WO2024103684A1

WO2024103684A1 - Cleaning robot for cleaning operation

Info

Publication number: WO2024103684A1
Application number: PCT/CN2023/097009
Authority: WO
Inventors: 李汉政; 李建康; 张书生
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: 2022-11-15
Filing date: 2023-05-30
Publication date: 2024-05-23

Abstract

Provided is a cleaning robot (1) for a cleaning operation. The cleaning robot (1) comprises: a moving device (13); a cleaning device (15), arranged at the bottom of the cleaning robot (1) and configured to execute a cleaning operation, wherein from the front side to the rear side of the cleaning robot (1), the cleaning device (15) sequentially comprises: a garbage box (151), a first roller brush (152), a blocking mechanism (153), a second roller brush (154), wherein a dirt collecting assembly (155), the blocking mechanism (153) is configured to block at least part of garbage from flowing to the dirt collecting assembly (155) when the cleaning robot (1) is moving forward; and a control device (14), configured to control the moving device (13) and the cleaning device (15) to work in conjunction so as to execute the following steps: controlling the cleaning robot (1) to move backward so as to collect, by means of rotation of the first roller brush (152), the garbage accumulated in front of the blocking mechanism (153) into the garbage box (151); and controlling the cleaning robot (1) to move forward so as to recycle, by means of the dirt collecting assembly (155), sewage remaining behind the blocking mechanism (153).

Description

Cleaning robots for cleaning tasks

Technical Field

The present application relates to the technical field of cleaning robots, and in particular to a cleaning robot for performing cleaning operations.

Background technique

In areas such as commercial, industrial, institutional, and public buildings where high-volume water use or large areas need to be cleaned, keeping floor surfaces clean is a continuous and time-consuming process. With the development of automation technology and artificial intelligence, cleaning robots are widely used in such occasions to replace manual cleaning of surfaces to be cleaned, including tiles, stones, bricks, wood, concrete, carpets, and other common surfaces.

Cleaning robots usually use a double roller brush structure in a cleaning device to perform cleaning operations. During the cleaning operation, the front roller brush cleans the surface to be cleaned by rotating, and the rear roller brush washes the surface to be cleaned by rotating after being wetted. However, during operation, the two roller brushes usually contact each other, so that garbage stains will be brought into the wet rear roller brush, causing the rear roller brush to wash the surface to be cleaned while being contaminated by garbage. In addition, the garbage will flow to the sewage collecting component that collects sewage, thereby clogging the sewage collecting component, which will seriously affect the cleaning effect.

Thus, the garbage that the cleaning robot fails to collect effectively will hinder the cleaning effect of the cleaning robot.

Summary of the invention

In view of the shortcomings of the above-mentioned related technologies, the purpose of the present application is to provide a cleaning robot for performing cleaning operations, so as to overcome the technical problem that the cleaning robot in the above-mentioned related technologies fails to effectively collect garbage on the surface to be cleaned.

To achieve the above-mentioned objectives and other related objectives, the first aspect disclosed in the present application provides a cleaning robot for performing cleaning operations, the cleaning robot comprising: a moving device, comprising a driving wheel arranged at the bottom of the cleaning robot; a cleaning device, arranged at the bottom of the cleaning robot, for performing cleaning operations; the cleaning device comprises, from the front side to the rear side of the cleaning robot, in sequence: a garbage box, a first roller brush, a blocking mechanism, a second roller brush, and a dirt collecting component; wherein the blocking mechanism is used to block at least part of the garbage from flowing toward the dirt collecting component when the cleaning robot is in the forward state; a control device, used to control the moving device and the cleaning device to work together to perform the following steps: control the cleaning robot to retreat so that the garbage accumulated in front of the blocking mechanism is collected into the garbage box through the rotation of the first roller brush; control the cleaning robot to move forward so that the sewage retained at the rear side of the blocking mechanism is recovered through the dirt collecting component.

In summary, the cleaning robot for performing cleaning operations disclosed in the present application is configured to: A blocking mechanism is set between the two rollers to prevent the first roller brush from getting wet and sticking to garbage, affecting the garbage entering the garbage box, preventing garbage from flowing to the second roller brush and polluting the second roller brush, and preventing garbage from flowing to the dirt collecting component and clogging the dirt collecting component; and the control device performs the cleaning operation by controlling the cleaning robot to move backward and forward, thereby achieving thorough cleaning of the garbage and sewage retained on the cleaning surface and improving the cleaning effect of the cleaning robot.

Those skilled in the art can easily perceive other aspects and advantages of the present application from the detailed description below. In the detailed description below, only exemplary embodiments of the present application are shown and described. As will be appreciated by those skilled in the art, the content of the present application enables those skilled in the art to modify the disclosed specific embodiments without departing from the spirit and scope of the invention to which the present application relates. Accordingly, the description in the drawings and specification of the present application is merely exemplary and not restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

The specific features of the invention involved in this application are shown in the attached claims. The features and advantages of the invention involved in this application can be better understood by referring to the exemplary embodiments and drawings described in detail below. A brief description of the drawings is as follows:

FIG. 1 is a schematic diagram of the three-dimensional structure of a cleaning robot in one embodiment of the present application.

FIG. 2 is a schematic diagram showing the disassembled structure of the cleaning robot in one embodiment of the present application.

FIG. 3 is a schematic diagram of the three-dimensional structure of the cleaning robot in one embodiment of the present application from another perspective.

FIG. 4 is a schematic diagram showing a horizontal plane projection of a cleaning robot in one embodiment of the present application.

FIG. 5 is a schematic diagram showing a three-dimensional structure of a cleaning device in one embodiment of the present application.

FIG6 is a schematic diagram of the B-B cross section of the cleaning device shown in FIG5 of the present application.

FIG. 7 a is a schematic diagram showing the structure of the bottom of the cleaning robot in one embodiment of the present application.

FIG. 7 b is a partial enlarged view of the bottom of the cleaning robot in FIG. 7 a .

FIG. 7 c is a schematic diagram showing a three-dimensional structure of a cleaning device in one embodiment of the present application.

FIG. 7 d is a schematic diagram showing the structure of the cleaning device after the first roller brush and the second roller brush are removed in one embodiment of the present application.

FIG. 8 is a schematic three-dimensional structural diagram of a cleaning device in one embodiment of the present application from another perspective.

FIG. 9 is an exploded schematic diagram showing a water spray structure and a second roller brush provided in one embodiment of the present application.

FIG. 10 is a schematic diagram showing the position of a water spray structure provided in one embodiment of the present application installed in a mounting base.

FIG. 11 is a schematic diagram showing a three-dimensional structure of a blocking mechanism in one embodiment of the present application.

FIG. 12 is a side schematic diagram of the blocking mechanism in the embodiment shown in FIG. 11 of the present application.

FIG. 13 is a schematic diagram showing a three-dimensional structure of a blocking mechanism in one embodiment of the present application.

FIG. 14 is a schematic diagram showing a three-dimensional structure of a blocking mechanism in one embodiment of the present application.

FIG. 15 is a partial enlarged view of the blocking mechanism in the embodiment shown in FIG. 14 of the present application.

FIG. 16 is a schematic diagram showing a three-dimensional structure of a blocking mechanism in one embodiment of the present application.

FIG. 17 is a partial enlarged view of the blocking mechanism in the embodiment shown in FIG. 16 of the present application.

FIG. 18 is a schematic diagram showing the structure of an adapter in another embodiment of the present application.

FIG. 19 is a schematic diagram showing the installation of a blocking mechanism in another embodiment of the present application.

FIG. 20 is a schematic diagram showing the arrangement of a dirt collection component in a robot in one embodiment of the present application.

FIG. 21 is a schematic diagram showing the structure of a dirt collection component in one embodiment of the present application.

FIG. 22 is a schematic diagram showing the exploded structure of a dirt collection component in one embodiment of the present application.

FIG. 23 is a schematic diagram showing a cross-sectional structure of a dirt collecting component in one embodiment of the present application.

FIG. 24 is a schematic diagram showing the structure of a chassis in one embodiment of the present application.

FIG. 25 is a schematic structural diagram of a horizontal cross section of a sewage tank in one embodiment of the present application.

FIG. 26 is a schematic structural diagram of a vertical cross section of a cleaning robot in one embodiment of the present application.

FIG. 27 is a schematic diagram showing a drainage assembly configured on a cleaning robot in one embodiment of the present application.

FIG. 28 is a schematic diagram showing the three-dimensional structure of a drainage component in one embodiment of the present application.

Figure 29 is a schematic diagram of the C-C section of the drainage component in the embodiment shown in Figure 28 of the present application.

Figure 30 is a schematic diagram of the D-D section of the drainage component in the embodiment shown in Figure 28 of the present application.

Figure 31 is a schematic diagram of the E-E section of the drainage component in the embodiment shown in Figure 28 of the present application.

FIG. 32 is a schematic diagram showing the front and rear states of the cleaning robot executing backward movement in one embodiment of the present application.

FIG. 33 is a schematic diagram showing the forward-moving state of the cleaning robot in one embodiment of the present application.

FIG. 34 is a schematic diagram showing the cleaning robot in a backward state in one embodiment of the present application.

FIG. 35 is a schematic diagram showing a cleaning robot performing the first backward and forward reciprocating motion in one embodiment of the present application.

Detailed ways

The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

In the following description, reference is made to the accompanying drawings, which describe several embodiments of the present application. It should be understood that other embodiments may also be used, and that changes in module or unit composition, electrical, and operation may be made without departing from the spirit and scope of the present disclosure. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

Although the terms first, second, etc. are used herein to describe various elements or parameters in some instances, these elements The terms "a" and "b" are used to describe a brush or a parameter. The terms "b" and "c" are used to describe a brush or a component. The terms "b" and "d" are used to describe a brush or a component. The terms "b" and "c ...

Furthermore, as used in this article, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprising" and "including" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and/or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and/or groups. The terms "or" and "and/or" used herein are interpreted as inclusive, or 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". Only when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way, will there be an exception to this definition.

As described in the background technology, the contact between the two roller brushes in the cleaning device will prevent the cleaning robot from effectively collecting garbage and sewage on the surface to be cleaned, which will seriously affect the cleaning effect of the cleaning robot; and if the cleaning robot stops performing the cleaning operation immediately after completing the cleaning task, garbage and sewage will still be retained on the surface to be cleaned at the position where the cleaning task is ended, and the garbage and sewage that are not collected on the cleaning device may fall on the surface to be cleaned during the subsequent movement of the cleaning robot (for example, returning to the charging pile), and these garbage and sewage will further affect the cleaning effect of the cleaning robot.

