible material, such as rubber material.

In some embodiments, when the roller brush assembly in the cleaning device is cleaning the surface to be cleaned, the first roller brush cannot effectively bring/sweep/roll all the garbage into the garbage box or dust collection chamber. For example, uncollected garbage may be accumulated on the front side of the dirt collection assembly as the cleaning robot moves forward, thereby preventing the sewage left by the second roller brush from scrubbing the surface to be cleaned from entering the dirt collection assembly. Uncollected garbage may also enter the sewage collection component and block the sewage collection component or its corresponding pipeline structure. Uncollected garbage may also enter the part where the dirt collection component contacts the surface to be cleaned, causing the dirt collection component to be unable to wipe properly.

In view of this, in some embodiments, please refer to Figures 31 and 32. Figure 31 shows a schematic three-dimensional structural diagram of the cleaning device in one embodiment of the present application, and Figure 32 shows the BB of the cleaning device shown in Figure 31 of the present application. As shown in the cross-sectional schematic diagram, the cleaning device 15 proposed in this application includes a mounting base 150 and a roller brush assembly, and may further include a blocking mechanism 156. The blocking mechanism 156 is disposed on the mounting base 150. When the cleaning device 15 is configured on the cleaning robot 1 as shown in Figure 13, the blocking mechanism 156 is located on the front side of the dirt collection assembly 16 and is used to block at least part of the garbage from flowing to the dirt collection when the cleaning robot 1 is moving forward. Component 16. The roller brush assembly includes a first roller brush 151 and a second roller brush 152. The structure and configuration of the first roller brush 151 and the second roller brush 152 can be referred to the aforementioned embodiments of FIGS. 33 to 18. and its description will not be repeated here. Wherein, the dirt collection assembly 16 can be disposed on the body of the cleaning robot 1. When the cleaning device 15 is disposed on the body of the cleaning robot 1, the cleaning device 15 is located on the front side of the dirt collection assembly 16, so that the blocking mechanism 156 is located on the body of the cleaning robot 1. The front side of the dirt assembly 16. The dirt collection assembly 16 can also be configured on the cleaning device 15 (as shown in Figures 31 and 32), that is, the cleaning device 15 includes the dirt collection assembly 16, where the dirt collection assembly 16 The dirt assembly 16 is disposed on the mounting base 150 and is located behind the roller brush assembly and the blocking mechanism 156. The specific structure and working principle of the dirt collection assembly 16 will be described in detail later and will not be described again here.

In one embodiment, the blocking mechanism 156 is detachably connected to the mounting base 150 to allow the blocking mechanism 156 to be selectively detached or loaded from the mounting base 150 to facilitate cleaning, maintenance, or replacement. . Of course, the blocking mechanism 156 can also be connected to the mounting base 150 in a non-detachable manner. That is to say, after the blocking mechanism 156 is fixed on the mounting base 150, it cannot be easily disassembled.

In one embodiment, as shown in FIGS. 31 and 32 , the blocking mechanism 156 is disposed between the first roller brush 151 and the second roller brush 152 and along the lengths of the first roller brush 151 and the second roller brush 152 The direction is set to block at least part of the garbage on the side facing the first roller brush 151 of the cleaning robot 1 in the forward state.

In one implementation, the blocking mechanism 156 is disposed along the length direction of the first roller brush 151 and extends toward the surface to be cleaned, so that on the path from the first roller brush 151 to the second roller brush 152 and its rear side A shield is formed, and the uncollected garbage is accumulated on the side facing the first roller brush 151. In this way, on the one hand, too much accumulation of garbage will spread to contact with the brush body of the first roller brush 151, so that the uncollected garbage has the opportunity to be brought into the garbage box/dust collection room by the first roller brush 151 again; On the other hand, when the robot retreats, the accumulated garbage will relatively move closer to the first roller brush 151 , so that the accumulated garbage can be cleaned by the first roller brush 151 again.

The blocking mechanism 156 can extend toward the surface to be cleaned to a preset distance from the surface to be cleaned (the preset distance can be set to no more than 1/2 of the radius of the first roller brush 151, for example, 2 mm). As shown in Figure 32. The blocking mechanism 156 can also be extended to contact the surface to be cleaned. Here, the blocking mechanism 156 can be configured to contact the first roller brush. When the cleaning robot is advancing, the blocking mechanism 156 will be forced to Offset toward the direction away from the first roller brush 151 to allow the garbage to be brought into the garbage box/dust collection chamber by the first roller brush 151 and the uncollected garbage to be blocked. When the cleaning robot retreats, it is forced to move closer to the first roller brush 151. The direction of the first roller brush 151 is shifted, thereby further pushing the accumulated garbage toward the first roller brush 151 . In other words, when the cleaning robot is moving forward, there is a distance between the blocking mechanism 156 and the first roller brush 151 . The distance means that the surface of the blocking mechanism 156 facing the first roller brush 151 is spaced apart from the outer surface of the first roller brush 151 on the same horizontal line. Surface distance, it should be understood that the distance between the blocking mechanism 156 and the first roller brush 151 is not necessarily the same on different horizontal lines. For example, as shown in Figure 32, the distance between the upper part of the blocking mechanism 156 and the first roller brush 151 is smaller. , the distance between the lower part and the first roller brush 151 is larger. In one example, in order to reduce the accumulation of garbage and not affect the work of the first roller brush 151 in cleaning garbage, the distance is 0 mm to 3 mm.

Furthermore, as shown in FIG. 32 , the blocking mechanism 156 has a curved surface 1560 , and the curving direction of the curved surface 1560 conforms to the outer edge of the first roller brush 151 , so that the blocking mechanism 156 can be as close as possible to the first roller brush 151 . The outer surface of the first roller brush 151 reduces the area where garbage accumulates, so that as much garbage as possible is cleaned by the first roller brush 151.

Please refer to Figures 33 and 34 in combination with Figure 32. Figure 33 shows a schematic three-dimensional structural view of the blocking mechanism in one embodiment of the present application. Figure 34 shows the side view of the blocking mechanism in the embodiment shown in Figure 33. Schematic diagram. As shown in the figure, the blocking mechanism 156 includes a connecting part 1561 and a blocking part 1562. The connecting part 1561 and the blocking part 1562 may be, for example, an integrally formed structure. The connecting portion 1561 is used to connect the mounting base 150 so that the blocking mechanism 156 is detachably or non-detachably disposed on the mounting base 150 . The blocking part 1562 is connected to the connecting part 1561 and is used to block at least part of the garbage from flowing to the dirt collection assembly 16. When the cleaning robot is moving forward, the blocking part 1562 may or may not contact the surface to be cleaned. The blocking part 1562 For example, a flexible material (such as rubber) can be used. Considering that in some embodiments, the blocking portion 1562 will be in contact with the surface to be cleaned, friction between the blocking portion 1562 and the surface to be cleaned, collision with foreign objects or obstacles, and other factors may cause It will cause the blocking part 1562 to bend due to force, and due to factors such as gradual aging due to long-term use, the blocking part 1562 is prone to breakage. Therefore, in order to support and strengthen the blocking part 1562, the blocking mechanism 156 may further include reinforcement. part 1563. The reinforcing part 1563 can be provided on the connecting part 1561. By strengthening the support of the blocking part 1562, the influence of the bending force on the blocking part 1562 can be eliminated, thereby extending the service life of the blocking mechanism 156 as much as possible and extending the replacement time. Cycle etc.

In order to prevent the blocking mechanism 156 from hindering the cleaning device from cleaning liquids such as milk and sewage, the blocking mechanism 156 may also have a filtering function to allow liquid or small particles of garbage to flow through the blocking mechanism 156 when the cleaning robot is moving forward. Regarding the sewage collection assembly 16, it should be understood that the filtered liquid or small particle garbage will be recovered by the sewage collection assembly 16 and will not affect the normal operation of the sewage collection assembly 16. In some embodiments, the position of the blocking mechanism 156 can be designed to form a filtering channel with the surface to be cleaned. For example, in an embodiment where the blocking mechanism 156 can extend toward the surface to be cleaned to a preset distance from the surface to be cleaned, the blocking mechanism 156 can form a filtering channel with the surface to be cleaned. When the cleaning robot is in the forward state, the mechanism 156 forms a filter channel with a width of the preset distance between the cleaning robot and the surface to be cleaned, so that liquid or small particles of garbage can pass through the filter channel and flow toward the dirt collecting assembly 16, and finally can It is recovered by the sewage collecting assembly 16. In other embodiments, the blocking mechanism 156 has the filtering function by virtue of its own properties. For example, please refer to FIG. 35 , which is a schematic three-dimensional structural diagram of the blocking mechanism in one embodiment of the present application. Compared with FIG. 33 and Figure 34, here, the blocking portion 1562 of the blocking mechanism 156 is set as a brush body, so that large particles of garbage can be blocked, and liquid or small particles of garbage can pass through the gaps of the brush body. In some embodiments, the blocking mechanism 156 can also be structurally designed to form a filter channel with the surface to be cleaned to allow liquid or small particles of garbage to pass. This method will be described below with reference to Figures 36 to 39 illustrate.

Please refer to Figures 36 and 37. Figure 36 is a schematic three-dimensional structural view of the blocking mechanism in an embodiment of the present application, and Figure 37 is a partial enlarged view of the blocking mechanism in the embodiment shown in Figure 36, as shown in As shown in the figure, compared with Figures 33 and 34, a filter structure 1564 is provided on the blocking part 1562 of the blocking mechanism 156. Here, the filtering structure 1564 is provided as a hole 15640 ( or groove), when the cleaning robot is moving forward, The blocking portion 1562 is in contact with the surface to be cleaned, so that the holes 15640 and the surface to be cleaned form a plurality of small filtering channels, so that liquid or small particles of garbage can pass through these filtering channels and flow toward the dirt collecting assembly 16, and can eventually be collected. Component 16 is recycled.

Please refer to Figures 38 and 39. Figure 38 is a schematic three-dimensional structural view of the blocking mechanism in an embodiment of the present application, and Figure 39 is a partial enlarged view of the blocking mechanism in the embodiment shown in Figure 38, as shown in As shown in the figure, compared with Figures 33 and 34, a filter structure 1564 is provided on the blocking portion 1562 of the blocking mechanism 156. Here, the filter structure 1564 is provided on the side of the blocking portion 1562 facing the first roller brush 151. The convex structure 15641 on the surface, when the cleaning robot is in the forward state, the blocking part 1562 contacts the surface to be cleaned and bends due to force, so that at least the lower part of the convex structure 15641 is bent from facing the first roller brush to facing the first roller brush. and contacts the surface to be cleaned, the bottom surface of the blocking portion 1562 is bent from contacting the surface to be cleaned to leaving the surface to be cleaned, so that the lower area of the protruding structure 15641 and the surface to be cleaned form multiple filtering channels, so that liquid or small particles The particulate garbage can pass through these filtering channels and flow toward the dirt collecting assembly 16, and can finally be recovered by the dirt collecting assembly 16.

In order to prevent the cleaning robot from moving backward when the second roller brush 152 washes the sewage or other liquids on the surface to be cleaned, the second roller brush 152 moves relatively near the first roller brush 151 to affect the first roller brush 151. Therefore, the blocking mechanism 156 can also be used It is used to block the passage of liquid when the cleaning robot is retreating. In some embodiments, such as the embodiments shown in FIGS. 38 and 39 , when the cleaning robot retreats, the blocking portion 1562 of the blocking mechanism 156 contacts the surface to be cleaned. At this time, the blocking portion 1562 contacts the surface to be cleaned. The friction force is toward the front side of the cleaning robot, that is, the side of the blocking portion 1562 without the protruding structure 15641 will be closer to the surface to be cleaned, thereby blocking the direction from the second roller brush 152 and its rear side toward the first roller. The passage of the brush 151 prevents liquid from passing through. In other words, as shown in Figures 38 and 39, the blocking mechanism 156 can block part of the garbage from flowing to the dirt collection assembly 16 when the cleaning robot is in the forward state, and allows liquid or small particles of garbage to flow to the dirt collection assembly. 16. When the cleaning robot retreats, it can prevent the liquid from flowing toward the first roller brush 151 side. In some embodiments, such as the embodiments shown in FIGS. 33 and 34 , the blocking mechanism 156 is configured to extend toward the surface to be cleaned until it contacts the surface to be cleaned. When the cleaning robot retreats, the blocking portion 1562 of the blocking mechanism 156 At this time, the friction force caused by the contact between the blocking portion 1562 and the surface to be cleaned is directed toward the front side of the cleaning robot, blocking the passage from the second roller brush 152 and its rear side toward the first roller brush 151 , so that the liquid cannot In other words, in the example where the blocking mechanism 156 is configured to contact the surface to be cleaned as shown in FIGS. 33 and 34 , in the forward state of the cleaning robot, the direction from the first roller brush 151 to the second roller brush 152 and thereafter will be blocked. The passage on the side of the cleaning robot blocks the flow of garbage to the dirt collection assembly 16. When the cleaning robot retreats, the passage from the second roller brush 152 and its rear side to the first roller brush 151 is closed, thereby blocking the flow of liquid to the first roller brush 151.

In another embodiment, the roller brush assembly further includes an adapter, the adapter is fixed on the mounting base, and the blocking mechanism is detachably engaged with the adapter. In this embodiment, the blocking mechanism can be In the case of a tool, the brush is pulled out from the adapter in a direction parallel to the axes of the first roller brush and the second roller brush.

In one embodiment, the adapter is a metal part with certain rigidity, such as an aluminum alloy part. Please refer to Figures 40 and 41. Figure 40 shows the application in another embodiment. 41 is a schematic diagram of the installation of the blocking mechanism in another embodiment of the present application. As shown in the figure, the adapter 158 includes a fixed portion 1580 fixedly connected to the mounting base 150 and a The fixing part 1580 is an integrally formed latch part 1581. The adapter 158 includes an upper groove 1582 and a lower groove 1583 formed by bending, and a support portion 1584 for supporting the main body portion of the blocking mechanism 156 . Furthermore, the upper groove 1582 , the lower groove 1583 and the supporting part 1584 integrally constitute the clamping part 1581 . The upper groove 1582 is a groove that limits the blocking mechanism 156' in a horizontal direction, and the lower groove 1583 is a groove that limits the blocking mechanism 156' in a vertical direction.

In this embodiment, the adapter is fixed on the mounting base by means of screws. As shown in Figure 40, the fixing portion 1580 on the adapter 158 is used for screwing. of screw holes. In other words, the detachment or installation of the adapter 158 and the mounting base 150 requires the use of tools such as screwdrivers, while the detachment or installation of the blocking mechanism 156' and the adapter 158 can be achieved without the use of tools.

As shown in Figure 41, the blocking mechanism 156' includes a main body part 1560' and a blocking part 1562' integrally formed with the main body part 1560'. The main body part 1560' includes a reinforcing part 1563' and a corresponding clamped part. The upper connecting portion 1561' of the upper groove 1582 is engaged with the lower connecting portion 1565' of the lower groove 1583. In this embodiment, the blocking mechanism is made of rubber material. When it is installed on the adapter, the lower edge of the blocking part is in contact with the ground to be cleaned, and when the robot moves forward or backward, it receives different frictional forces. direction deformation.

As mentioned above, in some embodiments, one side of the blocking portion of the blocking mechanism is a smooth surface, and the other side has a filtering structure or is called a groove surface. The filtering structure is, for example, a groove structure. Specifically, the When the blocking mechanism is installed on the adapter, the filtering structure of the blocking part is located on one side of the robot's forward direction, and the smooth surface of the blocking part is located on one side of the robot's retreating direction.

