Cleaning robot and cleaning system

Abstract

The invention provides a cleaning robot and a cleaning system. The cleaning robot comprises a dust collection assembly, and the dust collection assembly comprises a rolling brush assembly, a cavity used for containing the rolling brush assembly, a first baffle located on the front side of the rolling brush assembly and a second baffle located on the rear side of the rolling brush assembly; the rolling brush assembly comprises a first rolling brush and a second rolling brush which are arranged front and back; the first baffle and the second baffle are provided with free ends close to the environment surface; when the cleaning robot is located on the carpet and the fluff length of the carpet is larger than the preset length, the free ends of the first baffle and the second baffle make contact with the carpet, so that the first airflow and the second airflow flow from the exterior of the cavity to the dust inlet of the cavity through the interior of the carpet, and the ratio of the first airflow to the second airflow ranges from 0.7 to 1.3. And a solution is provided for strategically improving the cleaning efficiency of the cleaning robot.

Description

Cleaning robots and cleaning systems Technical Field

[0001] The present disclosure relates to the field of cleaning technology, and in particular to a cleaning robot and a cleaning system. Background Art

[0002] As a smart home appliance, cleaning robots clean the surfaces to be cleaned (also known as environmental surfaces) in indoor environments and play an increasingly important role in people's daily lives. Taking a sweeping robot as an example, its working system usually includes: a vacuum system, a walking system, and a power supply system. In order to improve the cleaning efficiency of cleaning robots, improvements to cleaning robots in related technologies are mostly focused on improving the body structure, increasing the vacuum power, or improving the level of intelligence. However, in the actual application scenarios of cleaning robots, the problem of low cleaning efficiency still exists.

[0003] Summary of the Invention

[0004] Based on this, it is necessary to provide a dust collection system and a cleaning robot to address the above problems. By improving the structure of the dust collection system, a solution is provided for strategically improving the cleaning efficiency of the cleaning robot. The details are as follows:

[0005] In a first aspect of the present disclosure, a cleaning robot is provided, comprising:

[0006] a main body having a front end;

[0007] A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned;

[0008] A controller, configured to control the cleaning robot to automatically perform cleaning work on the environmental surface;

[0009] A dust collection component is provided on the main body to clean the surface of the environment;

[0010] The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a second baffle located in the rear of the roller brush assembly.

[0011] The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body;

[0012] The first baffle and the second baffle each have a free end close to the environmental surface;

[0013] When the cleaning robot is on a hard floor, the first opening formed by the free end of the first baffle and the hard floor has a first area, and the second opening formed by the free end of the second baffle and the hard floor has a second area, wherein the ratio of the first area to the second area is in the range of 0.7-1.3; the minimum distance between the free end of the first baffle and the hard floor is a first distance, and the minimum distance between the free end of the second baffle and the hard floor is a second distance; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the height difference between the first distance and the second distance is within 3 mm, so that when the first roller brush and the second roller brush rotate in opposite and facing directions, the first airflow flows from the outside of the cavity, from under the first baffle, through the bottom of the first roller brush to the space between the first roller brush and the second roller brush, and the second airflow flows from the outside of the cavity, from under the second baffle, through the bottom of the second roller brush to the space between the first roller brush and the second roller brush.

[0014] In one embodiment, when the cleaning robot is on a carpet and the free end of the first baffle and the free end of the second baffle are in contact with the carpet, the first airflow and the second airflow can flow through the interior of the carpet in a concentrated manner.

[0015] In one embodiment, the cleaning robot includes a dust suction fan for generating negative pressure;

[0016] When the cleaning robot is on the carpet and the free end of the first baffle and the free end of the second baffle are in contact with the carpet, the flow rate of the airflow flowing through the inside of the carpet accounts for 70% or more of the flow rate of the airflow flowing out of the dust inlet of the cavity.

[0017] In one embodiment, the first distance is greater than or equal to the second distance, and the difference between the first distance and the second distance is within 2 mm.

[0018] In one embodiment, the minimum distance between the free end of the first baffle and the lowest point of the first rolling brush is a third distance, wherein the third distance is less than 15 mm, and the first airflow is directed to the bottom of the first rolling brush;

[0019] The minimum distance between the free end of the second baffle and the lowest point of the second rolling brush is a fourth distance, wherein the fourth distance is less than 15 mm, and the second airflow is directed to the bottom of the second rolling brush.