In view of this, the present application proposes a cleaning robot for performing cleaning operations, wherein the cleaning robot sets a blocking mechanism between the first roller brush and the second roller brush of the cleaning device, thereby preventing the first roller brush from getting wet and sticking to garbage and affecting the entry of garbage into the garbage box, preventing garbage from flowing to the second roller brush and contaminating the second roller brush, and preventing garbage from flowing to the dirt collecting component and causing blockage of the dirt collecting component; and the control device of the cleaning robot can collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through the rotation of the first roller brush by controlling the cleaning robot to move backward, and can recycle the sewage retained on the rear side of the blocking mechanism through the sewage collecting component by controlling the cleaning robot to move forward, thereby achieving thorough cleaning of the garbage accumulated on the surface to be cleaned and the retained sewage, thereby improving the cleaning effect of the cleaning robot.

Among them, the cleaning robot described in the present application includes a clean water tank and a sewage tank to complete the cleaning operation of the surface to be cleaned. The cleaning robot may also be referred to as a mobile robot, a floor scrubber, a floor washing machine, an automatic floor scrubber, a cleaning robot, etc. in some application scenarios. It is a robot device suitable for performing floor surface cleaning operations that use high volumes of water or require large cleaning areas. The cleaning robot can accept user commands, such as the operator pushing, pulling, or driving the cleaning robot to complete the cleaning operation on the floor surface; for example, the operator controls the cleaning robot to perform work through a handheld remote control or an application loaded on a smart terminal. The cleaning robot can also complete the cleaning operation of the floor surface by itself, such as by running pre-programmed programs or rules to complete the work by itself. In the following embodiments of the present application, the following will be described. This is explained using an example of a cleaning robot that can autonomously locate and navigate and complete cleaning tasks.

The surface to be cleaned refers to the floor surface, including tiles, stones, bricks, wood, concrete, carpets and other common surfaces. The surface to be cleaned may also be referred to as a cleaning surface, a floor, a surface, a walking surface, etc. It should be noted that in this application, for the sake of ease of description and understanding, the plane parallel to the surface to be cleaned, i.e., the floor surface, is referred to as a horizontal plane or a horizontal direction, and the plane perpendicular to the surface to be cleaned, i.e., the floor surface, is referred to as a vertical plane or a vertical direction.

Further, for the convenience of description and understanding, in the present application, the forward direction of the cleaning robot at work is defined as the forward direction (the direction indicated by the dotted line X in FIG. 1 ), and correspondingly, the reverse direction of the forward direction (backward direction) at work is defined as the backward direction. It should be understood that one side of the forward direction of the cleaning robot at work is defined as the front side or the front end, and the side of the cleaning robot in the opposite direction away from the front side or the front end is defined as the rear side or the rear end. In order to facilitate the distinction between the left and right sides, the left and right sides are distinguished based on the forward direction of the cleaning robot at work.

In one embodiment, please refer to Figures 1 and 2. Figure 1 shows a schematic diagram of the three-dimensional structure of a cleaning robot in one embodiment of the present application, and Figure 2 shows a schematic diagram of the disassembled structure of a cleaning robot in one embodiment of the present application. As shown in the figure, the cleaning robot 1 includes a body 10, and the body 10 includes a chassis 11 and a sewage tank 12. The chassis 11 located at the bottom of the cleaning robot includes a clean water tank 110 formed integrally on its top, and the sewage tank 12 is nested on the clean water tank 110 to be combined with the chassis 11, including a built-in accommodating space 120 for recycling the sewage collected by the cleaning robot, and the built-in accommodating space 120 and the accommodating space 1100 of the clean water tank 110 have an overlapping area in the vertical direction. Wherein, the overlapping area in the vertical direction means that the projections of two areas or spaces on the vertical plane have overlapping parts.

The chassis may be integrally formed of materials such as plastic, metal or other materials used in the art, and may include a plurality of preformed grooves, recesses, snap-in locations or similar structures for mounting or integrating related devices, components, assemblies, or mechanisms on the chassis.

The following is a detailed introduction to the various parts that constitute the cleaning robot in conjunction with Figures 1 to 35.

Please refer to Figures 1 and 3. Figure 3 is a schematic diagram of the three-dimensional structure of a cleaning robot in one embodiment of the present application from another perspective. As shown in the figure, the cleaning robot 1 includes a moving device 13, a control device 14, and a cleaning device 15. The moving device 13 and the cleaning device 15 are arranged at the bottom of the chassis 11 of the cleaning robot, and the control device 14 is arranged inside the cleaning robot.

In one embodiment, the mobile device 13 includes driving wheels 131 disposed on opposite sides of the bottom of the chassis 11, and the driving wheels 131 are driven by the first driving assembly 130 to drive the cleaning robot 1 to move. Specifically, the driving wheels are driven to drive the cleaning robot 1 to perform reciprocating motion, rotational motion, or curvilinear motion, etc., in a backward and forward direction according to a planned moving trajectory (e.g., a planned path for a cleaning task), or to drive the cleaning robot 1 to adjust its posture. In addition, two contact points between the cleaning robot 1 and the surface to be cleaned are provided. In other embodiments, the mobile device 13 further comprises a driven wheel 132, which is located in front of the driving wheel 131, and the driven wheel 132 and the driving wheel 131 together maintain the balance of the cleaning robot 1 in motion.

In some embodiments, the cleaning device is disposed in the middle area of the bottom of the cleaning robot chassis, and the cleaning device is located within the maximum outer contour of the cleaning robot body on the horizontal plane, that is, from the perspective of horizontal plane projection, the projection contour of the cleaning robot body on the horizontal plane can cover the projection contour of the cleaning device. In this way, when cleaning a dead angle area, the cleaning robot can only rely on the side brush assembly to sweep the garbage in the dead angle area (including corner areas, shielding areas, etc., and the shielding area can be, for example, the projection area under the sign) into the cleaning area of the cleaning device, but due to the limited cleaning power of the side brush assembly, it can only clean large particles of garbage, and stains, sticky objects, etc. cannot be cleaned and are left behind, and the degree of stains is even further increased due to the cleaning of the side brush assembly.

Wherein, the side brush assembly 16 is arranged at the edge of the bottom of the chassis 11. In some embodiments, the side brush assembly 16 may include a cleaning side brush and a side brush motor for controlling the cleaning side brush. In the embodiment shown in FIG3 , the number of the cleaning side brushes may be at least one, which is arranged at the opposite sides of the front of the cleaning robot. The cleaning side brush may be a rotary cleaning side brush, which may rotate under the control of the side brush motor. In some embodiments, the rotating axis in the rotary cleaning side brush is at a certain angle relative to the surface to be cleaned (the surface to be cleaned may be set to be parallel to the bottom surface of the chassis of the robot body). For example, the setting angle may ensure that the bristles of the cleaning side brush on the outside are lower than the bristles on the inside, so that the bristles on the outside are closer to the surface to be cleaned, which is more conducive to cleaning garbage and the like into the cleaning area of the cleaning device.

In view of this, in some embodiments, please refer to FIG. 4 in combination with FIG. 3 , which is a schematic diagram of the horizontal plane projection of the cleaning robot in one embodiment of the present application. As shown in the figure, the cleaning device 15 is arranged at the bottom of the chassis 11 and protrudes to the right side beyond the maximum outer contour of the cleaning robot body 10 on the horizontal plane, that is, from the perspective of the horizontal plane projection, the projection of the cleaning robot body 10 on the horizontal plane cannot cover the projection contour of the cleaning device 15. Specifically, as shown in FIG. 3 , 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 arranged at the bottom of the chassis 11 passes through the recessed area 111 to protrude to the right side from 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 body 10 of the cleaning robot projected on the horizontal plane. In some examples, the distance d that the projection of the cleaning device 15 on the horizontal plane protrudes to the right from the maximum outer contour of the projection of the cleaning robot body 10 on the horizontal plane is 1 cm to 4 cm, and any value between 1 cm and 4 cm (for example, 1 cm, 2 cm, 3 cm, or 4 cm) can ensure that the cleaning device 15 can contact the aforementioned dead angle area when performing the cleaning operation, and the dead angle area is cleaned by the cleaning device 15. 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, please refer to FIG. 3, FIG. 5, and FIG. 6. FIG. 5 shows a cleaning device in one embodiment of the present application. FIG6 is a schematic diagram of a three-dimensional structure, and FIG6 is a schematic diagram of the BB section of the cleaning device shown in FIG5 of the present application. As shown in the figure, from the front side to the rear side of the cleaning robot, the cleaning device 15 includes: a garbage box 151, a first roller brush 152, a blocking mechanism 153, a second roller brush 154, and a dirt collecting component 155.

In some embodiments, please refer to Figures 7a, 7b, and 7c, Figure 7a is a schematic diagram of the structure of the bottom of the cleaning robot in one embodiment of the present application, Figure 7b is a partial enlarged view of the bottom of the cleaning robot in Figure 7a, and Figure 7c is a schematic diagram of the three-dimensional structure of the cleaning device in one embodiment of the present application. As shown in the figure, the cleaning device 15 also includes a mounting seat 150. The mounting seat 150 is used to be installed at the bottom of the chassis 11 of the cleaning robot. The first roller brush 152 is rotatably arranged on the mounting seat 150, and is used to clean the surface to be cleaned during rotation to roll the garbage into the garbage box 151. The second roller brush 154 is rotatably arranged on the mounting seat 150, and the second roller brush 154 is used to be wetted to wash the surface to be cleaned during rotation. The first roller brush 152 is arranged in the front, and the second roller brush 154 is arranged behind the first roller brush 152. The axial distance h between the first roller brush 152 and the second roller brush 154 is greater than the sum of the radius r1 of the first roller brush 152 and the radius r2 of the second roller brush 154, so that the first roller brush 152 and the second roller brush 154 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 contour formed by the rotation of the first roller brush (r1 as shown in Figure 7b), and the radius of the second roller brush refers to the radius of the largest circular contour formed by the rotation of the second roller brush (r2 as shown in Figure 7b). In this way, 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, which can ensure that the two do not contact each other when rotating.

Please continue to refer to Figure 7c. In one embodiment, a second drive assembly 156 is provided at one end of the mounting seat 150. The second drive assembly 156 includes a first drive module 1560 and a second drive module 1561. The first drive module 1560 is used to electrically connect the first roller brush 152 to drive the first roller brush 152 to rotate, and the second drive module 1561 is electrically connected to the second roller brush 154 to drive the second roller brush 154 to rotate. In this way, the second drive assembly can be small and decentralized, which is convenient for control, layout, and space saving. Further, in some examples, combined with Figure 7d, Figure 7d shows a schematic diagram of the structure of the cleaning device after removing the first roller brush and the second roller brush in one embodiment of the present application. The first drive module 1560 and the second drive module 1561 respectively include a rotating support 1562, and the rotating support 1562 provides a placement space for the first roller brush 152 and the second roller brush 154, and can rotate the first roller brush 152 and the second roller brush 154.