Please refer to Figures 42 to 43, which are schematic diagrams of the deformation of the lower edge of the blocking mechanism when the robot is walking in one embodiment. As shown in Figure 42, when the cleaning robot is in the forward state, the blocking portion of the blocking mechanism 156' and The surface to be cleaned contacts and is bent by force, so that at least the lower part of the filter structure (convex structure or groove surface) is bent from facing the first roller brush 151 to facing and contacting the surface to be cleaned, and the bottom surface of the blocking part Then the surface to be cleaned is bent from contacting the surface to be cleaned to leaving the surface to be cleaned, so that the lower part of the filter structure (convex structure or groove surface) and the surface to be cleaned form multiple filter channels, so that the large particle garbage 50 is blocked in the first Within the working area of a roller brush 151 , liquid or small particle garbage 51 can pass through these filter channels and flow toward the dirt collecting assembly 16 located at the rear side, and can finally be recovered by the dirt collecting assembly 16 .

As shown in Figure 43, when the cleaning robot is in the retreat state, the blocking part of the blocking mechanism 156' is in contact with the surface to be cleaned, At this time, the friction force caused by the contact between the blocking part and the surface to be cleaned is directed toward the front side of the cleaning robot, and its smooth surface is in contact with the ground, thereby closing the passage from the second roller brush 152 and its rear side to the first roller brush 151, so that the liquid 52 cannot pass through. In other words, when the cleaning robot retreats, the passage from the second roller brush 152 and its rear side to the first roller brush 151 is blocked, preventing the liquid 52 from flowing to the first roller brush 151 .

Please refer to Fig. 44 in conjunction with Fig. 28. Fig. 44 shows a schematic three-dimensional structural diagram from the back view of the cleaning device in one embodiment of the present application. As shown in the figure, the mounting base 150 is also provided with a water spray structure 154, so The water spray structure 154 is connected to the clean water tank of the cleaning robot and is used to spray water to wet the second roller brush 152 so that the second roller brush 152 can wash the surface to be cleaned while rotating. In some examples, the water spray structure 154 includes a water spray port 1540, and water flows out through the water spray port 1540. In order to prevent the sprayed water flow from interfering with the first roller brush 151, the water spray port 1540 is provided on the mounting base. 150, and is located on or behind the vertical plane where the axis of the second roller brush 152 is located. It should be understood that the water spray port 1540 is located on the vertical plane where the axis of the second roller brush 152 is located or behind the vertical plane, which is equivalent to the water spray port being located in the rear half of the second roller brush 152, thereby avoiding the Interference with the first roller brush 151. In some examples, the water jets 1540 are provided in multiple numbers, and the multiple water jets 1540 are arranged on the mounting base along the length direction of the second roller brush (i.e., the axis direction, as indicated by the dotted line in Figure 44 (shown as the axis direction) are spaced in consistent directions, so that the water flow can be sprayed on the second roller brush 152 evenly.

Since the water spray structure is a long strip-shaped member, whether the water inlet is arranged at one end or in the middle, it may happen that the water flow of the water spray structure cannot be evenly distributed to each water spray outlet, thereby causing the spray of the second roller brush to The degree of uneven distribution affects the cleaning effect. In order to ensure that the amount of water flowing out of each water spray outlet in most water spray structures is the same, in one embodiment, a buffer structure is provided in the water spray structure so that each water spray outlet can be evenly distributed. The amount of water coming from the water inlet. Please refer to Figure 45, which is an exploded schematic diagram of the water spray structure and the second roller brush provided in one embodiment of the present application. As shown in the figure, the water spray structure 154 is in a long strip shape and is used to move along the second roller brush. The axial direction of the brush 152 is set. Specifically, the direction in which the water spray structure 154 is set in the mounting seat is parallel to the axial direction of the second roller brush 152, so that its plurality of water spray nozzles 1540 are evenly distributed in the installation seat. The upper side of the second roller brush 152. As shown in Figure 45, the water spray structure 154 is a long groove structure or a tube structure, which is arranged along the axial direction of the second roller brush 152. The water spray structure 154 absorbs the clean water from the cleaning robot. The clean water in the tank is sprayed to wet the second roller brush 152, so that the second roller brush 152 can wash the surface to be cleaned when rotating. The water spray structure 154 includes a water inlet 1541 and a water spray port 1540.

Please refer to Figure 46, which is a schematic diagram of the position of the water spray structure installed in the mounting base in an embodiment of the present application. The enlarged portion in Figure 46 is also regarded as the AA cross-sectional diagram in Figure 45, as shown in the figure , the water spray structure 154 includes a water storage tank 1542. In one embodiment, the water storage tank 1542 includes a detachable tank body 15420 and a tank cover 15421 that covers the tank body 15420. The tank cover 15421 is engaged with the tank body 15420 to form a sealed space inside the water tank 1542 . Of course, in other embodiments, the water storage tank 1542 may also be As a one-piece tubular structure.

As shown in the enlarged portion of Figure 46, the internal space of the water storage tank 1542 is divided into a buffer tank 1543 and an outlet tank 1544. The buffer tank 1543 is connected to the water inlet 1541 as shown in Figure 45. A plurality of water nozzles 1540 are distributed at the bottom of the outlet tank 1544. A certain height position isolation is provided between the buffer tank 1543 and the outlet tank 1544. Specifically, a liquid is provided between the buffer tank 1543 and the outlet tank 1544. The isolation wall 1545 is located so that when the water flow from the water inlet 1541 enters the water storage tank 1542, it needs to first fill/fill the buffer tank 1543 and then spread to the outlet water tank 1544, thereby preventing the water flow from being uneven. 1540 assigned to each water spout. In this embodiment, a plurality of crenels 1546 (which may also be tooth-shaped notches) are evenly distributed on the liquid level isolation wall to facilitate the water entering the outlet channel 1544 through these crenels 1546 when the buffer tank 1543 is full.

In a more preferred embodiment, in order to further ensure that the water volume of each water spout in the outlet trough is equal, multiple spacing structures can also be provided in the outlet trough to further isolate multiple compartments in the outlet trough. A water spout is provided at the bottom of each compartment, so as to achieve the effect of uniform water discharge from each water spout.

Please continue to refer to Figure 28 to Figure 32 and Figure 44. In some embodiments, the cleaning device 15 also includes a garbage box 155 that is detachably provided on the mounting base 150. The garbage box 155 is arranged in parallel with the installation base 150. The first roller brush 151 is located in front of the first roller brush 151 to collect the garbage rolled in by the first roller brush 151 . Specifically, the garbage box 155 is arranged in a long strip shape, and a garbage port 1550 is provided on the side of the garbage box 155 facing the first roller brush 151 , and the garbage port 1550 is located at the upper part of this side (the upper part is where the garbage box is close to the chassis). part). In this way, the garbage rolled in by the first roller brush 151 is allowed to enter the garbage port 1550 and then deposit at the bottom of the garbage box 155, thereby preventing the garbage from falling. In some examples, the garbage box 155 and the mounting base 150 are provided with corresponding buckling structures (not shown). Through the corresponding buckling structures, the garbage box 155 can be easily removed from the mounting base 150. Disassembly and installation. Furthermore, in some examples, a handle structure 1551 is provided on one side of the garbage box 155, so that it is more convenient for the operator to remove the garbage box for cleaning.

In some embodiments, a drainage hole is provided on the side of the garbage box 155 facing the surface to be cleaned. The drainage hole is used to drain the liquid in the garbage box 155 to the surface to be cleaned, so that the second cleaning device 15 can The roller brush 152 can clean the liquid. In this way, the liquid contained in the garbage swept in by the first roller brush 151 can be prevented from gathering in the garbage box.

Please continue to refer to Figure 24. The bottom of the chassis 11 is also provided with a sewage collection assembly 16 for collecting the sewage from the surface to be cleaned by the cleaning robot. For example, the sewage is from the cleaning device 15 mentioned in any of the previous embodiments. The second roller brush 152 scrubs the liquid left on the surface to be cleaned. The sewage collection assembly 16 can communicate with the built-in accommodation space of the sewage tank 12 of the cleaning robot, thereby allowing sewage to be collected and transported to the built-in accommodation space. In some embodiments, the dirt collection assembly 16 can be disposed on the cleaning device 15 , or can be separated from the cleaning device 15 , such as being disposed behind the driving wheel 131 . This application does not limit this, as long as the dirt collection assembly 16 is disposed on the cleaning device 15 . The assembly 16 is disposed behind the second roller brush 152 in the cleaning device 15 .

In one embodiment, please refer to FIG. 26 , the dirt collection assembly 16 includes a dirt inlet 160 and a scraper structure disposed at the dirt inlet. The scraper structure includes a first scraper 161 and a second scraper 162. The first scraper 161 and the second scraper 162 are respectively located on the front side and the rear side of the dirt inlet 160, so as to The cleaning robot alternately collects sewage when moving forward and backward. Specifically, the main body portions of the first scraper 161 and the second scraper 162 are arranged parallel and in contact with the surface to be cleaned. When the cleaning robot moves forward, the first scraper 161 is deformed by force to allow sewage to pass into the sewage inlet 160, and the second squeegee 162 forms a blocking effect on the sewage at the rear side, so the sewage is collected into the sewage inlet. 160. When the cleaning robot retreats, the second scraper 162 is deformed by force to allow the sewage on the rear side to enter the sewage inlet 160. The first scraper 161 forms a blocking effect on the sewage on the front side, so the sewage can also be collected. 160 to the sewage inlet. The sewage collected in the sewage inlet 160 is sucked into the built-in accommodation space of the sewage tank 12 by the suction assembly of the cleaning robot.

In one embodiment, the dirt collection assembly includes a dirt inlet seat and a water suction rake. Please refer to Figure 47, which is a schematic diagram of the installation of the dirt collection assembly in the robot according to an embodiment of the present application. As shown in the figure, the water-absorbing rake 164 can move along a direction parallel to the first roller brush and the second roller brush. The direction of the brush axis is withdrawn from the dirt inlet seat 163 for maintenance or replacement.

The dirt inlet seat 163 is provided on the chassis of the robot 1. For example, the dirt inlet seat 163 is fixed on the chassis by locking screws. Please refer to Figures 48 and 49. Figure 48 shows the application A schematic structural diagram of the dirt collection assembly in one embodiment. Figure 49 shows a schematic structural diagram of the assembly of the dirt inlet seat and the water suction rake of the dirt collection assembly in one embodiment of the present application. As shown in the figure, in this embodiment, The dirt inlet seat 163 is provided with a locking structure 165 for locking on the chassis corresponding to the chassis mounting surface. Specifically, the locking structure 165 is, for example, a stud with internal threads. The sewage inlet seat 163 includes a sewage inlet channel 1630 for connecting the sewage pipeline and a first chute 1631.

As shown in FIG. 49 , the water suction rake 164 is slidably and detachably disposed on the dirt inlet seat 163 . The water suction rake 164 includes a second chute 1641 , a dirt inlet 1640 , and a scraper structure 1642 . Wherein, the second chute 1641 is provided corresponding to the first chute 1631, and is used to interlock with the first chute 1631 when the water-absorbing rake 164 is slidably inserted into the dirt inlet seat 163. The sewage inlet 1640 is connected to the sewage inlet channel 1630 of the sewage inlet seat 163 and the sewage suction space of the scraper structure 1642, so that the sewage collected in the sewage suction space enters through the sewage inlet 1640 and the sewage inlet channel 1630. Sewage tank pipes.

In this embodiment, the first end of the dirt inlet seat 163 is configured for the second chute 1641 to be inserted into the first insertion portion 1632 of the first chute 1631, and the second end is provided with a first stopper. 1633. The first end of the water suction rake 164 is provided with a second stopper 1643, and the second end is provided as a second insertion portion 1644 for inserting the second chute 1641 into the first chute 1631.

Please refer to Figures 50 and 51. Figure 50 is a schematic exploded view of the dirt collection assembly in one embodiment of the present application. Figure 51 is a schematic cross-sectional structural view of the dirt collection assembly in one embodiment of the present application. As shown in the figure , the water absorbing rake 164 includes: Squeegee seat 1645, pressure plate 1646, and scraper structure 1642.

The scraper seat 1645 is slidably and detachably disposed on the dirt inlet seat 163, and includes the second chute 1641 and a first coupling portion 1647 for arranging the scraper structure 1642; the first coupling The portion 1647 has a stepped structure, and the scraper seat 1645 is provided with a plurality of clamping holes.

The pressure plate 1646 is fixed on the scraper seat 1645 and is used to restrict the scraper structure 1642 on the scraper seat 1645; the pressure plate 1646 is provided with hooks corresponding to the plurality of clamping holes. 16460, used to pass the pressing plate 1646 through the clamping hole of the scraper seat 1645 and fix the scraper structure 1642 on the scraper seat 1645 by engaging it.

The scraper structure 1642 includes a second coupling part 1648 for coupling with the first coupling part 1647, and first parts respectively located at the front and rear sides of the dirt inlet to form a dirt suction space for the dirt inlet. scraper and second scraper. In this embodiment, the first joint part 1647 has a step structure, the second joint part 1648 has a folding structure that conforms to the step structure, and the scraper seat 1645 is formed with a structure for protecting the step structure. Protective structure 16450 for hemmed structures. The first scraper strip and the second scraper strip are integrally formed structures.

The first scraper and the second scraper are formed with two constricted ends at the first end and the second end, and are arranged in parallel between the two constricted ends. A plurality of gaps are spaced on the first scraper strip for allowing sewage to enter the sewage suction space.

Please continue to refer to Figure 52, which is a schematic structural diagram of a chassis in an embodiment of the present application. A clean water tank 110 is integrally formed on the top of the chassis 11, and a suction assembly 112 is installed on the chassis.

In one embodiment, as shown in Figure 52 in combination with Figure 23, a groove surrounded by a side wall 1101 is formed on the top surface of the chassis 11, and the groove is the integrally formed clean water tank 110. The clean water tank 110 is provided with a first positioning structure 1102. The first positioning structure 1102 is consistent with the second positioning structure (not shown) provided on the sewage tank 12 and is used to limit the sewage tank 12. and the relative movement between the clean water tank 110 . Specifically, the first positioning structure 1102 is, for example, a groove structure provided on the side wall 1101 of the clean water tank 110, and the second positioning structure is provided on the sewage tank 12 and is complementary to the groove structure. As for the protruding structure, of course, the first positioning structure 1102 can also be set as a protruding structure, and the second positioning structure can be set as a protruding structure. This application does not limit the specific form of the positioning structure. It should be understood that in some other embodiments, a water supply assembly may also be installed on the top of the chassis, and the water supply assembly is connected with the clean water tank to help deliver water from the clean water tank to the cleaning device.

In one embodiment, as shown in Figure 52 in conjunction with Figure 23, a first pipe structure 1103 connected to the sewage collection assembly 16 is provided in the clean water tank 110. The first pipe structure 1103 is located therein. When the sewage tank 12 is combined with the chassis 11, it is connected to the built-in accommodating space 120 to provide a water flow path from the sewage collection assembly to the built-in accommodating space 120. The sewage collected in the sewage inlet of the sewage collection assembly passes through. The first pipe structure 1103 enters the built-in receiving space 120 of the sewage tank 12 .

In one embodiment, as shown in Figure 52 in conjunction with Figure 23, the outer edge of the top of the chassis 11 at least partially extends upward. Extending to form a groove area 113 together with the side wall 1101 of the clean water tank 110, the groove area 113 is used to install the suction assembly 112. When the sewage tank 12 is combined with the chassis 11, the suction assembly 112 is connected with the built-in accommodation space 120 of the sewage tank 12 to form a negative pressure in the built-in accommodation space 120, so that The sewage collected by the sewage collection assembly 16 is transported to the built-in accommodation space 120 through the first pipe structure 1103 .