[0020] In one embodiment, the length of the line connecting the free end of the first baffle and the lowest point of the first roller brush is smaller than the distance between the lowest point of the first roller brush and the lowest point of the second roller brush.

[0021] In one embodiment, the first baffle has at least one midpoint different from the free end of the first baffle, wherein the distance between the midpoint and the lowest position of the first roller brush is greater than the third distance, and the projection of the midpoint on the horizontal plane and the free end point to the lowest position of the first roller brush.

[0022] In one embodiment, the first distance is smaller than the distance between the lowest point of the first roller brush and the lowest point of the second roller brush.

[0023] In one embodiment, the free end of the first baffle is spaced apart from the outer contour of the first roller brush by a first horizontal distance, and the first horizontal distance is less than or equal to 5 mm; the free end of the second baffle is spaced apart from the second roller brush by a second horizontal distance, and the second horizontal distance is less than or equal to 5 mm;

[0024] Alternatively, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is less than or equal to 4 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is less than or equal to 4 mm.

[0025] In one embodiment, the cavity has a dust inlet connected to a dust suction fan;

[0026] The first roller brush rotates along a first direction, and the second roller brush rotates along a second direction, which is opposite to and facing the first direction;

[0027] The free end of the first baffle is at a first horizontal distance from the first rolling brush, forming a first inlet for airflow, and the first direction obstructs airflow flowing through the first inlet along the space between the outer contour of the first rolling brush and the first baffle toward the dust inlet of the cavity;

[0028] The free end of the second baffle is at a second horizontal distance from the second roller brush, forming a second opening for airflow to enter, and the second direction hinders the airflow flowing through the second opening along the space between the outer contour of the second roller brush and the first baffle to the dust inlet.

[0029] In one embodiment, the hardness of the material of the first baffle and the second baffle is greater than or equal to 80HA.

[0030] In one embodiment, the first baffle is movable to adjust the distance between the free end of the first baffle and the hard ground, so that the first baffle has a closed state and an open state;

[0031] Wherein, when the first baffle is in the closed state, the free end of the first baffle is at the first distance from the hard ground;

[0032] When the first baffle is in the open state, the distance between the free end of the first baffle and the hard ground is greater than the first distance.

[0033] In one embodiment, the dust collection assembly includes a shell, the shell includes a first roller brush support portion that at least partially covers the first roller brush, and the first baffle is movably disposed on the first roller brush support portion to cover the first roller brush.

[0034] In one embodiment, the shell also includes a second roller brush bracket portion that at least partially covers the second roller brush, and the second baffle is a part of the second roller brush bracket portion to shield the second roller brush; the first roller brush bracket portion and the second roller brush bracket portion are arranged to form the cavity for accommodating the roller brush assembly.

[0035] In one embodiment, when the first baffle is in the open state, the difference between the first airflow and the second airflow is Δ1; when the first baffle is in the closed state, the difference between the first airflow and the second airflow is Δ2; wherein Δ2 is smaller than Δ1.

[0036] In one embodiment, when the first baffle is in a closed state, the vacuum degree at a certain position of the cavity is greater than the vacuum degree at the same position of the cavity when the first baffle is in an open state.

[0037] In one embodiment, when the first baffle is in a closed state, the dust inlet of the cavity has a first vacuum degree, and when the first baffle is in an open state, the dust inlet of the cavity has a second vacuum degree, wherein the first vacuum degree is greater than the second vacuum degree.

[0038] In one embodiment, the second baffle is movable to adjust the distance between the free end of the second baffle and the hard ground, so that the second baffle has a closed state and an open state;

[0039] When the second baffle is in the closed state, the distance between the free end of the second baffle and the hard ground is the second distance;

[0040] When the second baffle is in the open state, the distance between the free end of the second baffle and the hard ground is greater than the second distance.

[0041] In one embodiment, the dust collection assembly includes a housing, the housing includes a roller brush bracket for at least partially covering and supporting the roller brush assembly, and the roller brush bracket is configured to float up and down relative to a horizontal plane;

[0042] The roller brush assembly is arranged on the roller brush bracket, and the roller brush assembly floats as the roller brush bracket floats.