In one embodiment, referring to FIG. 7c and FIG. 7d , the first roller brush 152 includes a roller shaft 1520 and a brush body 1521, and the second roller brush 154 also includes a roller shaft 1520 and a brush body 1521. Both ends of the roller shaft 1520 are provided with mounting portions (not shown), and the mounting portions are used to be provided on the rotating support member 1562, and allow the first roller brush 152 and the second roller brush 154 to be selectively removed or loaded from the mounting seat 150 for cleaning, maintenance, replacement, etc. The brush body 1521 is spirally arranged around the roller shaft 1520, and the growth direction of the brush body 1521 is substantially the same as the radial direction of the roller shaft 1520. Here, the radius of the first roller brush 152 or the second roller brush 154 refers to a radius having the axis of the roller shaft 1520 as the center and a circular contour formed by the brush body 1521 as the boundary.

In one embodiment, the brush body of the first roller brush is configured as a hair brush body, and the hair brush body is used to clean 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 is used to clean 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 hair brush body and a rubber brush body arranged alternately at intervals. The present application does not limit the material of the brush body, as long as it can clean the garbage on the surface to be cleaned.

In one embodiment, the brush body of the second roller brush is configured as a bristle brush body or a cloth brush body so as to be wetted to perform brushing of the surface to be cleaned.

In one embodiment, as shown in FIG. 7a and FIG. 7b, the brush bodies of the first roller brush 152 and the second roller brush 154 are respectively set to be V-shaped. Wherein, the first roller brush 152 is set to rotate counterclockwise during cleaning operation (as shown by the indicating arrow corresponding to the first roller brush 152 in FIG. 7a), and the V-shaped tip of the brush body of the first roller brush 152 is located in the middle position of the roller shaft and faces forward, so that during the rotation of the roller shaft, the garbage is gathered from the two sides to the middle position by the opposite sides of the V-shaped structure, so that some dust, especially large particles of garbage, are easier to clean. Wherein, the V-shaped tip of the second roller brush 154 can face forward so that the V-shaped opening of the second roller brush conforms to the V-shaped opening of the first roller brush (as shown in FIG. 7c), and can also face backward so that the V-shaped opening of the second roller brush corresponds to the V-shaped opening of the first roller brush (as shown in FIG. 7a and FIG. 7b), wherein the second roller brush 154 is set to rotate clockwise during cleaning operation (as shown by the indicating arrow corresponding to the second roller brush 154 in FIG. 7a). It is understood that the V-shaped structure does not mean that the structure is in a standard V-shape. For example, in some scenarios, a U-shaped structure or a herringbone structure can also be referred to as a V-shaped structure. Of course, the rotation directions of the first roller brush 152 and the second roller brush 154 shown in FIG. 7a and FIG. 7b can also be set to other modes. For example, the first roller brush 152 is set to rotate counterclockwise during the cleaning operation, and the second roller brush 154 is also set to rotate clockwise during the cleaning operation.

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. As shown in Figures 7a and 7b, the brush bodies of the first roller brush 152 and the second roller brush 154 are respectively set as bristle brush bodies, and the bristle brush bodies are composed of multiple rows of V-shaped bristle brush clusters. The interval between two adjacent rows of bristle brush clusters in the brush body of the first roller brush 152 is smaller than the interval between two adjacent rows of bristle brush clusters in the brush body of the second roller brush 154, so that the distribution density of the brush body of the first roller brush 152 is greater than the distribution density of the brush body of the second roller brush 154. In this way, the first roller brush rolls in garbage with a higher density brush body, and the second roller brush washes the surface to be cleaned with a low density brush body, which can prevent the brush body of the second roller brush from contacting the garbage and affecting the cleaning work of the first roller brush.

In one embodiment, when the cleaning device performs a cleaning operation, the rotation speed of the first roller brush is greater than the rotation speed of the second roller brush, so that during the cleaning operation, the speed difference enables the first roller brush to more quickly roll in garbage, further avoiding the second roller brush wetting the garbage and interfering with the cleaning operation of the first roller brush. The rotation speed difference of the two roller brushes can be achieved by providing different driving powers by the first drive module and the second drive module respectively.

Please refer to FIG8, which is a schematic diagram of a three-dimensional structure of a cleaning device in an embodiment of the present application from another perspective. As shown in the figure, the cleaning robot also includes a water spray structure 158, which is arranged on the mounting seat 150. The water spray structure 158 is connected to the clean water tank of the cleaning robot and is used to spray water to wet the second roller brush 154, so that the second roller brush 154 can wash the surface to be cleaned when rotating. In some examples, the water spray structure 158 includes a water spray port 1580, and water flows out through the water spray port 1580. In order to avoid the sprayed water flow interfering with the first roller brush 152, the water spray port 1580 is arranged on the mounting seat 150 and is located on the vertical plane where the axis of the second roller brush 154 is located or behind the vertical plane where the axis is located. It should be understood that the water spray port 1580 is located on the vertical plane where the axis of the second roller brush 154 is located or behind the vertical plane where the axis is located, which is equivalent to the water spray port being located in the rear half of the second roller brush 154, thereby avoiding interference with the first roller brush 152. In some examples, the water spray outlet 1580 is provided in plurality, and the plurality of water spray outlets 1580 are spaced apart on the mounting base along a direction consistent with the length direction of the second roller brush (i.e., the axial direction, as shown by the dotted line in FIG8 ), so that the water flow is evenly sprayed on the second roller brush 154 .

Please refer to FIG9 , which is a 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 158 is in the shape of a long strip, and is used to be arranged along the axial direction of the second roller brush 154. Specifically, the direction in which the water spray structure is arranged in the mounting seat is parallel to the axial direction of the second roller brush, so that its multiple water spray ports are evenly distributed on the upper side of the second roller brush. As shown in FIG9 , the water spray structure is a long strip groove structure or a tube structure, which is arranged along the axial direction of the second roller brush. The water spray structure sprays the clean water from the clean water tank of the cleaning robot to wet the second roller brush, so that the second roller brush can wash the surface to be cleaned when rotating. The water spray structure includes a water inlet 1581 and a water spray port 1580.

Since the water spray structure is a long strip-shaped component, whether its water inlet is set 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 degree of the second roller brush to be unevenly distributed, thereby affecting the cleaning effect. In order to make the amount of water flowing out of each water spray outlet in most water spray structures the same, in one embodiment, a buffer structure is provided in the water spray structure so that each water spray outlet can evenly share the water from the water inlet. Please refer to Figure 10, which shows a schematic diagram of the position of the water spray structure provided in one embodiment of the present application installed in the mounting seat. The enlarged part shown in Figure 10 is also regarded as the A-A cross-sectional schematic diagram in Figure 9. As shown in the figure, the water spray structure 158 includes a water storage tank. In one embodiment, the water storage tank includes a detachable tank body 1582 and a tank cover 1583 covering the tank body 1582. The tank cover 1583 covers the tank body 1582 in a snap-fit manner to form a closed space inside the water storage tank. Of course, in other embodiments, the water storage tank can also be an integrally formed tubular structure.

As shown in the enlarged part of FIG. 10 , the internal space of the water storage tank is divided into a buffer tank 1584 and a water outlet tank 1585, wherein the buffer tank 1584 is connected to the water inlet 1581, and a plurality of water spray ports 1580 are distributed at the bottom of the water outlet tank 1585. A certain height position isolation is set between the buffer tank 1584 and the water outlet tank 1585. Specifically, the A liquid level isolation wall 1586 is provided between the buffer tank 1584 and the water outlet tank 1585, so that when the water from the water inlet 1581 enters the water storage tank, it needs to first fill up the buffer tank 1584 before spreading to the water outlet tank 1585, thereby preventing the water flow from being evenly distributed to each water spout 1580. In this embodiment, a plurality of crenels or tooth-shaped gaps 15860 are evenly distributed on the liquid level isolation wall 1586, so that the water in the buffer tank can enter the water outlet tank from these crenels or tooth-shaped gaps after the water is full.

In a more preferred embodiment, in order to further ensure that the amount of water from each water outlet in the water outlet trough is equal, a plurality of partition structures 15850 can be provided in the water outlet trough 1585 to further isolate the water outlet trough into a plurality of compartments, and a water outlet is correspondingly opened at the bottom of each compartment, so as to achieve the effect of uniform water discharge from each water outlet.

In some embodiments, referring to FIG. 5 and FIG. 6 , the blocking mechanism 153 is disposed at the bottom of the cleaning robot, for example, the blocking mechanism 153 is disposed on the mounting seat 150, and the blocking mechanism 153 is disposed between the first roller brush 152 and the second roller brush 154 and located at the front side of the dirt collecting component 155, and is used to block at least part of the garbage from flowing to the dirt collecting component 155 when the cleaning robot 1 is in the forward state. The specific structure and working principle of the dirt collecting component 155 will be described in detail later, and will not be repeated here.

In one embodiment, the blocking mechanism 153 is detachably connected to the mounting base 150, so that the blocking mechanism 153 can be selectively removed or loaded from the mounting base 150 for easy cleaning, maintenance, or replacement. Of course, the blocking mechanism 153 can also be connected to the mounting base 150 in a non-detachable manner, that is, after the blocking mechanism 153 is fixed to the mounting base 150, it cannot be easily removed.

In one embodiment, as shown in Figures 5 and 6, the blocking mechanism 153 is arranged between the first roller brush 152 and the second roller brush 154, and is arranged along the length direction of the first roller brush 152 and the second roller brush 154 to block at least part of the garbage on the side facing the first roller brush 152 when the cleaning robot 1 is in the forward state.

In one implementation, the blocking mechanism 153 is arranged along the length direction of the first roller brush 152 and extends toward the direction of the surface to be cleaned, thereby forming a shield on the path from the first roller brush 152 to the second roller brush 154 and the rear side thereof, and the uncollected garbage is accumulated on the side facing the first roller brush 152. In this way, on the one hand, if there is too much accumulated garbage, it will spread to contact the brush body of the first roller brush 152, so that the uncollected garbage has the opportunity to be brought into the garbage box/dust collection chamber by the first roller brush 152 again; on the other hand, when the robot moves backward, the accumulated garbage will relatively move closer to the first roller brush 152, so that the accumulated garbage can be cleaned by the first roller brush 152 again.