Specifically, in one embodiment, the sewage tank can also be integrally formed of materials such as plastic, metal or other materials used in the art, and is configured to be complementary to the chassis. When combined with the chassis, the The sewage tank can enclose the clean water tank and provide protection for related devices, components, assemblies, or mechanisms/structures installed or integrated into the chassis. In some examples, the sewage tank and the chassis can be detachably assembled together through various suitable devices (such as screws, buckles, etc.).

In one embodiment, please refer to Figures 52 to 54 in conjunction with Figure 23. Figure 53 shows a schematic structural diagram of a horizontal section of a sewage tank in one embodiment of the present application, and Figure 54 shows a schematic structural diagram of a horizontal section of a sewage tank in one embodiment of the present application. A schematic structural diagram of a vertical cross-section of the cleaning robot in . The sewage tank 12 includes an outer shell 121 , which is configured as a hollow structure with an upward opening to form a built-in accommodation space 120 for recycling sewage collected by the cleaning robot. . When the sewage tank 12 is nested in the clean water tank 110 and combined with the chassis 11 , the built-in accommodation space 120 can have an overlapping area with the accommodation space 1100 of the clean water tank 110 in the vertical direction. For example, the outer shell 121 being nested in the clean water tank 110 means that at least part of the outer shell 121 that constitutes the built-in accommodation space 120 surrounds the clean water tank 110 , as shown in FIG. 54 . The space 120 wraps the clean water tank 110 in a U shape, that is, at least part of the outer shell 121 that constitutes the built-in accommodation space 120 can fit against the side wall 1101 of the clean water tank 110, thereby forming the intersection in the vertical direction. The overlapping area is the area corresponding to P as shown in Figure 54.

As shown in FIG. 52 , in one embodiment, the rear outer edge of the top of the chassis 11 extends upward so that the side wall of the chassis 11 is in a stepped shape with a lower front and a higher back relative to the side wall 1101 of the clean water tank 110 . In view of this, as shown in FIGS. 23 and 53 , the outer shell 121 of the sewage tank 12 can be arranged in an inverted stepped shape that is complementary to the side wall 114 of the chassis 11 . In this way, the sewage tank 12 is nested in the purified water tank. When the tank 110 is combined with the chassis 11, the overlapping area can be formed when the sewage tank 12 is nested in the clean water tank 110. Specifically, as shown in FIG. 54 , at least the inverted stepped convex step portion formed by the outer shell 121 can extend downward along the side wall 1101 of the clean water tank 110 to be combined with the side wall 114 of the chassis 11 , so that Viewed from a vertical plane, the outer casing 121 and the side wall 1101 of the clean water tank 110 have an overlapping area. Furthermore, setting the outer casing 121 as a hollow structure will form a built-in accommodation space 120 for storing sewage. The clean water tank The side wall 1101 of 110 encloses the accommodation space 1100 for accommodating clean water, which means that the built-in accommodation space 120 and the accommodation space 1100 of the clean water tank have an overlapping area in the vertical direction, as shown in Figure 54 The area corresponding to P.

It should be understood that in practice, the built-in accommodation space and the accommodation space of the clean water tank have an overlapping area in the vertical direction. In the embodiment, on the one hand, space utilization is ensured, and on the other hand, the counterweight balance of the cleaning robot in the vertical direction is ensured. Taking the outer shell of the sewage tank as an example of an inverted ladder shape that complements the side wall of the chassis, the purified water in the purified water tank continues to decrease after being used, causing the water level to continue to decrease, and while the purified water is being used, The sewage collected by the cleaning robot continues to increase in the sewage tank. Since the two have overlapping areas, in terms of vertical spatial distribution, the collected sewage will also sink to the space area where the clean water tank is located, thus ensuring Counterweight balance of cleaning robot.

In one embodiment, as shown in FIG. 23 , a handle structure 122 is provided on the outside of the outer shell 121 to facilitate the operation of the cleaning robot. For example, the handle structures 122 are symmetrically arranged on the left and right sides of the outer shell 121 . On the side, it is convenient for operators or installers to combine or disassemble the sewage tank with the chassis, and it is also convenient for operators to move/move the cleaning robot.

In one embodiment, as shown in Figures 24 and 53, the outer shell 121 is provided with a water inlet 123, and the built-in accommodation space 120 is provided with a second pipeline structure connected to the water inlet 123. 124. The second pipeline structure 124 is connected to the clean water tank 110 when the sewage tank 12 is combined with the chassis 11 to provide a water flow path from the water inlet 123 to the clean water tank 110 . For example, the water adding port 123 is used to dock with a workstation, so that the clean water tank 110 of the cleaning robot is added with the help of the workstation. The water flow flows from the workstation through the second pipeline structure 124 and then enters the clean water tank 110. The workstation can For example, the workstation disclosed in any embodiment of this application can also be other workstations. The workstation can add water to the cleaning robot through the cyclic water exchange method described in any embodiment of this application, or can also add water to the cleaning robot in other ways. .

In some embodiments, as shown in Figures 23 and 53, the sewage tank 12 also includes a bottom plate 125 integrally formed inside the outer shell 121, and the inner surface of the outer shell 121 cooperates with the bottom plate 125 to form a An external accommodation space 126 accommodates the battery 17 . Furthermore, a limiting structure 127 is provided on the inner surface of the outer shell 121 , and the limiting structure 127 is used to limit the position of the battery 17 in the external accommodation space 126 . The battery 17 is used to provide power to other electrical components (such as control devices, mobile devices, cleaning devices, etc.). In one embodiment, the battery 17 may be, for example, a conventional nickel metal hydride (NiMH) battery, or a lithium battery, or the like.

As mentioned above, the sewage tank is configured as an integrated structure complementary to the chassis, so that the clean water tank can be closed when combined. Further, in the embodiment in which the sewage tank includes an outer casing and a bottom plate integrally formed inside the outer casing, the outer casing and the bottom plate jointly close the clean water tank. In order to prevent the clean water tank from leaking, in some embodiments, a sealing strip is provided at the bottom of the clean water tank, so that when the sewage tank is combined with the chassis, the clean water tank can be sealed. In other embodiments, a sealing strip is provided at the joint between the sewage tank and the opening of the clean water tank, so that the clean water tank can be sealed, for example, in the area corresponding to the bottom of the outer shell and the bottom plate and the opening of the clean water tank. Set sealing strips, etc. In this application, when the sewage tank 12 is nested on the clean water tank 110 to be combined with the chassis 11, it is covered on the top opening of the clean water tank 110. In this configuration, The sewage tank 12 serves as a cover of the clean water tank 110 to seal the clean water tank 110. In the actual implementation, a sealing structure is provided between the sewage tank 12 and the clean water tank 110 , for example, a groove formed on the sewage tank 12 corresponding to the top edge of the side wall of the clean water tank 110 structure, a sealing ring (such as a rubber ring) disposed in the groove structure, when the sewage tank 12 is closed on the clean water tank 110, the clean water tank can be sealed by the sealing structure The opening at the top of 110 is sealed.

It should be noted that in any of the above embodiments, the classification of the various devices, components, assemblies, modules, or components of the cleaning robot is not restrictive, and those skilled in the art can reclassify them according to specific application scenarios. For example, in some embodiments, at least one of the clean water tank, sewage tank, suction assembly, water supply assembly, and sewage collection assembly of the cleaning robot can also be used as a component of the waterway device, that is, the cleaning robot It includes a waterway device, which includes at least one of a clean water tank, a sewage tank, a suction component, a water supply component, and a sewage collection component.

In some embodiments, please refer to FIG. 55 and FIG. 56 in conjunction with FIG. 23. FIG. 55 shows a schematic structural diagram of a sewage tank in an embodiment of the present application from a top view, and FIG. 56 shows a schematic structural diagram of a sewage tank in an embodiment of the present application. A schematic structural diagram of the sewage tank being fitted into the clean water tank. As shown in the figure, the front part of the outer shell 121 is formed with an up-and-down receiving area 128. When the sewage tank 12 is fitted into the clean water tank to be combined with the chassis 11, The accommodation area 128 is located in the front area of the clean water tank 110 to provide an installation space for the control device 18 (as shown in FIG. 56 ). Specifically, in some examples, the accommodation area 128 is, for example, a part of the external accommodation space 126 , and the accommodation area 128 is separated by the limiting structure 127 in the external accommodation space 126 . In other examples, the accommodation area 128 may also be connected to an external accommodation space 126 . It should be understood that the accommodation area 128 is provided to penetrate up and down in order to facilitate the electrical connection between the control device 18 and related devices, components, assemblies, or mechanisms/structures installed on the chassis 11 . The accommodation area 128 serves as an external accommodation unit. A part of the space 126 may be connected to the external accommodation space 126, which allows the control device 18 to conveniently connect the battery 17, thereby making the space layout more reasonable.

In this application, by changing the shape of the sewage tank 12, the accommodation area 128 and the external accommodation space 126 are formed in the external space of the sewage tank 12, which not only makes the distribution of the water storage space in the sewage tank 12 relatively dispersed , so that the stored sewage is relatively dispersed around the cleaning robot and at a relatively low position. Even if the cleaning robot encounters emergency parking/braking during work, it will not cause the overall inertia to be too large due to the forward flow of water. , in other words, by changing the external space of the sewage tank 12, the internal space of the sewage tank 12 is also optimized, thereby reducing the risk of overturning caused by the forward flow of water; at the same time, an accommodation area 128 and an external storage area are formed in the external space of the sewage tank 12 The accommodating space 126 is more rationally placed for heavier components such as batteries, so that the battery is placed at the center of the overall cleaning robot, which further stabilizes the overall weight of the cleaning robot.

In some application scenarios, the water in the clean water tank and sewage tank of the cleaning robot needs to be drained. For example, when the sewage tank is full and needs to be replaced, the water in the sewage tank needs to be drained and then fresh/purified water is added; another example is if the cleaning robot is not used for a long time. In order to avoid problems such as the water in each water tank becoming smelly or affecting the performance of the cleaning robot, the water in each water tank must be drained. For example, when the cleaning robot needs to be moved, the water in the water tank also needs to be drained. In some embodiments, the cleaning robot is docked with the workstation, and the sewage in the sewage tank is discharged to the corresponding area on the workstation through the suction assembly and the sewage inlet (for example, the sewage holding area 210 as shown in Figure 3) , in addition, the water in the clean water tank is discharged to the workstation with the help of water supply components and water spray structures. That is to say, the cleaning robot must be docked at a workstation, and it needs two independent passages and ports to discharge the water in the clean water tank and sewage tank. In this way, the cleaning robot's drainage method is relatively limited, and the structure Complex and cumbersome to operate.

In view of this, in this application, a drainage assembly is also proposed, which can be applied to a robot including a first accommodation cavity and a second accommodation cavity, so as to separate the first accommodation cavity and the second accommodation cavity of the robot. Liquid drains. The robot can be, for example, the cleaning robot described in any of the foregoing and later embodiments of this application, or it can also be a cleaning robot with other structures or a robot with other functions. This application does not limit the structure of the robot used in the drainage assembly. It only has a first accommodation cavity and a second accommodation cavity. In order to facilitate understanding and description, in the following embodiment, the drainage assembly is applied to the cleaning robot proposed in the present application as an example. Here, the first accommodation chamber corresponds to the accommodation space corresponding to the clean water tank, and the second accommodation chamber corresponds to the accommodation space corresponding to the clean water tank. The accommodating cavity corresponds to the accommodating space for accommodating sewage corresponding to the sewage tank. Therefore, in the following description, the first accommodating space will also be called the accommodating space of the clean water tank, and the second accommodating space will be called the built-in space of the sewage tank. Accommodation space, when those skilled in the art apply the drainage assembly to robots with other structures, they can correspond the first accommodation cavity and the second accommodation cavity to their actual structures according to the specific robot structure. The following embodiments of this application are only examples. , should not be construed as a limitation on this application.

Please refer to Figures 57 to 60 in conjunction with Figure 23. Figure 57 is a schematic diagram of a drainage assembly configured on a cleaning robot in one embodiment of the present application. Figure 58 is a schematic diagram of the three-dimensional structure of the drainage assembly in one embodiment of the present application. , Figure 59 is a schematic diagram of the C-C cross-section of the drainage assembly of the present application in the embodiment shown in Figure 58, and Figure 60 is a schematic diagram of the D-D cross-section of the drainage assembly of the present application in the embodiment shown in Figure 58, as shown in the figure As shown, the drainage assembly 3 is disposed on the body 10 of the cleaning robot 1 . The drainage assembly 3 includes a first water inlet section 30 , a second water inlet section 31 , and a main body part 32 . The first water inlet section 30 is used to communicate with the accommodation space 1100 of the clean water tank 110 . The second water inlet section 31 is used to communicate with the built-in accommodation space 120 of the sewage tank 12 . The main body 32 is provided with a drainage outlet 320 and a channel structure (not labeled). The channel structure of the main body 32 is connected with the first water inlet section 30, the second water inlet section 31, and the drainage outlet 320, so that the The liquid in the accommodating space 1100 of the clean water tank 110 and the built-in accommodating space 120 of the sewage tank 12 enters the channel structure through the first water inlet section 30 and the second water inlet section 31 respectively, and passes through the drain outlet 320 when it is opened. Drainage port 320 discharges.

Among them, the first water inlet section 30 can be connected to the clean water tank 110 through a spiral thread fit. In order to prevent water leakage, a first sealing structure 300 is provided around the first water inlet section 30 to connect the first water inlet section 30 to the clean water tank 110 . 30 is configured to be connected to the clean water tank 110. The first sealing structure 300 seals the gap between the first water inlet section 30 and the clean water tank 110. The first sealing structure 300 can be configured to The sealing ring or other structure adapted to the first water inlet section 30 may be made of rubber material, for example.

Among them, in order to ensure that the garbage in the sewage tank 12 can smoothly enter the channel structure (such as the second liquid flow channel 35 mentioned further below) through the second water inlet section 31, the water inlet of the second water inlet section 31 The diameter needs to be adapted to the inlet of the cleaning robot sewage collection assembly 16 and the size of its corresponding pipeline. In other words, the water inlet diameter of the second water inlet section 31 needs to be no less than the size of the sewage collection assembly 16 and its corresponding pipeline that can enter the garbage. , to ensure that during the process of discharging sewage in the sewage tank 12, the garbage in the sewage can smoothly enter the channel structure to be discharged, so as to avoid the garbage in the sewage from being stuck/accumulated at the second water inlet section 31 and blocking the liquid flow. Lu et al.

The drain port 320 can be opened or closed by a cover 33 provided thereon that can be opened or closed. For example, if the cover 33 is opened manually, the drain port 320 is opened, and if the cover is manually closed, the drain port 320 is closed. closure. In order to facilitate manual opening of the cover 33, in one embodiment, as shown in FIG. 58, a hand grip 330 is provided on the cover 33. The cover 33 is, for example, threaded on the drain outlet 320, so that , by holding the handle portion 330 and twisting it, the cover 33 can be opened or closed. In order to avoid liquid leakage and mutual contamination between clean water and sewage, in one embodiment, a third sealing structure 331 is provided on the side of the cover 33 facing the drain outlet 320. The third sealing structure 331 is adapted to The structural design of the discharge port 320 and the cover 33 may include multiple or single sealing members, and the sealing member may be made of rubber material, for example.

Further, in one embodiment, as shown in FIGS. 57 to 60 in conjunction with FIG. 23 , the drainage assembly 3 can be tilted and disposed on the cleaning robot 1 and is located in the accommodation space 1100 of the clean water tank 110 and inside the sewage tank 12 The lower side of the accommodating space 120, therefore, when the drain port 320 is opened, the liquid in the accommodating space 1100 and the built-in accommodating space 120 can be discharged through the channel structure and the drain port 320 relying on gravity.