[0043] In one embodiment, the shell includes a roller brush cover, which is arranged on the side of the shell close to the roller brush assembly facing the environmental surface, and the roller brush cover has a connecting part connected to the roller brush bracket, and the connecting part includes two; along the direction parallel to the rotation axis, the two connecting parts are respectively arranged on both sides of the first baffle.

[0044] In one embodiment, the first baffle is configured to float in an up-down direction.

[0045] In one embodiment, the first baffle is configured to float synchronously with the roller brush holder.

[0046] In one embodiment, the first baffle is arranged on the roller brush bracket.

[0047] In one embodiment, the dust collection assembly includes a baffle driving assembly for driving the first baffle and a roller brush driving assembly for driving the roller brush assembly to rotate. The baffle driving assembly and the roller brush driving assembly are both arranged on the roller brush bracket, so that the baffle driving assembly and the roller brush driving assembly float with the floating of the roller brush bracket.

[0048] In one embodiment, a rib is provided between the first baffle and the first roller brush support portion, and the rib is used to guide the baffle to move along the first roller brush support portion.

[0049] In one embodiment, a sealing strip is provided between the first baffle and the first roller brush support portion along the length direction of the roller brush assembly.

[0050] In one embodiment, the dust collection assembly includes a roller brush motor for driving the roller brush assembly to rotate and a drive motor for driving the first baffle to move, wherein the roller brush motor and the drive motor are arranged at both ends of the roller brush assembly.

[0051] In one embodiment, the cleaning robot includes a lifting mechanism for lifting the dust collection component, the lifting mechanism includes the drive motor, and the drive motor is further configured to drive the dust collection component to move up and down.

[0052] In one embodiment, the first baffle is rotatable to adjust the height of the free end of the first baffle relative to the ambient surface, and the rotation axis of the first baffle does not overlap with the rotation axis of at least one of the first roller brush and the second roller brush.

[0053] In one embodiment, the dust collection assembly includes a drive system for driving the movement of the first baffle and a transmission system for transmitting the driving force of the drive system to the first baffle; the drive system includes a drive motor, the transmission system includes a gear set, and there is a gap between the output shaft of the drive motor and the gear set.

[0054] In one embodiment, the dust suction component has an anti-collision portion, and along the front end direction of the main body, the anti-collision portion has at least a portion located in front of the first baffle, and the portion located in front of the first baffle has no connection with the first baffle, so as to contact the obstacle when the cleaning robot collides with the obstacle.

[0055] In one embodiment, the dust collection assembly includes a shell having a first roller brush support portion that at least partially covers the first roller brush, and the anti-collision portion includes a protrusion that is arranged on the outer side wall of the first roller brush support portion and protrudes from the first baffle.

[0056] In one embodiment, the cleaning robot includes a floor type detection device for detecting the floor type;

[0057] The controller is configured to control the first baffle to open when the detection device detects that the ground type is hard ground; and to control the first baffle to close when the detection device detects that the ground type is soft ground.

[0058] In one embodiment, the cleaning robot includes an environment detection device for detecting the type of foreign matter;

[0059] When the cleaning robot performs cleaning work on a soft ground, the controller is at least configured to control the first baffle to switch from a closed state to an open state when the environment detection device identifies that the type of foreign matter is garbage with a size that meets preset conditions.

[0060] In one embodiment, the cleaning robot has a deep cleaning mode and a regular cleaning mode, wherein in the deep cleaning mode, the cleaning robot has a first cleaning parameter, and in the regular cleaning mode, the cleaning robot has a second cleaning parameter, the first cleaning parameter is different from the second cleaning parameter, wherein the cleaning parameter includes at least one of the following parameters: a state of a first baffle, a moving speed, and a fan power;

[0061] When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to switch between two cleaning modes to alternately perform the cleaning operations.

[0062] In one of the embodiments, in the deep cleaning mode, the first baffle is in a closed state; in the regular cleaning mode, the first baffle is in an open state.

[0063] In one embodiment, the controller is configured to control the cleaning robot to perform the deep cleaning mode and the regular cleaning mode alternately according to natural days, wherein the cleaning modes of the cleaning robot are different in two adjacent natural days;

[0064] Alternatively, the controller is configured to control the cleaning robot to alternately perform the deep cleaning mode and the regular cleaning mode according to a number of times, wherein the cleaning robot completes a traversal of the environmental surface as one time, and the cleaning mode of the cleaning robot is different in two adjacent times.