The blocking mechanism 153 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 not more than 1/2 of the radius of the first roller brush 152, for example, 2 mm), as shown in FIG. 6. The blocking mechanism 153 can also extend to contact the surface to be cleaned. Here, the blocking mechanism 153 can be set to contact the first roller brush. When the cleaning robot is in the forward state, the blocking mechanism 153 will be forced to move toward the surface away from the first roller brush 152. The direction is offset to allow garbage to be brought into the garbage box/dust collection chamber by the first roller brush 152 and uncollected garbage to be blocked. When the cleaning robot changes from a forward state to a backward state or from a stationary state to a backward state, the blocking mechanism 153 is forced to shift toward the direction close to the first roller brush to push the garbage accumulated on the front side of the blocking mechanism to the working area of the first roller brush, wherein the working area of the first roller brush refers to the area where the first roller brush can roll in garbage when it rotates, that is, garbage in the working area can be rolled up by the first roller brush when the first roller brush rotates. In other words, when the cleaning robot is in the forward state, the blocking mechanism 153 and the first roller brush 152 have a spacing, and the spacing refers to the distance between the surface of the blocking mechanism 153 facing the first roller brush 152 and the outer surface of the first roller brush 152 on the same horizontal line. It should be understood that on different horizontal lines, the spacing between the blocking mechanism 153 and the first roller brush 152 is not necessarily the same. For example, as shown in Figure 6, the spacing between the upper part of the blocking mechanism 153 and the first roller brush 152 is smaller, and the spacing between the lower part and the first roller brush 152 is larger, that is, the spacing between the upper part of the blocking mechanism 153 and the first roller brush 152 is smaller than the spacing between the lower part of the blocking mechanism 153 and the first roller brush 152. In one example, in order to reduce garbage accumulation and not affect the garbage cleaning work of the first roller brush 152, the spacing is 0 mm to 3 mm.

Furthermore, as shown in Figure 6, the blocking mechanism 153 has a curved surface 1530, and the bending direction of the curved surface 1530 conforms to the outer edge of the first roller brush 152. In this way, the blocking mechanism 153 can be as close to the outer surface of the first roller brush 152 as possible, reducing the area where garbage accumulates, so that as much garbage as possible can be cleaned by the first roller brush 152.

Please refer to Figures 11 and 12 in conjunction with Figure 6. Figure 11 shows a schematic diagram of the three-dimensional structure of the blocking mechanism in one embodiment of the present application, and Figure 12 shows a schematic diagram of the side view of the blocking mechanism in the embodiment shown in Figure 11 of the present application. As shown in the figure, the blocking mechanism 153 includes a connecting portion 1531 and a blocking portion 1532. Among them, the connecting portion 1531 and the blocking portion 1532 can be, for example, an integrally formed structure. The connecting portion 1531 is used to connect the mounting seat 150 so that the blocking mechanism 153 is configured on the mounting seat 150 in a detachable or non-detachable manner. The blocking portion 1532 is connected to the connecting portion 1531 and is used to block at least part of the garbage from flowing to the dirt collecting component 155. When the cleaning robot is in the forward state, the blocking portion 1532 can be in contact with the surface to be cleaned, or it can not be in contact. The blocking portion 1532 can be, for example, made of a flexible material (such as rubber). Taking into account that in some embodiments, the blocking portion 1532 will contact the surface to be cleaned, and when in contact with the surface to be cleaned, factors such as the friction between the blocking portion 1532 and the surface to be cleaned, and the collision with foreign objects or obstacles will cause the blocking portion 1532 to bend due to the force, and coupled with factors such as gradual aging due to long-term use, the blocking portion 1532 is prone to breakage. Therefore, in order to support and strengthen the blocking portion 1532, the blocking mechanism 153 may further include a reinforcing portion 1533, and the reinforcing portion 1533 may be arranged on the connecting portion 1531. By supporting and strengthening the blocking portion 1532, the influence of the bending force on the blocking portion 1532 can be eliminated, thereby extending the service life of the blocking mechanism 153 as much as possible, extending the replacement cycle, etc.

In order to prevent the blocking mechanism 153 from hindering the cleaning device from cleaning liquids such as milk and sewage, when the cleaning robot is in the forward state, the blocking mechanism 153 may also have a filtering function to allow liquid or small particles of garbage to pass through the blocking mechanism 153 and flow to the dirt collecting component 155. It should be understood that the filtered liquid or small particles of garbage will be recovered by the dirt collecting component 155. It will not affect the normal operation of the dirt collecting component 155. In some embodiments, the position design of the blocking mechanism 153 can form a filtering channel with the surface to be cleaned. For example, in an embodiment in which the blocking mechanism 153 can extend toward the surface to be cleaned to a preset distance from the surface to be cleaned, the blocking mechanism 153 forms a filtering channel with a width of the preset distance with the surface to be cleaned when the cleaning robot is in the forward state, so that liquid or small particles of garbage can pass through the filtering channel and flow toward the dirt collecting component 155, and can eventually be recovered by the dirt collecting component 155. In other embodiments, the blocking mechanism 153 has the filtering function by virtue of its own properties. For example, please refer to Figure 13, which is a schematic diagram of the three-dimensional structure of the blocking mechanism in one embodiment of the present application. Compared with Figures 11 and 12, here, the blocking portion 1532 of the blocking mechanism 153 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 other embodiments, the blocking mechanism 153 may be structurally designed to form a filtering channel with the surface to be cleaned to allow liquid or small particles of garbage to pass through. This method is described below in conjunction with Figures 14 to 17.

Please refer to Figures 14 and 15. Figure 14 is a schematic diagram of the three-dimensional structure of the blocking mechanism in one embodiment of the present application, and Figure 15 is a partially enlarged view of the blocking mechanism in the embodiment shown in Figure 14 of the present application. As shown in the figure, compared with Figures 11 and 12, a filtering structure 1534 is provided on the blocking portion 1532 of the blocking mechanism 153. Here, the filtering structure 1534 is configured as a hole 15340 (or groove) opened on the blocking portion 1532. When the cleaning robot is in the forward state, the blocking portion 1532 contacts the surface to be cleaned, so that the hole 15340 and the surface to be cleaned form a plurality of fine filtering channels, so that liquid or small particles of garbage can pass through these filtering channels and flow toward the pollution collecting component 155, and can eventually be recovered by the pollution collecting component 155.

Please refer to Figures 16 and 17. Figure 16 is a schematic diagram of the three-dimensional structure of the blocking mechanism in an embodiment of the present application, and Figure 17 is a partial enlarged view of the blocking mechanism in the embodiment shown in Figure 16 of the present application. As shown in the figure, compared with Figures 11 and 12, a filtering structure 1534 is provided on the blocking portion 1532 of the blocking mechanism 153. Here, the filtering structure 1534 is provided as a protruding structure 15341 on the surface of the blocking portion 1532 facing the first roller brush 152. When the cleaning robot is in the forward state, the blocking portion 1532 contacts the surface to be cleaned and is bent by force, so that at least the lower part of the protruding structure 15341 is bent from facing the first roller brush to facing and contacting the surface to be cleaned, and the bottom surface of the blocking portion 1532 is bent from contacting the surface to be cleaned to leaving the surface to be cleaned. Therefore, the lower part of the protruding structure 15341 and the surface to be cleaned form a plurality of filtering channels, so that liquid or small particles of garbage can pass through these filtering channels and flow toward the pollution collecting component 155, and can finally be recovered by the pollution collecting component 155.

In order to prevent the second roller brush 154 from washing the sewage or other liquid on the surface to be cleaned and moving relatively to the first roller brush 152 to affect the first roller brush 152 when the cleaning robot is in the backward state, the blocking mechanism 153 can also be used to block the liquid from passing through when the cleaning robot is in the backward state so as to keep the sewage between the blocking mechanism and the sewage collection component. In some embodiments, such as the embodiments shown in FIG. 16 and FIG. 17, when the cleaning robot is in the backward state, the blocking mechanism 153 The blocking portion 1532 is in contact with the surface to be cleaned. At this time, the friction force exerted by the blocking portion 1532 in contact with the surface to be cleaned is toward the front side of the cleaning robot, that is, the side of the blocking portion 1532 without the protruding structure 15341 will be more closely attached to the surface to be cleaned, thereby closing the passage from the second roller brush 154 and its rear side toward the first roller brush 152, so that liquid cannot pass through. In other words, as shown in Figures 16 and 17, the blocking mechanism 153 can block part of the garbage from flowing toward the dirt collecting component 155 when the cleaning robot is in the forward state, and allow liquid or small particles of garbage to flow to the dirt collecting component 155 and be collected by the dirt collecting component 155; and can block the liquid from flowing toward the side of the first roller brush 152 when the cleaning robot is in the backward state. In some embodiments, such as the embodiments shown in Figures 11 and 12, the blocking mechanism 153 is configured to extend toward the surface to be cleaned until it contacts the surface to be cleaned. When the cleaning robot is in the backward state, the blocking portion 1532 of the blocking mechanism 153 contacts the surface to be cleaned. At this time, the friction force exerted by the blocking portion 1532 in contact with the surface to be cleaned is toward the front side of the cleaning robot, closing the passage from the second roller brush 154 and its rear side toward the first roller brush 152, so that liquid cannot pass through. In other words, as shown in Figures 11 and 12, in the example where the blocking mechanism 153 is configured to contact the surface to be cleaned, when the cleaning robot is in the forward state, the passage from the first roller brush 152 toward the second roller brush 154 and its rear side will be closed, thereby preventing garbage from flowing to the dirt collecting component 155. When the cleaning robot is in the backward state, the passage from the second roller brush 154 and its rear side toward the first roller brush 152 will be closed, thereby preventing liquid from flowing to the first roller brush 152.

In one embodiment, the cleaning device further comprises an adapter, the adapter is fixed to the mounting seat, and the blocking mechanism is detachably connected to the adapter. In this embodiment, the blocking mechanism can be pulled out from the adapter in a direction parallel to the axis of the first roller brush and the second roller brush without using a tool.

In one embodiment, the adapter is a metal part with a certain rigidity, such as an aluminum alloy part. Please refer to Figures 18 and 19. Figure 18 shows a schematic diagram of the adapter structure in another embodiment of the present application, and Figure 19 shows a schematic diagram of the installation of the blocking mechanism in another embodiment of the present application. As shown in the figure, the adapter 157 includes a fixing portion 1570 fixedly connected to the mounting seat and a clamping portion 1571 integrally formed with the fixing portion. The clamping portion 1571 of the adapter 157 includes an upper groove 15710 and a lower groove 15711 formed by bending, and a supporting portion 15712 for supporting the main part of the blocking structure. The upper groove 15710 is a groove for horizontally limiting the blocking structure 153, and the lower groove 15711 is a groove for vertically limiting the blocking structure 153.

In this embodiment, the adapter is fixed to the mounting seat by screws, and as shown in FIG18 , the fixing portion 1570 on the adapter 157 is a screw hole for screwing the screws. In other words, the disassembly or installation of the adapter and the mounting seat requires the use of tools such as a screwdriver, while the disassembly or installation of the blocking mechanism and the adapter can be performed without the use of tools.