In one embodiment, as shown in FIG. 58 and FIG. 59 in conjunction with FIG. 23 , the channel structure includes a first liquid flow channel 34 and a second liquid flow channel 35 . The first liquid flow channel 34 is connected to the first water inlet section 30 and the drainage port 320 . The second liquid flow channel 35 is connected to the second water inlet section 31 and the drainage port 320 . In this embodiment, when the drain port 320 is opened, the liquid flowing from the accommodation space 1100 through the first water inlet section 30 into the first liquid flow channel 34 will be discharged, and will flow from the built-in accommodation space 120 into the second water inlet section 31 through the second water inlet section 31 . The liquid in the liquid flow channel 35 is discharged. In this embodiment, the drainage port 320 may be formed by, for example, the ends of two liquid flow channels (34, 35), or may be provided at the ends of the two liquid flow channels (34, 35) to connect the two liquid flow channels. The opening of the flow channel (34, 35). The ends of the two liquid flow channels (34, 35) refer to the end of the drainage assembly 3 away from the accommodation space 1100 for communicating with the water tank 110 and the built-in accommodation space 120 of the sewage tank 12, so as to be configured on the cleaning robot as described , then it is the end of the drainage assembly 3 facing the outside of the cleaning robot.

For example, the first liquid flow channel 34 and the second liquid flow channel 35 may be juxtaposed in the main body part 32 , or may be located in the main body part 32 such that one surrounds the other. Please refer to Figure 61, which is a schematic diagram of the EE cross-section of the drainage assembly in the embodiment shown in Figure 58 of the present application. With reference to Figures 58 to 61, in the embodiment shown in Figures 58 to 61, the second liquid The flow channel 35 is arranged around the first liquid flow channel 34. Of course, the first liquid flow channel 34 can also be arranged around the second liquid flow channel 35, which is not limited in this application.

In some embodiments, as shown in FIGS. 57 to 61 , the drainage assembly 3 further includes a first water outlet section 36 provided on the main body 32 . The first water outlet section 36 is connected with the first liquid flow channel 34, so that when the drain port 320 is closed, the liquid in the accommodation space 1100 of the clean water tank 110 can pass through the first water inlet section 30. A liquid flow channel 34 and the first water outlet section 36 flow out (the arrow in Figure 59 indicates the liquid flow direction). When the drainage assembly 3 is configured on the cleaning robot, the first water outlet section 36 is also connected to the water spray structure of the cleaning robot 1, so that the water supply assembly of the cleaning robot 1 pumps the water in the accommodation space 1100 of the clean water tank 110. The liquid flows from the first water inlet section 30 through the first liquid flow channel 34 and the first water outlet section 36 to the water spray structure and is discharged. In this way, the cleaning robot 1 can also drain water by docking with the workstation.

Further, in order to prevent impurities in the liquid in the accommodation space 1100 of the clean water tank 110 from affecting the performance of the water supply assembly or contaminating the pipelines in the cleaning robot 1, in one embodiment, in the first liquid flow channel 34 toward A first filter structure 340 is provided in the liquid flow direction of the first water outlet section 36 for filtering the liquid flowing into the first water outlet section 36 from the first liquid flow channel 34 . It should be understood that since the first filter structure 340 is only disposed in the direction of liquid flow toward the first water outlet section 36, it does not have a filtering function for the liquid flowing from the first liquid flow channel 34 toward the drain outlet 320. When the drain port 320 discharges liquid, the impurities in the liquid output from the accommodation space 1100 of the clean water tank 110 can be discharged together, and the previously filtered liquid can also flow into the first water outlet section from the first liquid flow channel 34 36% of the impurities in the liquid are discharged together.

In some embodiments, as shown in FIGS. 57 to 61 , the drainage assembly further includes a second water outlet section 37 disposed on the main body 32 , and the second water outlet section 37 communicates with the second liquid. The channels 35 are connected, so that when the drain port 320 is closed, the liquid in the built-in receiving space 120 of the sewage tank 12 can flow out from the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 (The arrow in Figure 60 indicates the direction of liquid flow). When the drainage assembly 3 is disposed on the cleaning robot 1, the second water outlet section 37 is also connected to the sewage outlet of the cleaning robot 1, so that the liquid flowing out of the second water outlet section 37 is discharged through the sewage outlet, for example, when the cleaning robot 1 is docked When the workstation uses a suction component to discharge sewage, the suction component can use pumping to transport the liquid in the built-in accommodation space 120 from the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 to The sewage outlet is discharged. Of course, when the cleaning robot 1 is docked with the workstation, the liquid flow gravity can also be used to circulate the liquid in the built-in holding space 120 from the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 Discharge to the sewage outlet.

Further, in order to prevent the impurities of the liquid in the built-in holding space 120 of the sewage tank 12 from affecting the performance of the suction assembly or contaminating each pipeline in the cleaning robot 1, in one embodiment, in the second liquid flow channel 35 A second filter structure 350 is provided in the liquid flow direction toward the second water outlet section 37 for filtering the liquid flowing into the second outlet from the second liquid flow channel 35 . liquid in water section 37. It should be understood that since the second filter structure 350 is only disposed in the liquid flow direction toward the second water outlet section 37, it does not have a filtering function for the liquid flowing from the second liquid flow channel 35 toward the drain outlet 320. When the drain port 320 discharges liquid, the impurities in the liquid output from the built-in accommodation space 120 of the sewage tank 12 can be discharged together, and the previously filtered liquid can also be flowed into the second water outlet section from the second liquid flow channel 35 37% of liquid impurities are discharged together.

In order to prevent sewage from leaking/directly flowing to the second water outlet section 37 without the second filtering structure 350, in some embodiments, a second seal is provided at the connection between the second liquid flow channel 35 and the second water inlet section 31. Structure 310, the second sealing structure 310 is used to seal the passage of the second liquid flow channel 35 into the second water inlet section 37 without the second filtering structure 350, so that the sewage in the sewage tank must pass through the second liquid flow channel. The passage 35 passes through the second filtering structure 350 and enters the second water inlet section.

It should be understood that the first water inlet section, the second water inlet section, the first water outlet section, and the second water outlet section described in any of the above-mentioned embodiments of Figures 57 to 61 and their descriptions are used to connect other Components, chambers, etc. are used as ports for liquid flow to enter or exit. They can be a section of pipeline structure extending from the main body, or they can only be openings provided on the main body. This application does not limit this. In addition, the structure, shape, or positional relationship of the first water inlet section, the second water inlet section, the first water outlet section, and the second water outlet section illustrated in FIGS. 57 to 61 are only for ease of understanding. It is illustrative and does not limit the application. For example, the second water inlet section 31 and the second water outlet section 37 as shown in Figure 60 can be exchanged to achieve the above functions, that is, the second water inlet section in Figure 60 The water section 31 can be used as the second water outlet section 37, and the second water outlet section 37 can be used as the second water inlet section 31, as shown in Figure 62. Figure 62 shows the use of the second water inlet section in another embodiment of the present application. and the drainage schematic diagram of the second water outlet section. Here, as shown by the arrow in the figure, the liquid in the built-in receiving space 120 of the sewage tank 12 flows from the second water inlet section 31 through the second liquid flow channel 35 and the second The water outlet section 37 is transported to the sewage outlet for discharge.

The process of disposing the drainage assembly on the cleaning robot 1 and working together as a part of the cleaning robot 1 will be described below with reference to FIG. 23 and FIGS. 57 to 62 .

When the cleaning robot 1 performs drainage work through the docking workstation, the liquid in the clean water tank 110 is pumped by the water supply assembly, so that the liquid in the accommodation space 1100 of the clean water tank 110 is circulated through the first water inlet section 30 through the first liquid The channel 34 and the first water outlet section 36 are transported to the water spray structure for discharge, and due to the action of the first filter structure 340, the impurities in the liquid in the clean water tank 110 are filtered in the drainage assembly 3. In addition, the water is pumped by the suction assembly. The liquid in the sewage tank 12 is transported, so that the liquid in the built-in accommodation space 120 of the sewage tank 12 is transported from the second water inlet section 31 through the second liquid flow channel 35 and the second water outlet section 37 to the sewage outlet for discharge, and due to Due to the function of the second filtering structure 350, impurities in the liquid in the sewage tank 12 are also filtered into the drainage assembly 3.

When the cleaning robot 1 is not draining water through the docking workstation, the robot can be manually drained. At this time, the cleaning robot 1 only needs to be manually pushed to a suitable place for draining water, and the cover 33 is opened to allow the clean water tank 110 to contain space. 1100 and the liquid in the built-in holding space 120 of the sewage tank 12 can enter the first liquid flow channel 34 through the first water inlet section 30 and the second liquid flow channel 35 through the second water inlet section 31 under the action of gravity. , the liquid in the two liquid flow channels (34, 35), impurities in the liquid, and impurities left in the drainage assembly 3 are discharged through the drainage outlet 320. In this way, in addition to the drainage function, the drainage assembly 3 can also use the cleaning robot 1. Impurities on various waterways are gathered here to facilitate cleaning. Of course, when the clean water tank 110 and the sewage tank 12 of the cleaning robot 1 are both empty, the cover 33 can also be opened to clean the remaining impurities in the drainage assembly 3 directly through the drain port 320 .

In one embodiment, the control device 18 of the cleaning robot is used to control the work of each component on the cleaning robot body. For example, the control device 18 can be used to control the cleaning robot to perform the automatic water change disclosed in any embodiment of this application. It can also perform cleaning work and use navigation technology for positioning, mapping and navigation. For another example, the control device 18 can be electrically connected to the power supply management system of the robot in any embodiment of FIG. 15 to FIG. 21 to provide or coordinate the power supply of various electrical components on the robot. In this example, the control device 18 can It is equivalent to the control device 40 in any embodiment shown in FIG. 15 to FIG. 21 . Please refer to the foregoing description of the control device 40 , which will not be described again here. In some embodiments, the control device 18 includes a memory (eg hard disk, flash memory, random access memory) and a processor (eg central processing unit, application processor), etc.

In one embodiment, the cleaning robot further includes a cover structure. In some examples, as shown in FIG. 23 , the cover structure includes a front cover 190 that covers the front of the sewage tank 12 to protect the Control device 18 in the container. In some examples, as shown in Figure 23, the cover structure includes a top cover (cover plate) 191, which is closed on the top of the sewage tank 12 to seal the built-in accommodation space 120 and The external accommodation space 126. Among them, the top cover 191 can be magnetically arranged on the top of the sewage tank 12. For example, a first magnetic member is provided on the top cover 191, and a second magnetic member is provided at a corresponding part of the top of the sewage tank. The cover 191 can be magnetically arranged on the top of the sewage tank 12 . Of course, in other embodiments, the top cover 191 can also be disposed on the top of the sewage tank 12 in a snap-fitting or pivoting manner, which is not limited in this application. In other examples, as shown in Figure 23, the cover structure includes a sensing module 193, which is disposed on the top of the sewage tank 12 to cover the top of the sewage tank 12 together with the top cover 191. The group 193 is used to sense the surrounding environment of the cleaning robot. The sensing module 193 includes, for example, sensing components such as a vision sensor and a laser sensor. In the following embodiments, the top cover is also called a cover plate.

This application also provides a built-in box detection mechanism of a cleaning robot. The built-in box detection mechanism includes: a component to be inspected and a detection component.

The element to be tested is set on the built-in box; the detecting element is movably set on the cover plate on the top of the cleaning robot, and the detecting element detects the in-position state of the built-in box through mechanical contact. The state of the component to be inspected does not affect the cover plate's closing of the accommodation space, but prevents the cover from being in contact with the component to be inspected. The board covers the accommodation space. In this application, preventing the cover from covering the accommodating space means that the cover is blocked by the detection element when closing the accommodating space, so that the cover cannot completely cover the accommodating space. There is still an obvious gap at the top of the accommodation space, that is, the cover plate and the top of the accommodation space, to remind the operator that the cover plate has not been closed, and then prompt the operator to check whether the built-in box is placed in the in the accommodation space.

In an embodiment, the accommodation space of the cleaning robot includes a battery compartment and a sewage tank spaced apart from the battery compartment. Please refer to Figure 63, which is an exploded view of the installation of the battery and built-in box of the cleaning robot of the present application in one embodiment. As shown in the figure, the sewage tank 12 also includes a bottom plate integrally formed inside the outer shell. The inner surface of the body cooperates with the bottom plate to form an external accommodation space 126 for accommodating the battery 17 , and the external accommodation space 126 forms a battery compartment 126 . Furthermore, a limiting structure is provided on the inner surface of the outer casing, and the limiting structure is used to limit the position of the battery 17 in the external accommodation space 126 . The battery 17 is used to provide power to other electrical components (such as control devices, mobile devices, cleaning devices, etc.). In one embodiment, the battery 17 may be, for example, a conventional nickel metal hydride (NiMH) battery, or a lithium battery. The sewage tank 12 is spatially isolated from the battery compartment 126 .

The built-in box 192 is detachably installed in the built-in accommodating space 120 of the sewage tank 12, that is, the built-in box 192 can be taken out relative to the built-in accommodating space 120 of the sewage tank 12, so that the user can clean the inside of the built-in box 192. Solid waste collected. In this embodiment, the inner wall of the built-in accommodation space 120 of the sewage tank 12 is provided with a first mounting part 1201, and the side wall of the built-in box 192 is provided with a second mounting part for matching the first mounting part 1201. Department 1921. Specifically, the first mounting part 1201 is a guide rail structure or a raised rib structure formed on the inner wall of the sewage tank, and the second mounting part 1921 is a guide groove structure that cooperates with the guide rail structure or the raised rib structure, The built-in box 192 is installed at a preset position in the sewage tank 12 through the cooperation of protrusions and recesses.

In one embodiment, the built-in box 192 is a filter box for filtering solid waste in sewage. A plurality of filter holes are provided on the side wall or bottom of the filter box to filter large amounts of waste from the sewage input pipe. The granular solid waste is retained inside the box body, and the top of the filter box is provided with an element to be inspected corresponding to the detection element. Please refer to Figure 64, which is a cross-sectional view of the internal structure of the built-in box in one embodiment of the present application. As shown in the figure, the built-in box 192 includes a box body 1922 and a cover 1923, and the box body 1922 provides a receiving space. In order to accommodate the retained garbage, its cover body 1923 includes a top cover and a sewage inlet channel 19230 formed integrally with the top cover for sewage to flow in. The sewage inlet channel 19230 is connected to the sewage inlet and the first pipe structure 1103, and is gathered to The sewage from the sewage inlet of the sewage collection assembly enters the sewage inlet channel 19230 through the first pipe structure 1103, and then enters the accommodation space provided by the box body 1922 of the built-in box 192 (in the direction shown by the arrow in the figure) ), the solid waste in the sewage is retained inside the box, and the sewage enters the built-in accommodation space 120 of the sewage tank 12 through the filter holes. In this embodiment, in the direction shown by the arrow in Figure 64, the sewage entering the built-in box 192 passes from bottom to top through the sewage inlet channel 19230, and passes through the opening 19231 of the cover of the built-in box. Fall into the box from top to bottom In the accommodation space provided by body 1922.