[0065] In one embodiment, when the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to first clean the soft floor in a deep cleaning mode, and then perform at least one edge cleaning on the soft floor, and during the first edge cleaning, the cleaning robot is in a normal cleaning mode.

[0066] In one embodiment, the outer side wall of the first baffle is defined by a guide surface, which is inclined toward the first roller brush and is arranged at an acute angle to the horizontal plane; when the first baffle is in a closed state, the guide surface is at least partially closer to the environmental surface relative to the roller brush bracket.

[0067] In one embodiment, the cleaning robot includes an environment detection device to detect obstacles in the environment; when the environment detection device identifies an obstacle whose size meets a preset condition, the controller controls the first baffle to close.

[0068] In one embodiment, the cleaning robot includes a fan, and the power of the fan is greater than or equal to 60W.

[0069] Another aspect of the present disclosure provides a cleaning system, comprising the above-mentioned cleaning robot and a base station for the cleaning robot to dock, wherein the base station is also used to maintain the cleaning robot.

[0070] In one embodiment, the cleaning robot includes a dust collection box, and the base station includes a dust collection fan for performing dust collection maintenance operations; when the base station performs dust collection maintenance on the dust collection box, at least one of the first baffle and the second baffle is in an open state.

[0071] In one embodiment, a filter device is provided in the dust collection box. When the base station performs dust collection maintenance on the filter device, the first baffle and the second baffle are in a closed state at least part of the time.

[0072] In one embodiment, the base station includes an air inlet channel connecting the outside and at least one gap at the bottom of the cavity.

[0073] Another aspect of the present disclosure provides a cleaning robot, comprising:

[0074] a main body having a front end;

[0075] A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned;

[0076] A controller, configured to control the cleaning robot to automatically perform cleaning work on the environmental surface;

[0077] A dust collection component is provided on the main body to clean the surface of the environment;

[0078] The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a second baffle located in the rear of the roller brush assembly.

[0079] The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body;

[0080] The first baffle and the second baffle each have a free end close to the environmental surface;

[0081] When the cleaning robot is on a carpet and the length of the carpet's pile is greater than a preset length, the free end of the first baffle and the free end of the second baffle contact the carpet, so that the first airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet; the ratio of the first airflow to the second airflow is greater than or equal to 0.7 and less than or equal to 1.3.

[0082] Another aspect of the present disclosure provides a cleaning robot, comprising:

[0083] a main body having a front end;

[0084] A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned;

[0085] A controller, configured to control the cleaning robot to automatically perform cleaning work on the environmental surface;

[0086] A dust collection component is provided on the main body to clean the surface of the environment;

[0087] The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a second baffle located in the rear of the roller brush assembly.

[0088] The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body;

[0089] The first baffle and the second baffle each have a free end close to the environmental surface;

[0090] When the cleaning robot is on a hard floor, the first opening formed by the free end of the first baffle and the hard floor has a first area, and the second opening formed by the free end of the second baffle and the hard floor has a second area, wherein the ratio of the first area to the second area is in the range of 0.7-1.3; the minimum distance between the free end of the first baffle and the hard floor is a first distance, and the free end of the second baffle is a second distance from the hard floor; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the difference between the first distance and the second distance is within 3 mm, so that the first roller brush slaps the environmental surface to form a first slapping area, and when the second roller brush slaps the environmental surface to form a second slapping area, the first airflow flows from the outside of the cavity through the first slapping area to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the second slapping area to the dust inlet; the dust inlet can be connected to a dust suction fan that generates negative pressure.

[0091] The dust collection system, cleaning equipment, and cleaning system disclosed herein are provided with a sealing adjustment structure on the basis of the original dust collection mechanism so that the negative pressure generated by the dust collection port can be adjusted or stabilized at least in part of the time period, thereby affecting the action area and action intensity of the dust collection port of cleaning equipment such as cleaning robots and handheld vacuum cleaners on the cleaning surface during the cleaning process, so as to strategically improve the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] FIG1 is a system block diagram of an exemplary cleaning robot according to an embodiment of the present disclosure;

[0093] FIG2 is a schematic diagram of a conventional roller brush mechanism cleaning a cleaning surface;

[0094] FIG3 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present disclosure;

[0095] FIG4 is a structural diagram of an exemplary dust collection system according to an embodiment of the present disclosure;