As shown in FIG. 19 , the connection portion of the blocking structure includes an upper connection portion 15310 correspondingly engaged with the upper groove 15710 and a lower connection portion 15311 engaged with the lower groove 15711. In this embodiment, the blocking structure is made of rubber. When it is installed on the adapter, the lower edge of the blocking portion contacts the ground to be cleaned, and the robot moves forward or backward. When it moves, it is subjected to friction and deforms in different directions.

As mentioned above, one side of the blocking part of the blocking structure is a smooth surface, and the other side is a filtering structure or a groove surface. The filtering structure is, for example, a groove structure. Specifically, when the blocking structure is installed on the adapter, the filtering structure of the blocking part is located on the side of the robot's forward direction, and the smooth surface of the blocking part is located on the side of the robot's backward direction. When the cleaning robot is in the forward state, the blocking part contacts the surface to be cleaned and is bent by force, so that at least the lower part of the filtering structure (convex structure or groove surface) is bent from facing the first roller brush to facing and contacting the surface to be cleaned, and the bottom surface of the blocking part is bent from contacting the surface to be cleaned to leaving the surface to be cleaned. Thus, the lower part of the filtering structure (convex structure or groove surface) and the surface to be cleaned form a plurality of filtering channels, so that large particles of garbage are blocked in the working range of the first roller brush, and liquid or small particles of garbage can pass through these filtering channels and flow toward the dirt collecting component located at the rear side, and can eventually be recovered by the dirt collecting component. When the cleaning robot is in the backward state, the blocking part of the blocking mechanism contacts the surface to be cleaned. At this time, the friction force exerted by the blocking part in contact with the surface to be cleaned is toward the front side of the cleaning robot, and its smooth surface contacts the ground, thereby closing the passage from the second roller brush and its rear side toward the first roller brush, so that liquid cannot pass through. In other words, when the cleaning robot is in the backward state, the passage from the second roller brush and its rear side toward the first roller brush is closed, thereby preventing liquid from flowing toward the first roller brush.

Please continue to refer to Figures 5 to 8. The garbage box 151 is detachably arranged on the mounting seat 150 to collect the garbage rolled in by the first roller brush 152. Specifically, the garbage box 151 is arranged in parallel in front of the first roller brush 152, and the garbage box 151 is arranged in a long strip shape. A garbage port 1510 is arranged on the side of the garbage box 151 facing the first roller brush 154, and the garbage port 1510 is located at the upper part of the side (the upper part is the part of the garbage box close to the chassis). In this way, the garbage rolled in by the first roller brush 152 is allowed to enter the garbage port 1510 and then deposited at the bottom of the garbage box 151, which can prevent the garbage from falling. In some examples, the garbage box 151 and the mounting seat 150 are provided with a corresponding buckle structure (not shown in the figure), and the garbage box 151 can be easily removed and installed from the mounting seat 150 by means of the corresponding buckle structure. Furthermore, in some examples, a handle structure 1511 is provided on one side of the trash box 151, so that it is more convenient for operators to remove the trash box for cleaning.

In some embodiments, a drainage hole is provided on the side of the garbage box 151 facing the surface to be cleaned, and the drainage hole is used to discharge the liquid in the garbage box 151 to the surface to be cleaned, so that the second roller brush 154 of the cleaning device 15 can clean the liquid. In this way, the liquid contained in the garbage swept in by the first roller brush 152 can be prevented from accumulating in the garbage box.

Please continue to refer to Figures 3 and 5. The dirt collection component 155 is arranged at the bottom of the chassis 11 of the cleaning robot and is located behind the second roller brush 154, and is used to collect sewage on the surface to be cleaned. For example, the sewage is the liquid left by the second roller brush 154 of the cleaning device 15 mentioned in any of the above embodiments when washing the surface to be cleaned. The dirt collection component 155 can be connected to the built-in storage space of the sewage tank 12 of the cleaning robot, so that the sewage can be collected and transported to the built-in storage space. In one embodiment, the dirt collection component 155 can be arranged on the mounting seat 150.

In one embodiment, please refer to FIG. 7a , the dirt collection component 155 includes a dirt inlet 1550 and a scraper structure 1551. The scraper structure 1551 includes a first scraper 15510 located at the front side of the sewage inlet 1550 and a second scraper 15511 located at the rear side of the sewage inlet 1550, wherein the first scraper 15510 and the second scraper 15511 are respectively located at the front side and the rear side of the sewage inlet 1550 to alternately collect sewage when the cleaning robot moves forward and backward. Specifically, the main parts of the first scraper 15510 and the second scraper 15511 are arranged in parallel and contact the surface to be cleaned. When the cleaning robot moves forward, the first scraper 15510 allows sewage to pass into the sewage inlet 1550, and the second scraper 15511 forms a blocking effect on the sewage at the rear side, so that the sewage is gathered to the sewage inlet 1550. When the cleaning robot moves backward, the second scraper 15511 allows sewage at the rear side to enter the sewage inlet 1550, and the first scraper 15510 forms a blocking effect on the sewage at the front side, so that the sewage can also be gathered to the sewage inlet 1550. The sewage collected in the sewage inlet 1550 is sucked into the built-in accommodation space of the sewage tank 12 by the suction component of the cleaning robot.

In a specific embodiment, please refer to FIG. 20, which is a schematic diagram showing the arrangement of a dirt collection component in a robot in an embodiment of the present application. As shown in the figure, the dirt collection component 155 also includes a dirt inlet seat 1552. The scraper structure 1551 can be drawn out from the dirt inlet seat 1552 along a direction parallel to the axis of the first roller brush and the second roller brush, that is, the scraper structure 1551 is slidably and detachably arranged on the dirt inlet seat 1552 for maintenance or replacement.

The sewage inlet seat 1552 is arranged on the chassis 11 of the robot. For example, the sewage inlet seat is fixed to the chassis by means of locking screws. Please refer to Figures 20 to 22. Figure 21 shows a schematic diagram of the structure of a sewage collection component in one embodiment of the present application. Figure 22 shows a schematic diagram of the decomposed structure of a sewage collection component in one embodiment of the present application. As shown in the figure, in this embodiment, the sewage inlet seat 1552 is provided with a locking structure 15524 for locking on the chassis 11 corresponding to the mounting surface of the chassis 11. Specifically, the locking structure is, for example, a stud with internal threads. The sewage inlet seat 1552 includes a sewage inlet channel 15521 and a first chute 15520 for connecting to a sewage pipeline.

Please refer to Figures 22 and 23. Figure 23 is a schematic diagram of the cross-sectional structure of a sewage collecting component in one embodiment of the present application. As shown in the figure, the sewage collecting component 155 includes a sewage inlet 1550, a scraper bar structure 1551, a sewage inlet seat 1552, a scraper bar seat 1553, and a pressure plate 1554.

The scraper bar seat 1553 is slidably and detachably arranged on the sewage inlet seat 1552, wherein the scraper bar seat 1553 includes a second slide groove 15530 arranged corresponding to the first slide groove 15520, which is used to interlock with the first slide groove 15520 when the scraper bar seat 1553 is slidably inserted into the sewage inlet seat 1552, and the sewage inlet port 1550 is connected to the sewage inlet channel 15521 of the sewage inlet seat 1552 and the sewage suction space of the scraper bar structure 1551, so that the sewage collected in the sewage suction space enters the pipeline of the sewage tank through the sewage inlet port 1550 and the sewage inlet channel 15521.

In this embodiment, the first end of the sewage inlet seat 1552 is configured to allow the second chute 15530 to be inserted into the first insertion portion 15522 of the first chute 15520, and the second end is provided with a first stop portion 15523. The first end of the scraper seat 1553 is provided with a second stop portion 15531, and the second end is provided with a second stop portion 15532 for the second chute 15530 to be inserted into the second insertion portion 15522 of the first chute 15520. Insertion portion 15532.

The scraper seat 1553 further includes a first coupling portion 15533 for setting the scraper structure 1551 ; the first coupling portion 15533 is a step structure, and a plurality of clamping holes are opened on the scraper seat 1553 .

The pressure plate 1554 is fixed on the scraper seat 1553, and is used to limit the scraper structure 1551 on the scraper seat 1553; the pressure plate 1554 is provided with a hook 15540 corresponding to the multiple clamping holes, which is used to pass the pressure plate 1554 through the clamping holes of the scraper seat 1553 to fix the scraper structure 1551 on the scraper seat 1553 in an engaging manner.

The scraper structure 1551 includes a second combination portion 15512 for combining with the first combination portion 15533, and a first scraper 15510 and a second scraper 15511 respectively located at the front and rear sides of the sewage inlet 1550 to form a sewage suction space for the sewage inlet 1550. In this embodiment, the first combination portion 15533 is a step structure, the second combination portion 15512 is a folding structure that conforms to and fits the step structure, and a protective structure 15534 for protecting the folding structure is formed on the scraper seat 1553. The first scraper and the second scraper are an integrally formed structure. The first scraper and the second scraper are formed with two contraction ends at the first end and the second end and are arranged in parallel between the two contraction ends. The first scraper is provided with a plurality of notches for allowing sewage to enter the sewage suction space at intervals.

Please refer to Figure 24, which is a schematic diagram of the structure of the chassis in one embodiment of the present application. As shown in the figure, the 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 FIG. 24 and in combination with FIG. 2 , a groove formed by a side wall 1101 is formed on the top surface of the chassis 11, and the groove is an integrally formed clean water tank 110. A first positioning structure 1102 is provided on the clean water tank 110, and the first positioning structure 1102 is in accordance with a second positioning structure (not shown) provided on the sewage tank 12, and is used to limit the relative movement between the sewage tank 12 and 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 a convex structure provided on the sewage tank 12 and complementary to the groove structure. Of course, the first positioning structure 1102 can also be set as a convex structure, and the second positioning structure can be set as a convex structure. The specific form of the positioning structure is not limited in this application. It should be understood that in some other embodiments, a water supply component can also be installed on the top of the chassis, and the water supply component is connected to the clean water tank to help deliver the water in the clean water tank to the cleaning device.

In one embodiment, as shown in Figure 24 in combination with Figure 2, a first pipe structure 1103 connected to the sewage collecting component 155 is provided in the clean water tank 110, and the first pipe structure 1103 is connected to the built-in accommodating space 120 when the sewage tank 12 is combined with the chassis 11 to provide a water flow path from the sewage collecting component 155 to the built-in accommodating space 120, and the sewage gathered at the sewage inlet 1550 of the sewage collecting component 155 enters the built-in accommodating space 120 of the sewage tank 12 through the first pipe structure 1103.

In one embodiment, as shown in FIG. 24 in combination with FIG. 2 , the outer edge of the top of the chassis 11 at least partially extends upward. The first pipe structure 1103 is used to form a groove area 113 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 base 11, the suction assembly 112 is connected to 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 155 is transported to the built-in accommodation space 120 through the first pipe structure 1103.