In another embodiment, the built-in box is a dust collecting box provided with a dust collecting bag, and the dust collecting bag is a filter bag with micropores. In this embodiment, the dust collecting bag adopts a disposable When filtering the bag, if the user cleans the garbage collected in the built-in box, he only needs to throw away the disposable filter bag and replace it with a new disposable filter bag. In this way, it is convenient for users to clean up the garbage in the built-in box, avoid secondary pollution, and provide a good user experience. Please refer to Figure 65, which is a cross-sectional view of the internal structure of a built-in box in another embodiment of the present application. As shown in the figure, the built-in box 192 includes a box body 1922 and a cover body 1923, and the box body 1922 provides a receiving space. For accommodating the dust collection bag 1924 that has been expanded by negative pressure, its cover body 1923 includes a top cover and a waste inlet channel 19230 formed integrally with the top cover for the airflow carrying the garbage to flow in.

Please refer to Figure 66 again, which is a schematic diagram of the dust bag fixed on the built-in box in one embodiment of the present application. As shown in the figure, the dust bag 1924 is fixed on the outlet part of the cover 1923 for future reception. Solid waste from sewage inlet channel 19230. In this embodiment, when the cleaning robot is in the dust collection mode, the dirt inlet channel 19230 of the built-in box 192 is connected to the negative pressure channel of the cleaning robot, and the garbage in the negative pressure channel is collected in the built-in box 192. Bag 1924.

In one embodiment, the component to be inspected is disposed on the top surface of the built-in box, which has a first guide portion. In this embodiment, the component to be inspected is a slope structure with an inclined surface of 15°-45°. In some embodiments, the inclined surface is, for example, 15°, 16°, 17°, 18°, or 19°. , 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, 30°, 31°, 32°, 33°, 34°, 35°, 36 °, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, or 45°. Please refer to Figure 63 again. The component to be inspected 1925 is integrally formed on the top surface of the built-in box 192 and is a slope structure. The inclined surface of the slope structure has an inclination angle of approximately 30°. The inclined surface forms the First guide.

In one embodiment, the detection element is movably arranged on the cover 191 on the top of the cleaning robot through a rotating shaft connection. The detection element determines its own movement as the cover 191 is lifted or put down. The gravitational effect of the cover plate 191 is passively in different states. In this embodiment, the cover plate 191 is provided with a first shaft connection portion corresponding to the surface of the accommodation space, that is, a first shaft connection portion is provided on the lower surface of the cover plate 191 The detection element is axially connected to the lower surface of the cover plate 191. In other words, when the cover plate 191 is closed on the top of the cleaning robot, the detection element is also shielded on the cover plate 191. 191 is not visible below.

In this embodiment, the detection element includes a second shaft connection portion that is shaft-connected to the first shaft connection portion and a detection portion that is connected to the second shaft connection portion. Please refer to Figure 67 and Figure 68. Figure 67 shows a schematic diagram of the detection element being placed on the cover plate and hanging down in one embodiment of the present application. Figure 68 shows the detection element being placed on the cover plate and lying flat in one embodiment of the present application. State diagram, as shown in the figure, the detection element 194 includes a second shaft connection part 1941, a connection part 1942, and a detection part 1943. Wherein, the detection part 1943 further includes a counterweight part 1944 and a second guide part 1945.

In this embodiment, the cover 191 is further provided with a limiting portion 1910 adjacent to the first shaft connection portion 1911 on the surface corresponding to the accommodation space 120. The limiting portion 1910 is a stopper or a retaining wall. , is provided on one side of the first shaft connection portion 1911, and when the second shaft connection portion 1941 of the detection element 194 is in shaft connection with the first shaft connection portion 1911, the swing amplitude of the detection element 194 is limited. , specifically, in actual design, by changing the distance between the limiting portion 1910 and the axis contact point of the second shaft connecting portion 1941 and the first shaft connecting portion 1911 or the height of the limiting portion 1910, The swing amplitude of the detection element 194 can be controlled. In this embodiment, the swing range of the detection element 194 is between 0° and 100°. For example, the detection element 194 shown in Figure 68 is in the 0° state when lying flat on the cover 191. In Figure 67 The detection element 194 is shown hanging down at 90° relative to the cover plate 191 .

For example, when the cover 191 is opened, the detection element 194 is pulled by gravity and naturally hangs down, in a state as shown in Figure 67. Since the detection element 194 is limited by the limiting portion 1910, It can only swing to one side, so as to better ensure its contact with the component to be inspected 1925. When the detection element 194 contacts the element to be inspected 1925, it is guided by the first guide portion of the element to be inspected 1925. , the detection element 194 is adjusted from a hanging state to a horizontal state. For another example, when the detection element 194 does not detect the component to be inspected 1925, it still remains in a hanging state and follows the falling/closing of the cover 191. In order to ensure that the detection element 194 does not There will be a large swing, and the limiting part 1910 can ensure that the detection part 1943 of the detection element 194 contacts the first installation part formed on the side wall of the accommodation space 120 for installing the built-in box to complete the prevention. The purpose of the cover plate 191 is to cover the accommodation space 120 .

Please refer to Figure 69 and Figure 70. Figure 69 shows a front schematic diagram of the detection element in one embodiment of the present application, and Figure 70 shows a side schematic diagram of the detection element in one embodiment of the present application. As shown in the figure, One end of the connecting portion 1942 of the detecting element 194 is connected to the second shaft connection portion 1941, and the other end is connected to the detecting portion 1943. In one embodiment, the length of the connecting portion 1942 determines that the detecting element 194 prevents the The degree to which the cover plate 191 covers the accommodation space 120 is prompted. In other words, when the size of the connecting portion 1942 is designed to be longer, the detection element 194 prevents the cover plate 191 from closing the accommodation space 120 . The larger the gap when the lid is closed, the more obvious the prompt to the user.

In one embodiment, in order to ensure that when the cover 191 is opened, the detection element 194 is pulled by gravity and can hang down naturally quickly or in time, as shown in the embodiment of FIG. 70 , the detection element 194 The axis O of the second connecting part 1941 is outside the center line of the connecting part 1942. That is to say, the detecting element 194 is designed as an eccentric structure as a whole, which makes the detecting element 194 more susceptible to gravity. When the traction device changes from a lying state to a vertical state, during the process of the detection element 194 changing from a lying state to a vertical state, since the detection element 194 is affected by its own eccentric axis, its detection part 1943 has a movement potential energy as shown by the arrow in Figure 70. In order to prevent the detection part 1943 from excessive movement in the direction shown by the arrow, at this time, the detection part 1943 is adjacent to the first shaft connection part 1911 and is a stopper or a limiting part of the wall. 1910 Limit the excessive swing of the detection part 1943 so that the detection element 194 can hang down relative to the cover 191 It is about a 90° state, thereby ensuring that the first resisting portion 1946 of the detection element 194 is well parallel to the second resisting portion of the top end surface of the first mounting portion 1201 . Please refer to FIG. 71 , which is a schematic diagram of the detection element hanging down when the cover is opened in an embodiment of the present application.

In another embodiment, in order to ensure that when the cover 191 is opened, the detection element 194 is pulled by gravity and can naturally hang down quickly or in time, the detection part of the detection element 194 is also provided with a counterweight part. 1944. The counterweight portion 1944 is used to fix a counterweight element (not shown) by engaging, screw locking, or hot melting. In this embodiment, the counterweight element is, for example, an iron block or aluminum. Blocks and other components with greater mass/weight relative to the detection part of plastic material are used to increase the weight of the detection part 1943 of the detection element 194, so that when the cover plate 191 is opened, the detection element 194 is Due to the effect of gravity, the detection part 1943 located at the distal end moves downward so that the entire detection element hangs down naturally.

In one embodiment, the detection portion 1943 of the detection element 194 includes a second guide portion 1945 for contacting the first guide portion of the component to be detected 1925; the second guide portion 1945 is used for contacting the first guide portion. The detection element 194 is adjusted from a hanging state to a horizontal state during the guide portion. In this embodiment, as shown in Figure 67, the second guide portion 1945 has a curved surface. In other words, the second guide portion 1945 is an arc surface. When the second guide portion of the arc surface contacts the When the first guide portion of the component to be inspected 1925 is an inclined surface, as the cover plate 191 continues to be covered, the detection component 194 continues to move downward. At this time, the second guide portion of the detection component 194 1945 will slide along the slope under the action of the slope surface, thereby driving the entire detection element 194 to flip to a horizontal state. In this process, the cover plate 191 is not blocked by external force and can be smoothly closed. on the opening of the accommodation space of the cleaning robot. Please refer to FIG. 72 , which is a schematic diagram of the detection element flipped to a horizontal state when the cover is closed in an embodiment of the present application.

In one embodiment, the detection part 1943 of the detection element 194 includes a first resisting part 1946, which is used to resist the built-in box 192 when the built-in box 192 is not placed in the accommodation space 120. A first mounting portion 1201 for mounting the built-in box 192 is formed on one side wall of the accommodating space 120, and the top surface of the first mounting portion 1201 is useful. As for the second resisting portion 1202 that abuts the first resisting portion 1946, in this embodiment, the second resisting portion is the top end surface of the first mounting portion 1201, which is a plane. Correspondingly, in order to make The first resisting portion 1946 and the top end surface of the first mounting portion 1201 are in full contact and abut against each other, and the first resisting portion 1946 is also a plane.

Please refer to Figure 73, which is a schematic diagram of a state in which the cover fails to be closed in an embodiment of the present application. As shown in the figure, in the embodiment, when the cover 191 is opened, the detection element 194 Drawn by gravity, it naturally hangs down. When the built-in box 192 is not placed in the accommodation space 120 , the first resisting portion 1946 on the detection portion 1943 of the detection element 194 closes the cover 191 The movement continues downward, and finally lands on the top end surface of the first mounting part 1201 formed on the side wall of the accommodation space 120, that is, the second resisting part. At this time, the cover 191 is closing the accommodation space. When the space 120 is blocked by the detection element 194, the cover 191 cannot completely cover the top of the accommodation space 120, that is, there is still an obvious gap between the cover 191 and the top of the accommodation space 120. The gap G as shown in FIG. 72 reminds the operator that the cover 191 has not been closed, and further prompts the operator to check whether the built-in box is placed in the accommodation space 120 .

In another embodiment, the component to be inspected is arranged on one side wall of the built-in box, the component to be inspected has a first guide part, and the first guide part passes through and leaks out of the built-in box. The top surface of the box, the top surface of the built-in box has an opening for the first guide part to pass through.

Please refer to Figure 74, which is a schematic exploded structural view of a built-in box in another embodiment of the present application. As shown in the figure, the built-in box 192 includes a box body 1922 and a removable cover that is removably covered on the box body 1922. Cover body 1923. The inner wall of the box body 1922 is formed with a component to be inspected 1925 that protrudes from the opening surface of the box body 1922. The component to be inspected 1925 has a first guide part. In this embodiment, the component to be inspected is The detection element is a wedge-shaped structure or a ramp structure with an inclined surface of 15°-45°. In some embodiments, the inclined surface of the wedge-shaped structure or ramp structure is, for example, 15°, 16°, 17°, 18°, 19°, 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29°, 30°, 31°, 32°, 33°, 34°, 35° , 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, 45°, 46°, 47°, 48°, 49°, 50°, 51°, 52 °, 53°, 54°, 55°, 56°, 57°, 58°, 59°, or 60°. In the embodiment shown in Figure 74, the inclined surface of the ramp structure has an inclination angle of approximately 45°, and the inclined surface forms the first guide portion. Correspondingly, the cover 1923 is provided with a hole for the wedge to The shaped structure or slope structure passes through and leaks out of the opening 19230 (or notch) of the cover 1923 .

In one embodiment, the cover is closed on the box in a snap-fit manner. Please also refer to Figure 75 , which shows a schematic diagram of the assembly structure of the built-in box in another embodiment of the present application. , as shown in the figure, the first engaging portion 19220 and the second engaging portion 19221 are respectively provided on the opposite side walls of the box 1922; correspondingly, the opposite sides of the cover 1923 are respectively provided with corresponding The third engaging portion 19230 engages the first engaging structure 19220 and the fourth engaging portion 19231 corresponds to engaging the second engaging structure 19221.

The box body of the built-in box provides a holding space for accommodating retained garbage. The lower surface of the cover body is formed with a sewage inlet channel for connecting to the sewage tank. The entrance of the inlet channel corresponds to the sewage discharge channel connected to the sewage tank. tube, the outlet of the inlet channel communicates with the internal space of the box. The sewage inlet channel is connected to the sewage inlet (the sewage inlet is used to connect the sewage pipe of the sewage tank) and the first pipe structure. The sewage collected in the sewage inlet of the sewage collection assembly enters the inlet through the first pipe structure. The sewage channel then enters the accommodating space provided by the box. The solid garbage in the sewage is retained inside the box, and the sewage enters the built-in accommodating space of the sewage tank through the filter hole.

In one embodiment, as shown in Figure 75, the upper surface of the cover 1923 has a structure for the user to hold and operate the cover 1923. Two grooves 19232 are formed on opposite sides of the inlet channel.

Please refer to Figure 76, which is a schematic diagram of the contact between the detection element and the element to be inspected in an embodiment of the present application. As shown in the figure, when the cover 191 is opened, the detection element 194 is pulled by gravity and naturally hangs down. , in the state shown in Figure 76, when the detection element 194 contacts the element to be inspected 1925, it is guided by the first guide portion of the element to be inspected 1925, and the detection element 194 is adjusted from a hanging state to a horizontal state, During this process, the cover plate 191 is not blocked by external force and smoothly covers the opening of the accommodation space of the cleaning robot.

Please refer to Figure 77, which is a schematic diagram of a cover handle in an embodiment of the present application. As shown in the figure, in this embodiment, the cover 191 is provided with a surface corresponding to the accommodation space 120 that can be opposite to the cover. The handle 195 for flipping the plate 191. In this embodiment, the handle 195 includes a shaft connection portion 1951 and a handle 1952 that are pivotally connected to the cover plate 191. The handle 195 can achieve 180 degrees relative to the cover plate 191. ° flip. Under normal circumstances, the handle is fixed on the surface of the cover corresponding to the accommodation space in a snap-in manner or a torsion spring manner. When the cover 191 is closed on the top of the cleaning robot, the handle is fixed on the surface of the cover corresponding to the accommodation space. The handle 195 is also hidden under the cover 191 and is not visible.

Please refer to Figure 78, which is a schematic diagram of the cover handle flipping in one embodiment of the present application. As shown in the figure, when the operator needs to transfer or move the cleaning robot, he can move it in the direction shown by arrow A in Figure 78 Open the cover 191 and flip the handle 195 on the inside of the cover 191 180° in the direction shown by arrow B in Figure 78 to open the handle 195 so that the operator can hold the handle 195 to all objects. The above-mentioned cleaning robot performs overall pulling or dragging operations.

Please refer to Figures 79 to 81, which are schematic diagrams of the cover handle flipping in another embodiment of the present application. As shown in the figure, the handle 195 includes a flip arm 1953 and an extension arm 1954 that is pivoted to the flip arm 1953. , the distal end of the extension arm 1954 has a handle for the user to pull the robot.

In the embodiment shown in FIGS. 79 to 81 , the flip arm 1953 of the handle 195 is stored on the inner side of the cover 191 in a first-dimensional rotation (as indicated by the rotation arrow in FIG. 80 ). , the extension arm 1954 is stored on the inner surface of the cover plate 191 in a second-dimensional rotation manner (as indicated by the rotation arrow in FIG. 81 ). The rotation range of the flip arm 1953 of the handle 195 is 180°, and the rotation range of the extension arm 1954 is 90°.

As shown in Figure 79, the flip arm 1953 and the extension arm 1954 of the handle 195 are folded on the surface of the cover 191 corresponding to the accommodation space. Under normal circumstances, the handle 195 is engaged or a torsion spring on the surface of the cover 191 corresponding to the accommodation space. When the cover 191 is closed on the top of the cleaning robot, the flip arm 1953 and the extension arm of the handle 195 1954 is also hidden under the cover 191 and is not visible.