[0096] FIG5 is a structural diagram of a dust collection system of a cleaning robot provided in an embodiment of the present disclosure;

[0097] FIG6 is a schematic diagram of a state where a roller brush mechanism is cleaning a cleaning surface according to an embodiment of the present disclosure;

[0098] FIG7 is a schematic diagram showing the states of a shielding member of a sealing adjustment mechanism provided by an embodiment of the present disclosure in a first position and a second position, respectively;

[0099] FIG8 is a schematic diagram showing the corresponding states of a shielding member of a sealing adjustment mechanism provided by another embodiment of the present disclosure in a first position and a second position, respectively;

[0100] FIG9 is a structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure;

[0101] FIG10 is a structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure;

[0102] FIG11 is a schematic diagram of a preferred embodiment of a shielding member of the dust collection system in FIG8 ;

[0103] FIG12 is a schematic diagram of a preferred embodiment of a shielding member of the dust collection system in FIG8 ;

[0104] FIG13 is a structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure;

[0105] FIG14 is a diagram showing a state in which the shielding member of the dust collection system in FIG10 is located in a first position;

[0106] FIG15 is a diagram showing a state in which the shielding member of the dust collection system in FIG10 is located in a second position;

[0107] FIG16 is a structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure;

[0108] FIG17 is a schematic diagram of the driving principle of the traction unit in the dust collection system of FIG16;

[0109] FIG18 is a structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure;

[0110] FIG19 is a schematic diagram of the position switching of the traction unit of the dust collection system in FIG18;

[0111] FIG20 is a schematic diagram of a cleaning robot provided in an embodiment of the present disclosure;

[0112] FIG21 is a schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0113] FIG22 is a flow chart of a control system of a cleaning robot provided by an embodiment of the present disclosure;

[0114] FIG23 is a flow chart of a control system of a cleaning robot provided by another embodiment of the present disclosure;

[0115] FIG24 is a flow chart of a control system of a cleaning robot provided by another embodiment of the present disclosure;

[0116] FIG25 is a schematic structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure, with a shielding member in a closed state;

[0117] FIG26 is a schematic diagram of a structure in which a dust collection system of a cleaning robot according to another embodiment of the present disclosure floats when a shielding member is in a closed state;

[0118] FIG27 is a schematic structural diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure, with a shielding member in an open state;

[0119] FIG28 is a schematic diagram of the structure of a cleaning robot's dust collection system according to another embodiment of the present disclosure, wherein the dust collection system is floating when the shielding member is in an open state;

[0120] FIG29 is a schematic diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure, with a shielding member in a closed state;

[0121] FIG30 is a diagram illustrating a state where a shielding member of a dust collection system of a cleaning robot according to another embodiment of the present disclosure is in a second position;

[0122] FIG31 is a schematic diagram of a dust collection system of a cleaning robot provided by another embodiment of the present disclosure, with a shielding member in an open state;

[0123] FIG32 is a diagram illustrating a state where a shielding member of a dust collection system of a cleaning robot according to another embodiment of the present disclosure is in a first position;

[0124] FIG33 is a schematic diagram of the shielding member of the dust collection system in FIG29 in a closed state;

[0125] FIG34 is a schematic diagram of the dust collection system in FIG31 with the shielding member in an open state;

[0126] FIG35 is a schematic structural diagram of a cleaning robot provided by the present disclosure;

[0127] FIG36 is a schematic diagram of the structure of a cleaning robot for identifying obstacles provided by the present disclosure;

[0128] FIG37 is a schematic diagram of the structure of a cleaning robot provided by the present disclosure that overcomes obstacles

[0129] FIG38 is a logic diagram of a cleaning robot provided by the present disclosure performing a cleaning task on a hard floor;

[0130] FIG39 is a schematic structural diagram of a cleaning robot provided by the present disclosure when cleaning along a wall;

[0131] FIG40 is a schematic diagram of the three-dimensional structure of a cleaning robot provided by the present disclosure;

[0132] FIG41 is a schematic structural diagram of the cleaning robot in FIG40 from different perspectives;

[0133] FIG42 is a logic diagram of a cleaning robot provided by the present disclosure performing a cleaning task on a soft floor;

[0134] FIG43 is a schematic diagram of a cleaning robot provided by the present disclosure on a carpet of a first thickness; FIG44 is a schematic diagram of a cleaning robot provided by the present disclosure on a carpet of a first thickness;