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

In one embodiment, please refer to FIG. 25 and FIG. 26, and in combination with FIG. 24 and FIG. 2, FIG. 25 shows a schematic diagram of the structure of the horizontal cross section of the sewage tank in one embodiment of the present application, and FIG. 26 shows a schematic diagram of the structure of the vertical cross section of the cleaning robot in one embodiment of the present application, wherein the sewage tank 12 includes an outer shell 121, and the outer shell 121 is configured as a hollow structure with an opening facing upward to form a built-in accommodation space 120 for recycling sewage collected by the cleaning robot. Wherein, when the sewage tank 12 is nested in the clean water tank 110 to be 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 is nested in the clean water tank 110, which means that at least a portion of the built-in accommodating space 120 in the outer shell 121 wraps the clean water tank 110, as shown in Figure 26. The built-in accommodating space 120 of the outer shell 121 wraps the clean water tank 110 in a U-shape, that is, at least a portion of the built-in accommodating space 120 in the outer shell 121 can fit on the side wall 1101 of the clean water tank 110, so that the overlapping area can be formed in the vertical direction, as shown in Figure 26 as area P.

It should be understood that in the embodiment where the built-in storage space and the storage space of the clean water tank have an overlapping area in the vertical direction, on the one hand, the space utilization is guaranteed, and on the other hand, the counterweight balance of the cleaning robot in the vertical direction is guaranteed. For example, the outer shell of the sewage tank can be set to an inverted step shape that complements the side wall of the chassis. After the clean water in the clean water tank is used, it continues to decrease, causing the water level to continue to decrease. While the clean water is used, the sewage collected by the cleaning robot in the sewage tank continues to increase. Since the two have an overlapping area, the collected sewage will also sink to the space area where the clean water tank is located in terms of vertical spatial distribution, thereby ensuring the counterweight balance of the cleaning robot.

In one embodiment, as shown in FIG. 3 and FIG. 25 , a water inlet 123 is provided on the outer shell 121, and a second pipe structure 124 connected to the water inlet 123 is provided in the built-in accommodation space 120. When the sewage tank 12 is combined with the chassis 11, the second pipe structure 124 is connected to the clean water tank 110 to provide a water flow path from the water inlet 123 to the clean water tank 110. For example, the water inlet 123 is used to dock with a workstation, so as to add water to the clean water tank 110 of the cleaning robot with the help of the workstation, and the water flows from the workstation through the second pipe structure 124 into the clean water tank 110. The workstation may be, for example, the workstation disclosed in any embodiment of the present application or other workstations. The workstation may add water to the cleaning robot by the circulating water changing method described in any embodiment of the present application or other methods.

As mentioned above, the sewage tank is configured as an integrally formed structure complementary to the chassis, so that the clean water tank can be sealed when combined. Further, in an embodiment in which the sewage tank includes an outer shell and a bottom plate integrally formed inside the outer shell, the clean water tank is jointly sealed by the outer shell and the bottom plate. 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 the clean water tank can be sealed when the sewage tank is combined with the chassis. In other embodiments, a sealing strip is provided at the junction of the sewage tank corresponding to the opening of the clean water tank, so that the clean water tank can be sealed, for example, a sealing strip is provided at the bottom of the outer shell and the bottom plate corresponding to the opening of the clean water tank, etc. In the present application, when the sewage tank 12 is nested on the clean water tank 110 to be combined with the chassis 11, it covers 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 a specific implementation, a sealing structure is provided between the sewage tank 12 and the clean water tank 110, such as a groove structure formed on the sewage tank 12 corresponding to the top edge of the side wall of the clean water tank 110, and a sealing ring (such as a rubber ring) is provided in the groove structure. When the sewage tank 12 covers the clean water tank 110, the opening at the top of the clean water tank 110 can be sealed by the sealing structure.

In view of this, the cleaning robot also includes a drainage component, which can be applied to a robot including a first accommodating chamber and a second accommodating chamber to discharge the liquid in the first accommodating chamber and the second accommodating chamber of the robot. The robot can be, for example, a cleaning robot described in any of the above and later embodiments of this application, or a cleaning robot of other structures or a robot with other functions. This application does not limit the robot structure to which the drainage component is applied, as long as it has a first accommodating chamber and a second accommodating chamber. For ease of understanding and description, the following embodiments are described by taking the drainage component applied to the cleaning robot proposed in this application as an example. Here, the first accommodating chamber corresponds to the accommodating space corresponding to the clean water tank, and the second accommodating chamber corresponds to the accommodating space for accommodating sewage corresponding to the sewage tank. Therefore, the first accommodating space is also referred to as the accommodating space of the clean water tank in the later description, and the second accommodating space is referred to as the built-in accommodating space of the sewage tank. When applying the drainage component to robots of other structures, those skilled in the art can correspond the first accommodating chamber and the second accommodating chamber to their actual structures according to the specific robot structure. The following embodiments of this application are only examples and should not be understood as limitations on this application.

Please refer to FIGS. 27 to 31 in combination with FIG. 2 , FIG. 27 is a schematic diagram showing a drainage assembly configured on a cleaning robot in one embodiment of the present application, FIG. 28 is a schematic diagram showing a three-dimensional structure of a drainage assembly in one embodiment of the present application, FIG. 29 is a schematic diagram showing a CC cross section of the drainage assembly in the embodiment shown in FIG. 28 of the present application, FIG. 30 is a schematic diagram showing a DD cross section of the drainage assembly in the embodiment shown in FIG. 28 of the present application, and FIG. 31 is a schematic diagram showing an EE cross section of the drainage assembly in the embodiment shown in FIG. 28 of the present application. As shown in the figure, the drainage assembly 3 is configured 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 32. The first water inlet section 30 is used to connect the storage space 1100 of the clean water tank 110. The second water inlet section 31 is used to connect the built-in storage space 120 of the sewage tank 12. A drain port 320 and a channel structure (not marked) are provided on the main body 32. 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 drain port 320, so that the liquid in the storage space 1100 of the clean water tank 110 and the built-in storage 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 is discharged through the drain port 320 when the drain port 320 is opened.

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 further mentioned later) through the second water inlet section 31, the water inlet diameter of the second water inlet section 31 needs to be adapted to the inlet of the sewage collecting component 155 of the cleaning robot and the size of its corresponding pipeline. In other words, the water inlet diameter of the second water inlet section 31 must not be less than the size of the garbage that can enter the sewage collecting component 155 and its corresponding pipeline, so as to ensure that in the process of discharging the sewage in the sewage tank 12, the garbage in the sewage can smoothly enter the channel structure to be discharged, and avoid the garbage in the sewage being stuck/accumulated at the second water inlet section 31 and blocking the liquid flow channel. In which, the drain port 320 can be opened or closed by a cover 33 that can be opened or closed and is arranged thereon.

Furthermore, in one embodiment, as shown in Figures 27 to 31 in combination with Figure 2, the drainage component 3 can be tilted on the cleaning robot 1 and located at the lower side of the storage space 1100 of the clean water tank 110 and the built-in storage space 120 of the sewage tank 12, so that when the drain port 320 is opened, the liquid in the storage space 1100 and the built-in storage space 120 can be discharged through the channel structure and the drain port 320 relying on gravity.

In one embodiment, as shown in FIG. 27 and FIG. 29 in combination with FIG. 2 , 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 drain port 320. The second liquid flow channel 35 is connected to the second water inlet section 31 and the drain port 320. In this embodiment, when the drain port 320 is opened, the liquid flowing into the first liquid flow channel 34 from the accommodation space 1100 through the first water inlet section 30 is discharged, and the liquid flowing into the second liquid flow channel 35 from the built-in accommodation space 120 through the second water inlet section 31 is discharged. In this embodiment, the drain port 320 may be, for example, formed by the ends of the two liquid flow channels (34, 35), or may be an opening connecting the two liquid flow channels (34, 35) provided at the ends of the two liquid flow channels (34, 35). Among them, the ends of the two liquid flow channels (34, 35) refer to the end of the drainage component 3 away from the accommodating space 1100 for connecting the water tank 110 and the built-in accommodating space 120 of the sewage tank 12. When configured on a cleaning robot, it is the end of the drainage component 3 facing the outside of the cleaning robot.

In some embodiments, as shown in FIGS. 27 to 31 , the drain assembly 3 further includes a first water outlet section 36 disposed on the main body 32. The first water outlet section 36 is connected to the first liquid flow channel 34, so that when the drain port 320 is opened, the liquid in the accommodating space 1100 of the clean water tank 110 can flow out from the first water inlet section 30 through the first liquid flow channel 34 and the first water outlet section 36 (indicated by the arrow in FIG. 29 as the liquid flow direction). When the cleaning robot 1 is mounted on the workstation, the first water outlet section 36 is also connected to the water spray structure of the cleaning robot 1, so that the water supply component of the cleaning robot 1 pumps the liquid in the accommodating space 1100 of the clean water tank 110 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 for discharge. In this way, the cleaning robot 1 can also drain water by docking with the workstation.

In some embodiments, as shown in Figures 28 to 31, the drainage component also includes a second water outlet section 37 arranged on the main body 32, and the second water outlet section 37 is connected to the second liquid flow channel 35, so that when the drain port 320 is opened, the liquid in the built-in accommodating 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 (as shown by the arrow in Figure 30 as the liquid flow direction). When the drainage component 3 is configured 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 can be discharged through the sewage outlet. For example, when the cleaning robot 1 is docked with the workstation and uses the suction component to discharge sewage, the suction component can use a pumping method to transport the liquid in the built-in accommodating 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 for discharge. Of course, when the cleaning robot 1 is docked with the workstation, it can also use the gravity of the liquid flow to flow the liquid in the built-in accommodating 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 for discharge.

The control device 14 is provided on the cleaning robot 1 and is used to control the operation of various components on the cleaning robot body. For example, the control device 14 can be used to control the mobile device 13 and the cleaning device 15 to work together to perform cleaning operations, and use navigation technology for positioning, mapping and navigation.

In some embodiments, the control device 14 includes a memory and a processor.

The processor can be used to read and execute computer-readable instructions. In a specific implementation, the processor may mainly include a controller, an operator and a register. Among them, the controller is mainly responsible for decoding instructions and issuing control signals for operations corresponding to the instructions. The operator is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, and logical operations, etc., and may also perform address operations and conversions. The register is mainly responsible for storing register operands and intermediate operation results temporarily stored during the execution of instructions. In a specific implementation, the hardware architecture of the processor may be an application-specific integrated circuit (ASIC) architecture, a MIPS architecture, an ARM architecture, or an NP architecture, etc. The number of the processors may be one or more, for example: the processor may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a video codec, a digital signal processor (digital signal processor, DSP), a baseband processor, and/or a neural-network processing unit (neural-network processing unit, NPU), etc. Among them, different processors may be independent devices or integrated in one or more processors.