As shown in Figures 80 and 81, when the operator needs to transfer or move the cleaning robot, the flip arm 1953 of the handle 195 can be rotated in the first dimension as shown in Figure 80 Carry out a 180° flip, this stage is the first segment of rotation and unfolding. If the operator thinks that the length of the handle is not enough due to reasons such as arm length, he can also The second rotation and unfolding operation is performed in the manner shown in FIG. 81 , and the originally folded extension arm 1954 is flipped 90° in a second-dimensional rotation manner, so that the extension arm 1954 is further unfolded relative to the flip arm 1953 Extend the length of the handle 195.

The inner surface of the cover plate is also provided with a first blocking block and a second blocking block for engaging the folding arm in the folded state and the flipped state. The first blocking block and the second blocking block are respectively arranged on the flipping arm. The arms flip on opposite sides of the axis. Please refer to Figure 82, which is a schematic diagram of the engagement method of the flip arm in an embodiment of the present application. As shown in the figure, the first blocking block 1912 is located at the flip axis (or axis joint) of the flip arm 1953. The inner side is used to engage and fix the flip arm 1953 when it is folded and folded on the inner surface of the cover 191; the second blocking block 1913 is located at the flip axis (or axis joint) of the flip arm 1953. The outer side, that is, the side closer to the edge of the cover 191, is used to engage and fix the flip arm 1953 when it is flipped and unfolded, so as to maintain its unfolded state and facilitate the operator's pulling. It should be understood that the first blocking block and the second blocking block can be arranged in the same manner on both sides of the flipping shaft of the flipping arm.

In one embodiment, the connection portion between the flip arm and the extension arm of the handle is provided with an interference fit structure. Please refer to Figures 83 and 84 in conjunction with Figure 82. Figure 83 is an exploded schematic view of the connection between the flip arm and the extension arm in one embodiment of the present application. Figure 84 shows the connection between the flip arm and the extension arm in one embodiment of the present application. The assembly diagram of the connection relationship of the arms is shown in Figure 83 and Figure 84. The interference fit structure 1955 includes: a connecting seat 19550, a rotating shaft 19551, a positioning part and an elastic pin.

The connecting seat 19550 is fixed on the distal end of the flip arm 1953. In this embodiment, the flip arm 1953 and the connecting seat 19550 are both metal parts, and the connecting seat 19550 is fixed on the flipping arm 1955 by welding. At the middle position of the distal end of the arm 1953, the connection seat 19550 includes a shaft hole 19552 and a pin seat 19553 adjacent to the shaft hole 19552 for disposing an elastic pin.

In one embodiment, the connection base 19550 further includes a stop structure 19554 for preventing the extension arm 1954 from overturning excessively.

The rotating shaft 19551 is disposed in the shaft hole 19552 to pivotally connect the connecting seat 19550 and the proximal end of the extension arm 1954, for allowing the extension arm 1954 to rotate in a second dimension relative to the flip arm. 1953Expand or collapse.

The positioning part is opened at the proximal end of the extension arm 1954, and the positioning part is two positioning holes, namely the first positioning hole 19555 and the second positioning hole 19556; it should be understood that in some embodiments, the The positioning part can also be a groove structure.

The elastic pin is limitedly provided in the pin seat 19553 on the connecting seat, and is used to be combined with the first positioning hole 19555 when the extension arm 1954 is folded, and when the extension arm 1954 is deployed. The bottom is coupled to the second positioning hole 19556. As shown in Figure 83, the elastic pin includes a pin head 19557 for falling into the first positioning hole when the extension arm 1954 is folded or into the second positioning hole when the extension arm is expanded. , set over the pin A spring 19558 on the head 19557 for elastically setting the pin head 19557 in the pin seat, and a pin cap 19559 for constraining the pin head 19557 and spring 19558 in the pin seat. In this embodiment, the pin cap is fixed on the pin base by screw locking.

In this embodiment, the end of the pin head corresponding to the first positioning hole or the second positioning hole has a tapered structure or a spherical structure, so that when the extension arm is subjected to external force, such as when the extension arm is moved When turning from the folded state to the unfolded state, the pin head slides out of the first positioning hole and falls into the second positioning hole to stabilize the unfolded state of the extension arm. When the extension arm is turned from the unfolded state to the folded state, the The pin head slides out of the second positioning hole and falls into the first positioning hole to stabilize the folded state of the extension arm.

In the built-in box detection mechanism of the present application, the detection element detects the in-position state of the built-in box through mechanical contact. When the component to be inspected is detected, it does not affect the closing of the cover plate to the accommodation space. However, Preventing the cover plate from covering the accommodating space without contacting the component to be inspected, so that the cover plate cannot completely cover the top of the accommodating space, that is, the cover plate and the There is still an obvious gap at the top of the accommodation space, which reminds the operator that the cover has not been closed, and further prompts the operator to check whether the built-in box is placed in the accommodation space.

In some embodiments, this application also provides a robot system. The robot system includes a workstation and a robot. The workstation may be configured as a workstation including a power management system provided in any of the foregoing embodiments. The workstation may also be configured as a workstation as described in any of the embodiments shown in Figures 1 to 10 and related descriptions. The details of the workstation For the structure and working principle, please refer to the aforementioned description of Figures 1 to 14 and will not be described again here. The robot may be configured as a robot as shown in any embodiment of FIGS. 14 to 21 and related descriptions, or may be configured as a robot as described in any embodiment of FIGS. 22 to 83 and related descriptions. robot or cleaning robot. It should be understood that in the example where the robot is configured as a cleaning robot for performing cleaning operations, the robot system may also be called a cleaning system, which refers to a combination of a cleaning robot and a workstation.

The present application also provides a computer readable and writable storage medium that stores at least one program that, when called, executes and implements the cyclic water changing method or the automatic water changing method described in any of the above embodiments. .

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to enable a mobile robot installed with the storage medium to perform all or part of the steps of the methods described in various embodiments of this application.

In the embodiments provided in this application, the computer readable and writable storage medium may include read-only memory, random access memory, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, flash memory, A USB flash drive, a mobile hard disk, or any other medium that can be used to store the desired program code in the form of instructions or data structures and can be accessed by the computer. Also, any connection is properly termed a computer-readable medium. For example, if instructions are sent from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the Coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of medium. However, it should be understood that computer readable and writable storage media and data storage media do not include connections, carrier waves, signals, or other transitory media, and are instead intended for non-transitory, tangible storage media. Disks and optical disks, as used in the application, include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs. Disks typically copy data magnetically, while discs use lasers to optically copy data. Copy the data locally.

The flowcharts and block diagrams in the drawings described above in this application illustrate the architecture, functions and operations of possible implementations of systems, methods and computer program products according to various embodiments of this application. For this reason, each block in the flowchart or block diagram may represent a module, segment, or portion of code that contains one or more possible functions for implementing the specified logical function. Execute instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after the other may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations. , or can be implemented through a combination of specialized hardware and computer instructions.

Based on the above descriptions of each example, this application provides multiple embodiments, specifically as follows:

1. A drainage assembly for a robot, the robot includes a first accommodation cavity and a second accommodation cavity, the drainage assembly includes: a first water inlet section for communicating with the first accommodation cavity; a second water inlet section , used to communicate with the second accommodation cavity; the main body is provided with a drainage outlet and a channel structure, the channel structure is connected with the first water inlet section, the second water inlet section, and the drainage outlet , so that the liquid in the first accommodation cavity and the second accommodation cavity enters the channel structure through the first water inlet section and the second water inlet section respectively, and is discharged through the drainage outlet when the drainage outlet is opened.

2. The drainage assembly according to Embodiment 1, the channel structure includes: a first liquid flow channel connected to the first water inlet section and the drainage outlet; a second liquid flow channel connected to the third water inlet section. Two water inlet sections and the drainage port; wherein the drainage port is used to flow the first accommodation chamber and the second accommodation chamber into the first liquid flow channel and the second liquid flow channel respectively when opened. The liquid in the flow channel is discharged.

3. The drainage assembly according to Embodiment 2, the first liquid flow channel and the second liquid flow channel are arranged side by side, or one of the liquid flow channels is arranged around the other liquid flow channel.

4. The drainage assembly according to Embodiment 2, a second sealing structure is provided at the connection between the second liquid flow channel and the second water inlet section.

5. The drainage assembly according to Embodiment 2, the drainage assembly further includes a first water outlet section provided on the main body, and the first water outlet section is connected with the first liquid flow channel, so that When the drain port is closed, the liquid in the first accommodation cavity can flow out from the first water inlet section through the first liquid flow channel and the first water outlet section.

6. The drainage assembly according to Embodiment 5, a first filtering structure is provided in the first liquid flow channel in the liquid flow direction toward the first water outlet section for filtering the water from the first liquid flow channel. The liquid flowing into the first water outlet section.

7. The drainage assembly according to Embodiment 5, the first water outlet section is also used to communicate with the water spray structure on the robot, so that the water supply assembly of the robot pumps the first container The liquid in the cavity flows from the first water inlet section through the first liquid flow channel and the first water outlet section to the water spray structure and is discharged.

8. The drainage assembly according to Embodiment 2, further comprising a second water outlet section disposed on the main body, the second water outlet section being connected to the second liquid flow channel, so that when the drainage When the port is closed, the liquid in the second accommodation cavity can flow out from the second water inlet section through the second liquid flow channel and the second water outlet section.

9. The drainage assembly according to Embodiment 8, a second filtering structure is provided in the second liquid flow channel in the liquid flow direction toward the second water outlet section for filtering the water produced by the second liquid flow channel. Liquid flowing into the second water outlet section.

10. The drainage assembly according to Embodiment 8, the second water outlet section is also used to communicate with the sewage outlet on the robot, so that the liquid flowing out through the second water outlet section is discharged through the sewage outlet.

11. The drainage assembly according to claim 10, the suction assembly of the robot pumps the liquid in the second accommodation chamber from the second water inlet section through the second liquid flow channel and the second The water outlet section flows to the sewage outlet for discharge.

12. The drainage assembly according to Embodiment 1, a first sealing structure is provided around the first water inlet section.

13. The drainage assembly according to Embodiment 1, the drainage outlet is provided with an openable or closable cover, so that the drainage outlet can be opened by opening the cover.

14. The drainage assembly according to Embodiment 13, a third sealing structure is provided on a side of the cover facing the drainage outlet.

15. The drainage assembly according to Embodiment 13, the cover body is provided with a hand grip portion for convenient opening of the cover body.

16. The drainage assembly according to Embodiment 1, the drainage assembly is arranged obliquely on the robot and is located on the lower side of the first accommodation cavity and the second accommodation cavity, so that by opening the drainage The liquid in the first accommodating cavity and the second accommodating cavity is discharged through the drain port relying on gravity.

17. The drainage assembly of embodiment 1, wherein the robot is configured as a cleaning robot.

18. A cleaning robot, including: a moving device, including a driving wheel provided at the bottom of the cleaning robot; a waterway device, including a first accommodation chamber, a second accommodation chamber, and a device as described in any one of Embodiments 1 to 17 drainage assembly, the drainage group The component is used to output the liquid in the first accommodation chamber and the second accommodation chamber; the control device is used to control the moving device and the waterway device to work together.

19. A cleaning system, comprising: the cleaning robot according to Embodiment 18, and a workstation for docking with the cleaning robot.

20. A cleaning device for a robot. The robot includes a dirt collection assembly. The cleaning device includes: a mounting base for installing on the bottom of the chassis of the robot; and a roller brush assembly that is disposed on the mounting base. , and is located on the front side of the dirt collection assembly to clean the surface to be cleaned when rotating; a blocking mechanism is provided on the mounting base and is located on the front side of the dirt collection assembly for use when the robot is moving forward. Block at least part of the garbage from flowing to the dirt collecting assembly.

21. The cleaning device according to Embodiment 20, the blocking mechanism is also used to allow liquid or small particles of garbage to pass through in the forward state of the robot to flow to the dirt collecting assembly.

22. The cleaning device according to Embodiment 21, the blocking mechanism contacts the surface to be cleaned in the forward state of the robot to form a filtering channel, and the filtering channel is used to allow liquid or small particles of garbage to pass.

23. The cleaning device according to Embodiment 20, the blocking mechanism is also used to contact the surface to be cleaned when the robot is in a retreat state, so as to block the passage of liquid.

24. The cleaning device according to Embodiment 20, comprising the dirt collecting assembly, and the dirt collecting assembly is disposed on the mounting base.

25. The cleaning device according to Embodiment 20, the dirt collecting assembly is provided on the chassis of the robot.

26. The cleaning device according to Embodiment 20, the roller brush assembly includes: a first roller brush, rotatably arranged on the mounting base, for cleaning the surface to be cleaned when rotating; a second roller brush, It is rotatably arranged on the mounting base and is located on the rear side of the first roller brush. The second roller brush can be wetted to wash the surface to be cleaned when rotating; wherein, the blocking mechanism is arranged on between the first roller brush and the second roller brush to block at least part of the garbage on the side facing the first roller brush when the robot is in the forward state.

27. The cleaning device according to Embodiment 26, the blocking mechanism is arranged along the length direction of the first roller brush and is in contact with the first roller brush. When the robot is in the forward state, the blocking mechanism It is forced to deflect in a direction away from the first roller brush.

28. The cleaning device according to Embodiment 26, in the forward state of the robot, the distance between the blocking mechanism and the first roller brush is 0 mm to 3 mm.

29. The cleaning device according to Embodiment 26, the blocking mechanism has a curved surface, and the curvature direction of the curved surface conforms to the outer edge of the first roller brush.

30. The cleaning device according to embodiment 20, the blocking mechanism is detachably connected to the mounting base.

31. The cleaning device according to Embodiment 20, the blocking mechanism includes: a connecting part and a blocking part; the connecting part is used to connect to the mounting base, and the blocking part is connected to the connecting part. To block at least part of the garbage from flowing to the sewage collection assembly.

32. The cleaning device according to Embodiment 31, the blocking mechanism further includes a reinforcing part, and the reinforcing part can be disposed on the connecting part to support and strengthen the blocking part.

33. The cleaning device according to Embodiment 31, further comprising an adapter, the adapter is fixed on the mounting base, and the blocking mechanism is detachably engaged with the adapter.

34. The cleaning device according to embodiment 33, the blocking mechanism can be extracted from the adapter in a direction parallel to the axes of the first roller brush and the second roller brush.

35. The cleaning device according to Embodiment 33, the adapter includes a fixed portion fixedly connected to the mounting base and a snap-in portion integrally formed with the fixed portion, and the adapter includes a bent portion. An upper groove and a lower groove, and a support portion for supporting the main part of the barrier structure.

36. The cleaning device according to embodiment 35, the upper groove is a groove for horizontally limiting the blocking structure, and the lower groove is for vertically limiting the blocking structure. of groove.

37. The cleaning device according to Embodiment 35, the blocking structure includes a main body part and a blocking part integrally formed with the main body part, the main body part includes a reinforcing part and a corresponding clamping part on the upper groove and the The upper connection part and the lower connection part of the lower groove.

38. The cleaning device according to Embodiment 31 or Embodiment 37, a filtering structure is provided on the blocking part, and the filtering structure is used to allow liquid or small particles of garbage to pass when the robot is in a forward state.

39. The cleaning device according to Embodiment 38, the filter structure is configured as a protruding structure located on the surface of the blocking part, or as a hole opened on the blocking part.