The memory is coupled to the processor and is used to store various software programs and/or multiple sets of instructions (for example, a software program for controlling the cleaning robot to perform a preset number of back and forth movements). Random access memory, and may also include non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory can store an operating system, such as uCOS, VxWorks, RTLinux and other embedded operating systems. The memory can also store a communication program that can be used to communicate with an intelligent terminal, an electronic device, one or more servers, or an additional device.

In some embodiments, the control device 14 further includes at least one interface unit, each interface unit being used to output a visual interface, receive a human-computer interaction event generated according to the operation of a technician, etc. For example, the interface unit includes but is not limited to: a serial interface such as an HDMI interface or a USB interface, or a parallel interface, etc. In one embodiment, the interface unit further includes a network communication unit, which is a device for data transmission using a wired or wireless network, examples of which include but are not limited to: an integrated circuit including a network card, a local area network module such as a WiFi module or a Bluetooth module, a wide area network module such as a mobile network, etc.

When the existing cleaning robot performs the cleaning task of the surface to be cleaned, such as performing the floor cleaning task of the supermarket or performing the floor cleaning task of the airport, in order to facilitate the control of the cleaning robot and the planning of the path, the control device will control the cleaning robot to move forward along the planned path and control the cleaning device to operate to perform the cleaning operation during the moving process. When the cleaning robot traverses the planned path, the cleaning task of the surface to be cleaned is completed. In the present application, the cleaning robot is provided with a blocking mechanism between the first roller brush and the second roller brush of the cleaning device, and the blocking mechanism is used to block at least part of the garbage from flowing to the dirt collection component when the cleaning robot is in the forward state, and then the blocking mechanism can prevent large particles of garbage from passing through the dirt collection component to cause the rear roller brush to stick to stains or block the dirt collection component that collects sewage. However, during the rotation of the first roller brush (for example, the first roller brush 152 in FIG. 7a rotates counterclockwise), the first roller brush cannot completely bring all the garbage into/sweep into/roll into the garbage box, and part of the garbage that does not enter the garbage box (for example, large particles of garbage) will accumulate in front of the blocking mechanism. If the impact of this part of the accumulated garbage is ignored, the cleaning effect of the cleaning robot will be affected.

In view of this, the control device of the present application controls the moving device and the cleaning device to work together to execute steps S10 and S20, so as to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box, and to recycle the sewage retained on the rear side of the blocking mechanism through the sewage collecting component.

In step S10, the control device controls the cleaning robot to move backward so as to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through the rotation of the first roller brush. Specifically, during the process of the cleaning robot moving forward, garbage (for example, large particles of garbage) accumulates on the front side of the blocking mechanism. After the control device controls the cleaning robot to move backward, the accumulated garbage will move relative to the moving backward blocking mechanism, so as to be closer to the first roller brush, that is, farther away from the blocking mechanism, so that the accumulated garbage can be brought/swept/rolled into the garbage box by the rotating first roller brush. For example, please refer to Figure 32, which is a schematic diagram of the front and rear states of the cleaning robot moving backward in one embodiment of the present application. As shown in the figure, the robot moves in front of the blocking mechanism 153 before moving backward (or when the robot is moving forward). The garbage is accumulated, and after retreating a distance Q (i.e., the distance between the front position of the cleaning robot before and after retreating is Q), the accumulated garbage is rolled up by the first roller brush 152, that is, the first roller brush 152 rotates counterclockwise (for example, as shown by the indicator arrow corresponding to the first roller brush 152 in Figure 32) to roll up the garbage, and then the rolled up garbage can be collected in the garbage box 151.

In some embodiments, when the cleaning robot retreats, the blocking mechanism 153 can contact the surface to be cleaned to block the sewage on the rear side of the blocking mechanism 153 (for example, the liquid left by the second roller brush washing the surface to be cleaned) from passing through the blocking mechanism 153, so that the sewage is retained between the blocking mechanism 153 and the sewage collecting component 155, so that when the cleaning robot is subsequently controlled to move forward, the sewage can be recovered into the sewage tank.

When the cleaning robot changes from the forward state to the backward state, the blocking mechanism will be forced to deviate in the direction close to the first roller brush. For example, as shown in FIG32 , when the cleaning robot is in the forward state, the blocking mechanism 153 is forced to deviate in the direction away from the first roller brush 152, and garbage is accumulated in front of the blocking mechanism 153. When the robot changes from the forward state to the backward state, the blocking mechanism 153 will be forced to deviate in the direction close to the first roller brush 152. In the process of changing the offset direction of the blocking mechanism 153, the garbage accumulated in front of the blocking mechanism 153 will be pushed to the working area of the first roller brush 152, so as to make the accumulated garbage closer to the first roller brush 152. The working area of the first roller brush refers to the area where the first roller brush can roll up garbage when it rotates, that is, the garbage in the working area can be rolled up by the first roller brush when the first roller brush rotates.

In one embodiment, the moving distance of the cleaning robot to move backward is greater than the distance between the blocking mechanism and the first roller brush when the cleaning robot is in the forward state. In one example, the moving distance of the backward movement is greater than the distance between the lower end of the blocking mechanism and the center position of the first roller brush when the cleaning robot is in the forward state. For example, please refer to Figure 33, which is a schematic diagram of the forward state of the cleaning robot in one embodiment of the present application. As shown in the figure, the distance between the lower end of the blocking mechanism 153 and the center position of the first roller brush 152 in the forward state of the cleaning robot is Q1, and the moving distance of the cleaning robot to move backward is greater than Q1, so that the garbage accumulated on the front side of the cleaning robot can move relatively and enter the working area of the first roller brush 152 to be collected by the first roller brush 152 in the counterclockwise rotation (for example, as shown by the indicating arrow corresponding to the first roller brush 152 in Figure 33) into the garbage box 151. In other examples, the moving distance of the backward movement can also be determined by other methods such as multiple experiments.

In step S20, the control device controls the cleaning robot to move forward so as to recycle the sewage retained at the rear side of the blocking mechanism through the sewage collection component. Specifically, during the process of the second roller brush of the cleaning robot scrubbing the surface to be cleaned, sewage (such as sewage generated during the process of the second roller brush scrubbing the surface to be cleaned) will be retained at the rear side of the blocking mechanism, and the retained sewage has not yet been collected by the sewage collection component. Then, when the cleaning robot is controlled to move forward, the first scraper bar of the sewage collection component is deformed by force to allow the sewage retained between the blocking mechanism and the sewage collection component to enter the sewage inlet through the first scraper bar, and the second scraper bar forms a blocking effect on the sewage at the rear side, so that the sewage is gathered at the sewage inlet, and the sewage gathered at the sewage inlet The water is sucked into the built-in accommodation space of the sewage tank by the suction component of the cleaning robot. Furthermore, during the forward movement of the cleaning robot, the blocking mechanism can allow liquid or small particles of garbage to pass through, and the liquid or small particles of garbage passing through the blocking mechanism will enter the sewage inlet through the first scraper bar and be collected by the sewage collection component.

In one embodiment, the moving distance of the cleaning robot to perform forward movement is greater than the spacing between the blocking mechanism and the dirt collection component. In one example, the moving distance of the forward movement is greater than the spacing between the lowest end of the blocking mechanism and the dirt collection component when the cleaning robot is in the backward state. For example, please refer to Figure 34, which is a schematic diagram of the backward state of the cleaning robot in one embodiment of the present application. As shown in the figure, the distance between the lowest end of the blocking mechanism 153 and the first scraper 15510 of the dirt collection component 155 is Q2, and the moving distance of the cleaning robot to perform forward movement is greater than Q2, so that the sewage trapped between the dirt collection component 155 and the blocking mechanism 153 can be gathered to the sewage inlet of the dirt collection component 155 through the first scraper 15510 of the dirt collection component 155, so as to be collected by the dirt collection component 155. For another example, the moving distance of the forward movement is greater than the spacing between the lowest end of the blocking mechanism and the sewage inlet of the dirt collection component when the cleaning robot is in the backward state. In other examples, the moving distance of the forward movement can also be determined by other methods such as multiple experiments.

In one embodiment, during the cleaning robot's execution of a cleaning task, the control device controls the moving device and the cleaning device to work together to execute step S10 and step S20. For example, after the cleaning robot has worked for a preset time, the cleaning robot controls the cleaning robot to execute step S10 and step S20. For another example, after the cleaning robot has moved a preset distance, the cleaning robot controls the cleaning robot to execute step S10 and step S20 to clean the garbage accumulated on the front side of the blocking mechanism and the sewage retained on the rear side of the blocking mechanism, thereby preventing the garbage and sewage from reducing the cleaning effect of the cleaning task.

In another embodiment, when the cleaning robot completes the cleaning task (completing the cleaning task includes any of the following situations: the water spray structure stops spraying water, the second roller brush stops rotating and rising, and the first roller brush stops rotating and rising), the control device controls the moving device and the cleaning device to work together to perform steps S10 and S20. For example, the cleaning robot completes the cleaning task of the surface to be cleaned according to the planned path. If the cleaning operation is stopped immediately, there will be accumulated garbage in front of the blocking mechanism at the end of the cleaning task, and sewage will be retained on the back of the blocking mechanism (for example, sewage dripping after the second roller brush stops working), so that the garbage and sewage that are not collected will remain on the surface to be cleaned during the subsequent movement of the cleaning robot (for example, returning to the charging pile). In view of this, when the cleaning robot completes the cleaning task, steps S10 and S20 can be executed to perform finishing operations to thoroughly clean up the garbage accumulated in front of the blocking mechanism and the sewage retained on the back of the blocking mechanism after the cleaning robot completes the cleaning task.

It should be noted that the present application does not restrict the timing of executing the backward and forward operations, and the backward and forward operations can be used to collect accumulated garbage and trapped sewage.

In some embodiments, the control device controls the cleaning robot to perform a preset number of operations through the mobile device. The robot performs a backward and forward reciprocating motion to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through the first roller brush and to recycle the sewage retained on the rear side of the blocking mechanism through the sewage collecting component. Specifically, in order to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box as much as possible, the control device controls the cleaning robot to perform a preset number of backward and forward reciprocating motions. In some examples, the preset number of times may be 2 to 5 times, and specifically, the preset number of times may be, for example, 2 times, 3 times, 4 times, or 5 times. It should be noted that in actual applications, the preset number of times may be determined based on experiments or the like to ensure that the retained garbage and sewage can be collected.