40. The cleaning device according to Embodiment 31 or Embodiment 37, the blocking part is made of flexible material.

41. The cleaning device according to Embodiment 31 or Embodiment 37, the blocking part is provided as a brush body.

42. The cleaning device according to Embodiment 20, the sewage collection assembly includes: a sewage inlet seat, which is arranged on the chassis of the robot and includes a sewage inlet channel for connecting the sewage pipeline and a first chute; water absorption A rake, slidably and detachably disposed on the dirt inlet seat, includes a second chute inserted into the first chute, a dirt inlet connected to the dirt inlet channel, and a suction inlet for the dirt inlet. The scraper structure of the dirty space.

43. The cleaning device according to embodiment 42, the water-absorbing rake can be extracted from the dirt inlet seat in a direction parallel to the axis of the roller brush assembly.

44. The cleaning device according to Embodiment 42, the dirt inlet seat is provided with a hole for locking on the chassis mounting surface corresponding to the Locking structure on the chassis.

45. The cleaning device according to embodiment 42, the first end of the dirt inlet seat is configured for the second chute to be inserted into the first insertion portion of the first chute, and the second end is provided with a first stopper. The first end of the water suction rake is provided with a second stop portion, and the second end is provided as a second insertion portion for the second chute to be inserted into the first chute.

46. The cleaning device according to Embodiment 42, the water-absorbing rake includes: a scraper seat, which is slidably and detachably disposed on the dirt inlet seat, including the second chute and a scraper seat for arranging the scraper. The first joint part of the structure; a pressure plate, fixed on the scraper seat, used to limit the scraper structure on the scraper seat; the scraper structure, including a first joint part The second joint part, and the first scraper strip and the second scraper strip respectively located at the front and rear sides of the dirt inlet to form a dirt suction space for the dirt inlet.

47. The cleaning device according to Embodiment 46, the first joint part is a step structure, the second joint part is a folding structure that conforms to the step structure, and the scraper seat is formed with a A protective structure that protects the folded edge structure.

48. The cleaning device according to Embodiment 46, the scraper seat is provided with a plurality of clamping holes, and the pressing plate is provided with hooks corresponding to the plurality of clamping holes for fixing the pressing plate on the on the scraper seat.

49. The cleaning device according to Embodiment 46, the first scraper strip and the second scraper strip are an integrally formed structure.

50. The cleaning device according to Embodiment 46, the first scraper and the second scraper are formed with two constricted ends at the first end and the second end, and are arranged in parallel between the two constricted ends. .

51. The cleaning device according to Embodiment 46, the first scraper strip is provided with a plurality of gaps at intervals for allowing sewage to enter the sewage suction space.

52. The cleaning device according to Embodiment 20, the cleaning device further includes a garbage box removably arranged on the mounting base, the garbage box is arranged in parallel in front of the roller brush assembly and is used to collect all dust. Describe the garbage involved in the roller brush assembly.

53. The cleaning device according to Embodiment 20, a water spray structure is provided on the mounting base, and the water spray structure is used to spray water flow to wet the roller brush assembly.

54. The cleaning device according to Embodiment 20, the water spray structure includes a water storage tank, including a water inlet connected to the clean water tank through a pipeline, a buffer tank connected to the water inlet, and a certain height position with the buffer tank An isolated outlet channel and multiple water spouts provided at the bottom of the outlet channel.

55. The cleaning device according to embodiment 54, a liquid level isolation wall is provided between the buffer tank and the outlet tank.

56. The cleaning device according to embodiment 55, the liquid level isolation wall is evenly distributed with a plurality of crenellations or tooth-shaped notches.

57. The cleaning device according to Embodiment 54, the outlet water tank includes a plurality of compartments isolated by a plurality of spacing structures, and a water spout is provided at the bottom of each compartment.

58. The cleaning device according to embodiment 54, the water storage tank includes a tank body and a tank cover covering the tank body.

59. The cleaning device according to embodiment 20, the mounting base of the roller brush assembly includes a side cover, which is releasably provided on one side of the mounting base for engaging the first roller brush and the third roller brush. At the passive end of the two roller brushes, when the side cover is opened, the first roller brush and the second roller brush of the roller brush assembly can be taken out from the outside along its axial direction.

60. The cleaning device according to embodiment 59, the side cover is located on a side of the roller brush assembly that protrudes from the robot body.

61. The cleaning device according to embodiment 59, the side cover includes: a cover body with a notch or a groove for engaging the passive ends of the first roller brush and the second roller brush; a shaft connecting portion, Connected to the rear side of the cover body, it is used to provide a rotation axis to rotate the side cover outward when the cover body is unlocked; the locking part is used to fix the cover body in place through a locking element. on the mounting base.

62. The cleaning device according to embodiment 61, further comprising a snap portion located on the front side of the cover body.

63. The cleaning device according to Embodiment 61, the locking part is located between the shaft connection part and the engaging part.

64. The cleaning device according to Embodiment 59, the mounting base has a top plate located at the top of the roller brush assembly, the top plate is provided with a lock hole or a lock groove corresponding to the locking part, the locking element By penetrating the locking part and being locked in the lock hole or lock groove.

65. The cleaning device of embodiment 61, wherein the locking element is a resilient pin.

66. The cleaning device according to embodiment 61, the side cover further includes a protective piece fixed on the underside of the cover body to extend the side cover to shield the roller brush assembly.

67. The cleaning device according to embodiment 66, wherein the protective sheet is a sheet of flexible material.

68. The cleaning device according to embodiment 59, the active end of the roller brush assembly is provided with a spring element for providing a continuous resisting force to press the passive end of the roller brush assembly against the side cover. superior.

69. The cleaning device of embodiment 20, wherein the robot is configured as a cleaning robot.

70. A cleaning robot, comprising: a mobile device, including a driving wheel provided at the bottom of the cleaning robot; a cleaning device as described in any one of embodiments 20 to 69, provided at the bottom of the cleaning robot, for performing cleaning Operation; control device, used to control the mobile device and the cleaning device to work together.

71. A cleaning system, comprising: the cleaning robot of embodiment 70, and a workstation for docking with the cleaning robot.

72. A cleaning device for a robot. The robot includes a dirt collection assembly. The cleaning device includes: a mounting base for installing on the bottom of the chassis of the robot; and a roller brush assembly that is disposed on the mounting base. , and is located on the front side of the dirt collection assembly to clean the surface to be cleaned when rotating; wherein, the dirt collection assembly includes a dirt inlet seat and a water-absorbing rake, and the dirt inlet seat is arranged on the chassis of the robot, including The sewage inlet channel used to connect the sewage pipeline and the first chute; the water absorption The rake is slidably and detachably disposed on the dirt inlet seat, including a second chute inserted into the first chute, a dirt inlet connected to the dirt inlet channel, and a dirt suction inlet for the dirt inlet. Space scraper structure.

73. The cleaning device according to embodiment 72, the water suction rake can be extracted from the dirt inlet seat in a direction parallel to the axis of the roller brush assembly.

74. The cleaning device according to Embodiment 72, the dirt inlet seat is provided with a locking structure for locking on the chassis corresponding to the mounting surface of the chassis.

75. The cleaning device according to embodiment 72, the first end of the dirt inlet seat is configured for the second chute to be inserted into the first insertion portion of the first chute, and the second end is provided with a first stopper. The first end of the water suction rake is provided with a second stop portion, and the second end is provided as a second insertion portion for the second chute to be inserted into the first chute.

76. The cleaning device according to Embodiment 72, the water-absorbing rake includes: a scraper seat, which is slidably and detachably disposed on the dirt inlet seat, including the second chute and a scraper seat for arranging the scraper. The first joint part of the structure; a pressure plate, fixed on the scraper seat, used to limit the scraper structure on the scraper seat; the scraper structure, including a first joint part The second joint part, and the first scraper strip and the second scraper strip respectively located at the front and rear sides of the dirt inlet to form a dirt suction space for the dirt inlet.

77. The cleaning device according to Embodiment 76, the first joint part is a step structure, the second joint part is a folding structure that conforms to the step structure, and the scraper seat is formed with a A protective structure that protects the folded edge structure.

78. According to the cleaning device of embodiment 76, the scraper seat is provided with a plurality of clamping holes, and the pressing plate is provided with hooks corresponding to the plurality of clamping holes for fixing the pressing plate on the on the scraper seat.

79. The cleaning device according to Embodiment 76, the first scraper strip and the second scraper strip are an integrally formed structure.

80. The cleaning device according to Embodiment 76, the first scraper and the second scraper are formed with two constricted ends at the first end and the second end, and are arranged in parallel between the two constricted ends. .

81. The cleaning device according to Embodiment 76, the first scraper strip is provided with a plurality of gaps at intervals for allowing sewage to enter the sewage suction space.

82. The cleaning device according to Embodiment 72, the mounting base includes a side cover, which is releasably provided on one side of the mounting base for engaging the first roller brush and the second roller brush. At the passive end, when the side cover is opened, the first roller brush and the second roller brush of the roller brush assembly can be taken out from the outside along its axial direction.

83. The cleaning device according to embodiment 82, the side cover is located on a side of the roller brush assembly that protrudes from the robot body.

84. The cleaning device according to Embodiment 82, the side cover includes: a cover body with a notch or a groove for engaging the passive ends of the first roller brush and the second roller brush; a shaft connecting portion, the shaft Connected to the rear side of the cover body, used to install the cover body When the body is unlocked, a rotation axis is provided to allow the side cover to rotate outward and open; the locking part fixes the cover body on the mounting base through a locking element.

85. The cleaning device according to embodiment 84, further comprising a snap portion located on the front side of the cover body.

86. The cleaning device according to embodiment 84, the locking part is located between the shaft connection part and the engaging part.

87. The cleaning device according to Embodiment 82, the mounting base has a top plate located at the top of the roller brush assembly, the top plate is provided with a lock hole or a lock groove corresponding to the locking part, and the locking element By penetrating the locking part and being locked in the lock hole or lock groove.

88. The cleaning device of embodiment 84, the locking element being a resilient pin.

89. The cleaning device according to embodiment 84, the side cover further includes a protective piece fixed on the lower side of the cover body to extend the side cover to shield the roller brush assembly.

90. The cleaning device according to embodiment 89, wherein the protective sheet is a sheet of flexible material.

91. The cleaning device according to embodiment 82, the active end of the roller brush assembly is provided with a spring element for providing a continuous resisting force to press the passive end of the roller brush assembly against the side cover. superior.

92. A cleaning device for a cleaning robot, including: a mounting base for mounting on the bottom of the chassis of the cleaning robot; a first roller brush rotatably mounted on the mounting base for cleaning when rotating The surface to be cleaned; a second roller brush, which is rotatably arranged on the mounting base, and the second roller brush can be wetted to wash the surface to be cleaned when rotating; wherein, the forward direction of the cleaning robot is In front, the second roller brush is arranged behind the first roller brush, and the axial distance between the first roller brush and the second roller brush is greater than the sum of the radii of the first roller brush and the second roller brush, so that This ensures that the first roller brush and the second roller brush do not contact each other when rotating.

93. The cleaning device according to embodiment 92, wherein the distribution density of the brush body of the first roller brush is smaller than the distribution density of the brush body of the second roller brush.

94. The cleaning device according to embodiment 92 or 93, wherein the brush bodies of the first roller brush and the second roller brush are respectively arranged in a V-shape, and the V-shaped openings of the two are arranged oppositely.

95. The cleaning device according to embodiment 92, wherein during the cleaning operation, the rotation speed of the first roller brush is greater than the rotation speed of the second roller brush.

96. The cleaning device according to embodiment 92, wherein during the cleaning operation, the first roller brush is configured to rotate counterclockwise, and the second roller brush is configured to rotate clockwise.

97. The cleaning device according to embodiment 92, wherein the cleaning device further includes a garbage box detachably arranged on the mounting base, and the garbage box is arranged in parallel in front of the first roller brush. To collect the garbage rolled in by the first roller brush.

98. The cleaning device according to Embodiment 97, wherein the garbage box is arranged in a long strip shape, the garbage box is provided with a garbage port on a side facing the first roller brush, and the garbage port is located toward The upper part of one side of the first roller brush.

99. The cleaning device according to Embodiment 97, wherein a drainage hole is provided on the side of the garbage box facing the surface to be cleaned, and the drainage hole is used to drain the liquid in the garbage box to the surface to be cleaned.

100. The cleaning device according to Embodiment 92, a water spray structure is provided on the mounting base, and the water spray structure is used to spray water flow to wet the second roller brush.

101. The cleaning device according to Embodiment 100, wherein the water spray structure includes a water spray port located on or behind a vertical plane where the axis of the second roller brush is located.

102. The cleaning device according to Embodiment 100, wherein there are multiple water spray nozzles, and the plurality of water spray nozzles are spaced apart on the mounting base in a direction consistent with the length direction of the second roller brush. , so that the water flow is evenly sprayed on the second roller brush.

103. A cleaning robot, including: a mobile device, including a driving wheel provided at the bottom of the cleaning robot; a cleaning device as described in any one of embodiments 92 to 102, provided at the bottom of the cleaning robot, for executing Cleaning operation; a waterway device connected to the cleaning device for providing water flow to the cleaning device and recovering sewage after the cleaning device performs cleaning operations; a control device provided on the cleaning robot for controlling all The moving device, the cleaning device and the waterway device work together.

104. A cleaning system, comprising: the cleaning robot as described in Embodiment 103, and a workstation for docking with the cleaning robot.

105. A cleaning robot, including: a moving device including a driving wheel provided at the bottom of the cleaning robot; a cleaning device provided at the bottom of the cleaning robot, with the forward direction of the cleaning robot being the forward direction, and the cleaning device The device protrudes to the right from the maximum outer contour of the cleaning robot's body on the horizontal plane to clean corner areas during cleaning operations; a waterway device is connected to the cleaning device and is used to provide water flow to the cleaning device; Recover the sewage after the cleaning device performs the cleaning operation; a control device is provided on the cleaning robot and is used to control the mobile device, the cleaning device, and the waterway device to work together.

106. The cleaning robot according to embodiment 105, wherein the cleaning device protrudes to the right from the maximum outer contour of the body of the cleaning robot on the horizontal plane by a distance of 1 cm to 4 cm.

107. The cleaning robot according to embodiment 106, wherein the cleaning device protrudes to the right from the maximum outer contour of the body of the cleaning robot on the horizontal plane by a distance of 2 cm.

108. The cleaning robot according to embodiment 105, wherein the cleaning device is configured as a cleaning device as described in any one of embodiments 20 to 69, as in embodiments 72 to 82, or as in any one of embodiments 92 to 102.

109. A cleaning system, comprising: a cleaning robot as described in any one of embodiments 105 to 108, and a workstation for docking with the cleaning robot.

110. A built-in box detection mechanism of a cleaning robot. The cleaning robot includes a storage space for installing a built-in box and a cover plate for closing the storage space: the built-in box detection mechanism includes: a component to be inspected , is arranged on the built-in box; the detection element is movablely arranged on the cover plate on the top of the cleaning robot, and is used to detect the in-position state of the built-in box through mechanical contact, and detect the in-position state of the built-in box when it does not come into contact with the element to be inspected. In this state, the cover plate is prevented from closing the accommodation space.

111. The built-in box detection mechanism according to embodiment 110, the accommodation space of the cleaning robot includes a battery compartment and a sewage tank spaced apart from the battery compartment, and the built-in box is installed in the sewage tank.

112. The built-in box detection mechanism according to Embodiment 110, wherein the built-in box is a filter box used to filter solid waste in sewage or a dust box provided with a dust bag.

113. According to the built-in box detection mechanism of embodiment 110, a dirt inlet channel is connected to the box body of the built-in box.

114. The built-in box detection mechanism according to Embodiment 110, the component to be inspected is disposed on the top surface of the built-in box and has a first guide portion.

115. The built-in box detection mechanism according to embodiment 110, the component to be inspected is arranged on one side wall of the built-in box, the component to be inspected has a first guide part, and the first guide part passes through And it leaks to the top surface of the built-in box, and the top surface of the built-in box has an opening for the first guide part to pass through.