In a specific embodiment, when the water spraying structure stops spraying water or detects that the cleaning robot has completed the cleaning task, the control device controls the cleaning robot to perform a preset number of backward and forward reciprocating movements through the moving device. Through multiple reciprocating movements, the garbage currently accumulated on the front side of the blocking mechanism and the sewage retained on the rear side of the blocking mechanism can be collected more thoroughly.

In one embodiment, during the first backward and forward reciprocating motion, the control device first controls the cleaning robot to move backward a first preset distance and then controls the cleaning robot to move forward a second preset distance. For example, when the cleaning robot is performing a finishing operation (for example, when the cleaning robot completes the cleaning task and controls the water spraying structure to stop spraying water), if there is an obstacle in the forward direction of the cleaning robot (such as a fixed obstacle such as a wall, a virtual wall, a shelf, an industrial equipment, a seat, or a mobile obstacle such as a pedestrian or a pet), the control device first controls the cleaning robot to move backward a first preset distance and then controls the cleaning robot to move forward a second preset distance. Please refer to Figure 35, which is a schematic diagram of the cleaning robot performing the first backward and forward reciprocating motion in one embodiment of the present application. As shown in the figure, when performing the first reciprocating motion, the cleaning robot retreats a first preset distance Q3. During this process, the garbage is rolled up by the first roller brush 152, and the sewage on the rear side of the blocking mechanism 153 is confined between the blocking mechanism 153 and the sewage collecting component 155 as the cleaning robot retreats. The cleaning robot is then controlled to advance a second preset distance Q4. During the forward process, the sewage is collected by the sewage collecting component 155. After the cleaning robot shown in Figure 35 completes the first forward and backward reciprocating motion, the garbage is collected in the garbage box 151, and the sewage is also collected by the sewage collecting component 155.

In another embodiment, during the first backward and forward reciprocating motion, the control device may first control the cleaning robot to move forward a second preset distance and then control the cleaning robot to move backward a first preset distance. For example, when the cleaning robot is performing a finishing operation (for example, when the cleaning robot completes the cleaning task and controls the water spray structure to stop spraying water), an obstacle temporarily appears on the rear side of the cleaning robot and the front side of the cleaning robot is passable, the control device first controls the cleaning robot to move forward a second preset distance and then controls the cleaning robot to move backward a first preset distance.

The second preset distance may be equal to or different from the first preset distance. In one example, the second preset distance is greater than the first preset distance. The distance is smaller than the distance between the blocking mechanism and the dirt collecting component, so the smaller first preset distance can satisfy that the garbage accumulated in front of the blocking mechanism can be rolled up by the first roller brush to be collected into the garbage box. Compared with the first preset distance, a larger second preset distance needs to be set to collect the sewage trapped between the blocking mechanism and the dirt collecting component. This not only improves the efficiency of the cleaning robot in performing cleaning tasks or finishing operations, but also ensures a good cleaning effect.

In one embodiment, after the control device controls the cleaning robot to perform a preset number of backward and forward reciprocating movements, the control device controls the cleaning device to stop performing the cleaning operation. Specifically, when the water spray structure stops spraying water or when it is detected that the cleaning robot has completed the cleaning task, the cleaning robot performs the finishing operation by controlling the cleaning robot to perform a preset number of backward and forward reciprocating movements. When the finishing operation is completed, that is, after the preset number of backward and forward reciprocating movements are completed, the cleaning device is controlled to stop performing the cleaning operation, that is, stop driving the first roller brush, stop driving the second roller brush, control the water spray structure to stop spraying water, and stop driving the suction component.

In summary, the cleaning robot for performing cleaning operations disclosed in the present application can prevent the first roller brush from getting wet and sticking to garbage, affecting the garbage entering the garbage box, preventing the garbage from flowing to the second roller brush and contaminating the second roller brush, and preventing the garbage from flowing to the sewage collecting component and clogging the sewage collecting component by setting a blocking mechanism between the first roller brush and the second roller brush of the cleaning device; and the control device of the cleaning robot can collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through the rotation of the first roller brush by controlling the cleaning robot to move backward, and can recycle the sewage retained on the rear side of the blocking mechanism through the sewage collecting component by controlling the cleaning robot to move forward, thereby achieving a thorough cleaning of the garbage and sewage retained on the surface to be cleaned, and improving the cleaning effect of the cleaning robot. Further, the control device is used to control the cleaning robot to perform a preset number of reciprocating motions of backward and forward through the mobile device when the water spray structure stops spraying water or when it is detected that the cleaning robot has completed the cleaning task, so as to achieve the finishing work after completing the cleaning task, and prevent garbage and sewage from being left on the surface to be cleaned at the position where the cleaning operation is stopped after the cleaning task is completed, thereby further improving the cleaning effect of the surface to be cleaned.

The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

A cleaning robot for performing cleaning operations, characterized in that the cleaning robot comprises:

A moving device, comprising a driving wheel disposed at the bottom of the cleaning robot;

A cleaning device is arranged at the bottom of the cleaning robot and is used to perform cleaning operations; the cleaning device comprises, from the front side to the rear side of the cleaning robot, a garbage box, a first roller brush, a blocking mechanism, a second roller brush, and a dirt collection component; wherein the blocking mechanism is used to block at least part of the garbage from flowing toward the dirt collection component when the cleaning robot is in a forward state;

A control device, used to control the moving device and the cleaning device to work together to perform the following steps:

Controlling the cleaning robot to move backward so as to collect the garbage accumulated in front of the blocking mechanism into the garbage box through the rotation of the first roller brush;

The cleaning robot is controlled to move forward so as to recover the sewage retained at the rear side of the blocking mechanism through the sewage collecting component.
According to the cleaning robot for performing cleaning operations according to claim 1, it is characterized in that the blocking mechanism is also used to contact the surface to be cleaned when the cleaning robot is in a backward state to block the sewage from passing through the blocking mechanism so as to keep the sewage between the blocking mechanism and the sewage collecting component.
According to the cleaning robot for performing cleaning operations as described in claim 1, it is characterized in that the blocking mechanism is also used to bias the force toward the direction close to the first roller brush when the cleaning robot changes from a forward state to a backward state, so as to push the garbage accumulated on the front side of the blocking mechanism to the working area of the first roller brush.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the blocking mechanism is also used to allow liquid or small particles of garbage to pass through when the cleaning robot is in a forward state so as to be collected by the dirt collecting component.
The cleaning robot for performing cleaning operations according to claim 4 is characterized in that the blocking mechanism contacts the surface to be cleaned when the cleaning robot is in the forward state to form a filtering channel, and the filtering channel is used to allow liquid or small particles of garbage to pass through.
According to the cleaning robot for performing cleaning operations according to claim 1, it is characterized in that the control device is used to control the cleaning robot to perform a preset number of backward and forward reciprocating movements through the moving device, so as to collect the garbage accumulated on the front side of the blocking mechanism into the garbage box through the first roller brush and to recover the sewage retained on the rear side of the blocking mechanism through the sewage collecting component.
The cleaning robot for performing cleaning operations according to claim 6, characterized in that the preset number of times is 2 to 5 times.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the cleaning robot also includes a water spraying structure, and the water spraying structure is used to spray water to wet the second roller brush.
The cleaning robot for performing cleaning operations according to claim 8 is characterized in that the control device is used to control the cleaning robot to perform a preset number of backward and forward reciprocating movements through the moving device when the water spray structure stops spraying water or when it is detected that the cleaning robot has completed the cleaning task.
The cleaning robot for performing cleaning operations according to claim 6 or 9 is characterized in that, during the first reciprocating motion, the control device first controls the cleaning robot to retreat a first preset distance and then controls the cleaning robot to move forward a second preset distance.
The cleaning robot for performing cleaning operations according to claim 10, wherein the second preset distance is greater than the first preset distance.
The cleaning robot for performing cleaning operations according to claim 9 is characterized in that after the control device controls the cleaning robot to perform a preset number of backward and forward reciprocating movements, the control device controls the cleaning device to stop performing the cleaning operation.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the moving distance of the cleaning robot for retreating is greater than the distance between the blocking mechanism and the first roller brush when the cleaning robot is in the forward state.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the forward moving distance of the cleaning robot is greater than the distance between the blocking mechanism and the dirt collecting component.
According to the cleaning robot for performing cleaning operations according to claim 1, it is characterized in that the blocking mechanism is arranged along the length direction of the first roller brush, and when the cleaning robot is in a forward state, the blocking mechanism is forced to deviate in a direction away from the first roller brush.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the distance between the upper portion of the blocking mechanism and the first roller brush is smaller than the distance between the lower portion of the blocking mechanism and the first roller brush.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that 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.
According to the cleaning robot for performing cleaning operations according to claim 1, it is characterized in that the blocking mechanism includes: a connecting part and a blocking part; the connecting part is used to connect to the bottom of the chassis of the cleaning robot, and the blocking part is connected to the connecting part to block at least part of the garbage from flowing toward the dirt collecting component.
According to the cleaning robot for performing cleaning operations as described in claim 18, it is characterized in that the blocking mechanism also includes a reinforcing portion, and the reinforcing portion can be arranged on the connecting portion to support and strengthen the blocking portion.
The cleaning robot for performing cleaning operations according to claim 18 is characterized in that a filtering structure is provided on the blocking portion, and the filtering structure is used to allow liquid or small particles of garbage to pass through when the cleaning robot is in the forward state. Pass.
The cleaning robot for performing cleaning operations according to claim 20 is characterized in that the filtering structure is configured as a protruding structure located on the surface of the blocking portion, or is configured as a hole opened on the blocking portion.
The cleaning robot for performing cleaning operations according to claim 18, characterized in that the blocking portion is made of a flexible material.
The cleaning robot for performing cleaning operations according to claim 18, characterized in that the blocking portion is configured as a brush body.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the garbage box is arranged parallel to the front of the first roller brush.
According to the cleaning robot for performing cleaning operations according to claim 1, it is characterized in that the dirt collecting component includes a dirt inlet and a scraper structure, and the scraper structure includes a first scraper located at the front side of the dirt inlet and a second scraper located at the rear side of the dirt inlet.
According to claim 25, the cleaning robot for performing cleaning operations is characterized in that, when the cleaning robot is in the forward state, the first scraper bar allows the sewage on the front side to enter the sewage inlet, and the second scraper bar forms a blocking effect on the sewage on the rear side so that the sewage is gathered at the sewage inlet.
According to claim 25, the cleaning robot for performing cleaning operations is characterized in that, when the cleaning robot is in a backward state, the second scraper bar allows the sewage at the rear side to enter the sewage inlet, and the first scraper bar forms a blocking effect on the sewage at the front side so that the sewage is gathered at the sewage inlet.
The cleaning robot for performing cleaning operations according to claim 1 is characterized in that the cleaning robot also includes a sewage tank with a built-in accommodating space connected to the sewage collecting component, and the sewage tank is used to accommodate sewage collected by the sewage collecting component.