116. The built-in box detection mechanism according to embodiment 114 or 115, wherein the component to be inspected is a slope structure with an inclined surface of 15°-45°.

117. The built-in box detection mechanism according to embodiment 114 or 115, the cover plate is provided with a first shaft connection portion corresponding to the surface of the accommodation space; the detection element is shaft connected to the cover plate, and the The detection element includes a second shaft connection portion that is shaft-connected to the first shaft connection portion and a detection portion that is connected to the second shaft connection portion.

118. The built-in box detection mechanism according to Embodiment 117, the surface of the cover corresponding to the accommodation space is further provided with a limiting portion adjacent to the first shaft connection portion to limit the swing amplitude of the detection element .

119. The built-in box detection mechanism according to embodiment 117, the detection element further includes a connection part for connecting the second shaft connection part and the detection part, the length of the connection part determines whether the detection element prevents The extent to which the cover plate covers the accommodation space is indicated.

120. The built-in box detection mechanism according to Embodiment 117, the axis center of the second connecting part is outside the center line of the connecting part.

121. The built-in box detection mechanism according to Embodiment 117, wherein the detection part of the detection element is provided with a counterweight element.

122. The built-in box detection mechanism according to embodiment 117, the detection part of the detection element includes a second guide part for contacting the first guide part; the second guide part is for contacting the first guide part When the guide part is used, the detection element is adjusted from a hanging state to a horizontal state.

123. The built-in box detection mechanism according to embodiment 122, the second guide portion has a curved surface.

124. The built-in box detection mechanism according to embodiment 117, the detection part of the detection element includes a first resisting part for abutting against one side wall of the accommodation space.

125. The built-in box detection mechanism according to embodiment 124, the first resisting portion has a flat surface for abutting one side wall of the accommodation space.

126. The built-in box detection mechanism according to embodiment 124, a first mounting part for installing the built-in box is formed on a side wall of the accommodation space, and the top surface of the first mounting part has a structure for abutting against the built-in box. The second resisting part of the first resisting part.

127. The built-in box detection mechanism according to embodiment 126, the side wall of the built-in box is provided with a second mounting part for matching the first mounting part.

128. The built-in box detection mechanism according to embodiment 127, the first mounting part is a guide rail structure, and the second mounting part is a guide groove structure matching the guide rail structure.

129. The built-in box detection mechanism according to Embodiment 110, the built-in box includes: a box body, with a first engaging portion and a second engaging portion respectively provided on the opposite side walls; a cover body, removably The cover is closed on the box body, and its opposite sides are respectively provided with a third engaging portion corresponding to the first engaging structure and a fourth engaging portion corresponding to the second engaging structure.

130. According to the built-in box detection mechanism of embodiment 129, the lower surface of the cover is formed with a sewage inlet channel for connecting to the sewage tank, and the entrance of the inlet channel corresponds to the sewage pipe connected to the sewage tank, and the The outlet of the entry channel communicates with the internal space of the box.

131. The built-in box detection mechanism according to Embodiment 129, the upper surface of the cover body has two grooves for the user to hold the cover body, and the two grooves are formed corresponding to the opposite sides of the inlet channel. both sides.

132. According to the built-in box detection mechanism of embodiment 110, the cover plate is provided with a handle that can be flipped relative to the cover plate on a surface corresponding to the accommodation space.

133. According to the built-in box detection mechanism of embodiment 132, the handle is arranged on the surface of the cover corresponding to the accommodation space in a snap-in manner or a torsion spring manner.

134. The built-in box detection mechanism according to Embodiment 132, the handle includes a flip arm and an extension arm axially connected to the flip arm, and the distal end of the extension arm has a handle for the user to pull the robot.

135. The built-in box detection mechanism according to Embodiment 134, the flip arm of the handle is stored on the inner surface of the cover in a first dimension of rotation, and the extension arm is stored in a second dimension of rotation. on the inner side of the cover.

136. According to the built-in box detection mechanism of embodiment 134, the rotation range of the flip arm of the handle is 180°, and the rotation range of the extension arm is 90°.

137. According to the built-in box detection mechanism of embodiment 134, the connection part between the flip arm of the handle and the extension arm is provided with an interference fit structure.

138. The built-in box detection mechanism according to embodiment 137, the interference fit structure includes: a connecting seat, fixed on the distal end of the flip arm, including an axis hole and a pin seat adjacent to the axis hole; a rotating shaft, A proximal end provided in the shaft hole to axially connect the connecting seat and the extension arm, and is used for the extension arm to expand or retract relative to the flip arm in a second dimension of rotation; a positioning portion is provided. The proximal end of the extension arm includes a first positioning hole and a second positioning hole; an elastic pin is provided in the pin seat and is used to be combined with the first positioning hole when the extension arm is folded, And combined with the second positioning hole in the expanded state of the extended arm.

139. The built-in box detection mechanism according to embodiment 138, the connection base further includes a stop structure for preventing the extension arm from overturning excessively.

140. According to the built-in box detection mechanism of embodiment 134, the inner surface of the cover is further provided with a first blocking block and a second blocking block for engaging the folding arm in the folded state and the flipped state. A clamping block and a second clamping block are respectively arranged on opposite sides of the flipping shaft of the flipping arm.

141. A cleaning robot, comprising an accommodation space formed in the robot body, a built-in box disposed in the accommodation space, and a cover plate for closing the accommodation space, the cleaning robot further comprising: The built-in box detection mechanism as described in any one of Embodiments 110 to 140 is used to detect the in-position state of the built-in box.

142. A robot, which includes a power supply management system. The power supply management system includes: two power terminals, which are electrically connected to the control device of the robot to form a first power supply from the power terminals to the control device. Loop; battery, electrically connected to the two power terminals to form a charging loop; power management module, electrically connected to the battery and at least one power terminal, used to conduct the charging when the robot docks with the workstation circuit so that the workstation charges the battery through the two power terminals, and when it is determined that the battery is fully charged, the charging circuit is turned off, so that the workstation charges the battery through the first power supply circuit. The robot supplies power to the power-consuming parts in the standby state.

143. The robot according to embodiment 142, when the workstation detects that the machine is docked, it outputs a first electrical signal to charge the battery.

144. The robot according to Embodiment 143, when the workstation determines that the battery is fully charged according to the battery power information, and when it determines that the robot is still docked, it switches to output a second electrical signal to give the robot standby. state power-consuming components.

145. The robot of embodiment 144, the voltage of the second electrical signal is greater than the rated voltage of the battery.

146. The robot of embodiment 143, the current of the second electrical signal is set to not exceed 10A.

147. The robot according to embodiment 143, the workstation stops outputting the electrical signal when it determines that its current is lower than a preset load value based on the second electrical signal.

148. The robot of embodiment 147, the preset load value is 0 to 400 mA.

149. The robot according to Embodiment 142, the power management module is further configured to conduct a second power supply loop to supply power to the robot from the second power supply loop when it is determined that the power supply of the two power terminals is abnormal. Power supply, the second power supply loop refers to the loop from the battery to the control device.

150. The robot according to embodiment 142, the power management module includes: a switch unit, used to turn on or off the electrical connection between the battery and at least one electrical terminal; a control unit, used to control the robot according to the The state controls the on or off of the switch unit.

151. The robot according to embodiment 150, the switch circuit includes at least two switch tubes connected in reverse series.

152. The robot of embodiment 142, which is a cleaning robot.

153. The robot according to embodiment 142, the power-consuming component includes the control device, parking device, sensor device, or communication device.

154. A workstation, including a power management system. The power management system includes: two power supply terminals for connecting to the two power terminals corresponding to the robot when the robot is docked with the workstation; a power management module, Electrically connecting the two power supply terminals to detect when the robot is docked with the workstation, output a first electrical signal to charge the robot's battery, and determine when the robot's battery is fully charged based on the robot's battery power information. , and when it is determined that the robot is still docked, switch to outputting a second electrical signal to power the power-consuming components of the robot in a standby state.

155. The workstation of embodiment 154, wherein the voltage of the second electrical signal is greater than a rated voltage of the battery.

156. The workstation of embodiment 154, the current of the second electrical signal is set to no more than 10A.

157. The workstation according to embodiment 154, the power management system further stops outputting the electrical signal when it determines that the current is lower than a preset load value based on the second electrical signal.

158. The workstation according to embodiment 157, the preset load value is 0-400mA.

159. The workstation according to embodiment 154, the power management module includes: a detection unit, communicatively connected with the robot, for detecting the status of the robot; and a power conversion unit, electrically connected to the two power supply terminals. and the detection unit configured to output the first electrical signal or the second electrical signal based on the state of the robot.

160. The workstation according to embodiment 154, the power conversion unit includes a power conversion circuit, the power conversion circuit is configured to output a first electrical signal or a second electrical signal based on the state of the robot, and provide the detection unit with electrical energy.

161. A robotic system, comprising: a workstation as described in embodiments 154 to 160; and, as in embodiments 142 to 153

The robot can be docked with the workstation.

The above embodiments only illustrate the principles and effects of the present application, but are not used to limit the present application. Anyone familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in this application shall still be covered by the claims of this application.

Claims

A cleaning robot, characterized in that it includes: a chassis, including a clean water tank integrally formed on the top of the chassis; a sewage tank, nested on the clean water tank to be combined with the chassis, including a recycling tank There is a built-in holding space for the sewage collected by the cleaning robot. The built-in holding space and the holding space of the clean water tank have an overlapping area in the vertical direction; wherein, the sewage tank is integrally formed with an outer shell for holding the battery. The battery is used to power the cleaning robot.
The cleaning robot according to claim 1, wherein the front part of the outer shell of the sewage tank forms an upper and lower receiving area, and when the sewage tank is combined with the chassis, the containing area is located in the clean room. The front area of the water tank to provide space for the installation of controls.
The cleaning robot according to claim 1, wherein a dirt collection assembly is provided at the bottom of the chassis, a first pipe structure connected to the dirt collection assembly is provided in the clean water tank, and the third pipe structure is provided in the clean water tank. A pipe structure is connected to the built-in accommodation space when the sewage tank is combined with the chassis to provide a water flow path from the sewage collection assembly to the built-in accommodation space.
The cleaning robot according to claim 3, wherein the dirt collection assembly includes a dirt inlet and a scraper structure disposed at the dirt inlet, and the scraper structure includes a first scraper and a second scraper. The first scraper strip and the second scraper strip are respectively located on the front side and the rear side of the dirt inlet to alternately collect sewage when the cleaning robot moves forward and backward.
The cleaning robot according to claim 1, wherein at least part of the outer edge of the top of the chassis extends upward to form a groove area together with the side wall of the clean water tank, and the groove area is formed by To install the suction unit.
The cleaning robot according to claim 1, wherein the rear outer edge of the top of the chassis extends upward so that the side walls of the chassis are low in front and high in back relative to the side walls of the clean water tank. The outer shell of the sewage tank is arranged in an inverted step shape that is complementary to the side wall of the chassis, so that the overlapping area is formed when the sewage tank is nested in the clean water tank.
The cleaning robot according to claim 1, wherein the clean water tank is provided with a first positioning structure, the sewage tank is provided with a second positioning structure that is consistent with the first positioning structure, and the third positioning structure is provided with a second positioning structure. A positioning structure and the second positioning structure are used to limit relative movement between the sewage tank and the clean water tank.
The cleaning robot according to claim 7, wherein the first positioning structure is configured as a groove structure on the side wall of the clean water tank, and the second positioning structure is configured to interact with the groove structure. Complementary raised structure.
The cleaning robot according to claim 1, wherein the right side wall of the chassis is provided with a recessed area with an opening facing the surface to be cleaned, and the cleaning device provided at the bottom of the chassis passes through the recessed area to the right. The sides protrude beyond the maximum outer contour of the cleaning robot body on the horizontal plane.
The cleaning robot according to claim 1, characterized in that the sewage tank is configured as a structure complementary to the chassis. The sewage tank is a one-piece molded structure, and the sewage tank is used to close the clean water tank when combined with the chassis.
The cleaning robot according to claim 1, wherein the sewage tank includes an outer shell and a bottom plate integrally formed inside the outer shell, and the outer shell is configured as a hollow structure with an upward opening to form the built-in Accommodation space, the inner surface of the outer shell cooperates with the bottom plate to form the external accommodation space.
The cleaning robot according to claim 1, characterized in that a clasp structure is provided on the outside of the outer shell of the sewage tank to facilitate the operation of the cleaning robot.
The cleaning robot according to claim 1, wherein the outer body of the sewage tank is provided with a water inlet, and the built-in accommodation space is provided with a second pipeline structure connected to the water inlet, so The second pipeline structure is connected to the clean water tank when the sewage tank is combined with the chassis to provide a water flow path from the water inlet to the clean water tank.
The cleaning robot according to claim 1, characterized in that the cleaning robot further includes a front cover, the front cover is closed on the front of the sewage tank to protect the tank arranged on the front of the sewage tank. control device inside.
The cleaning robot according to claim 1, characterized in that the cleaning robot further includes a top cover, the top cover is closed on the top of the sewage tank to close the built-in accommodation space and the external accommodation space. .
The cleaning robot according to claim 15, wherein the top cover is magnetically closed on the top of the sewage tank.
The cleaning robot according to claim 1, wherein a cleaning device is provided at the bottom of the chassis, and the clean water tank is used to provide water to the cleaning device.
The cleaning robot according to claim 1, wherein the cleaning device includes: a mounting base; a first roller brush, which is rotatably disposed on the mounting base and is used to clean the surface to be cleaned when rotating; Two roller brushes are rotatably arranged on the mounting base. The second roller brush can be wetted to wash the surface to be cleaned when rotating; wherein, the second roller brush is arranged on the first roller brush. behind, the axial distance between the first roller brush and the second roller brush is greater than the sum of the radii of the first roller brush and the second roller brush, so that the first roller brush and the second roller brush interact with each other when rotating. not in contact.
The cleaning robot according to claim 18, wherein the brush body distribution density of the first roller brush is greater than the brush body distribution density of the second roller brush.
The cleaning robot according to claim 18 or 19, wherein the brush bodies of the first roller brush and the second roller brush are respectively arranged in a V-shape, and the V-shaped openings of the two are arranged oppositely.
The cleaning robot according to claim 18, wherein during the cleaning operation, the rotation speed of the first roller brush is greater than the rotation speed of the second roller brush.
The cleaning robot according to claim 18, wherein during the cleaning operation, the first roller brush and the second The roller brushes are configured to rotate in the same direction, or the first roller brush and the second roller brush are configured to rotate in opposite directions.
The cleaning robot according to claim 18, wherein the cleaning device further includes a garbage box detachably arranged on the mounting base, and the garbage box is arranged in parallel in front of the first roller brush. Collect the garbage cleaned by the first roller brush.
The cleaning robot according to claim 23, wherein the garbage box is arranged in a long shape, a garbage port is provided on a side of the garbage box facing the first roller brush, and the garbage port is located toward The upper part of one side of the first roller brush.
The cleaning robot according to claim 18, wherein the mounting base is provided with a water spout, and the water spout is used to spray water to wet the second roller brush.
The cleaning robot according to claim 25, wherein the water spray port is located on or behind the vertical plane where the axis of the second roller brush is located.
The cleaning robot according to claim 25, wherein there are multiple water spray nozzles, and the plurality of water spray nozzles are spaced apart along the length direction of the second roller brush, so that the water flow can be sprayed uniformly on the second roller brush. The second roller brush.
A cleaning system, characterized by comprising: the cleaning robot according to any one of claims 1 to 27, and a workstation used for docking with the cleaning robot.