[0135] FIG45 is a flow chart of a cleaning robot provided by the present disclosure when traveling on a soft surface;

[0136] FIG46 is a schematic diagram of a cleaning robot cleaning a carpet according to an embodiment of the present disclosure;

[0137] FIG47 is a diagram showing the speed variation of a cleaning robot when it identifies large particles on a carpet according to an embodiment of the present disclosure;

[0138] FIG48 is a schematic diagram of a cleaning robot encountering a carpet on a floor provided by an embodiment of the present disclosure;

[0139] FIG49 is a schematic diagram of a cleaning robot provided by an embodiment of the present disclosure encountering a carpet while cleaning a floor;

[0140] FIG50 is a schematic diagram of a cleaning system provided in one embodiment of the present disclosure;

[0141] FIG51 is a schematic diagram of an air inlet channel provided by an embodiment of the present disclosure;

[0142] FIG52 is a schematic structural diagram of a single roller brush seal provided by the present disclosure;

[0143] FIG53 is a schematic diagram of a double roller brush without seal provided by the present disclosure;

[0144] FIG54 is a schematic structural diagram of a double roller brush seal provided by the present disclosure;

[0145] FIG55 is a schematic diagram of a cleaning robot provided by the present disclosure, wherein the roller brush mechanism is capable of floating when traveling on uneven ground;

[0146] FIG56 is a schematic structural diagram of a cleaning robot provided by the present disclosure, traveling on a flat surface with a roller brush mechanism lowered;

[0147] FIG57 is a schematic structural diagram of another cleaning robot provided by the present disclosure, traveling on a flat surface with the roller brush mechanism lowered;

[0148] FIG58 is a schematic cross-sectional view of FIG55 along the BB direction;

[0149] FIG59 is a schematic diagram of a shielding member provided by the present disclosure in an open state;

[0150] FIG60 is a schematic diagram of a shielding member provided by the present disclosure in a closed state;

[0151] FIG61 is a schematic structural diagram of a roller brush mechanism provided by the present disclosure at a first viewing angle;

[0152] FIG62 is an enlarged view of the structure at position I in FIG59;

[0153] FIG63 is a schematic structural diagram of a roller brush mechanism provided by the present disclosure from another perspective;

[0154] FIG64 is a schematic structural diagram of a roller brush mechanism provided by the present disclosure from a third viewing angle;

[0155] Figure 65 is a schematic structural diagram of the right portion of Figure 63;

[0156] FIG66 is a schematic diagram of a roller brush mechanism provided by the present disclosure in an open state;

[0157] FIG67 is a schematic diagram of a roller brush mechanism provided by the present disclosure with the roller brush cover removed;

[0158] FIG68 is a schematic diagram of a roller brush cover provided by the present disclosure;

[0159] FIG69 is a detailed schematic diagram of the dust holding space in FIG68;

[0160] FIG70 is a schematic diagram of the structure at position II of FIG69;

[0161] FIG71 is a bottom view of a cleaning robot provided by the present disclosure;

[0162] FIG72 is a perspective view of a cleaning robot provided by the present disclosure;

[0163] FIG73 is a schematic diagram of the structure of a cleaning robot provided by the present disclosure on the surface of a base station;

[0164] FIG74 is a schematic structural diagram of a base station provided by the present disclosure;

[0165] FIG75 is a schematic diagram of the internal structure of a cleaning robot provided by the present disclosure;

[0166] FIG76 is a schematic structural diagram of a handheld vacuum cleaner provided by the present disclosure;

[0167] FIG77 is a schematic diagram of a HEPA self-maintenance system provided by the present disclosure;

[0168] FIG78 is a schematic diagram of a dust box maintenance method provided by the present disclosure;

[0169] FIG79 is a schematic diagram of the bottom structure of a cleaning robot provided by the present disclosure;

[0170] FIG80 is a schematic structural diagram of a shielding member provided by the present disclosure in an open state;

[0171] FIG81 is a schematic structural diagram of a shielding member provided by the present disclosure in a closed state;

[0172] FIG82 is a schematic diagram of a central dust collection process provided by the present disclosure;

[0173] FIG83 is a schematic diagram of another HEPA self-maintenance method provided by the present disclosure;

[0174] FIG84 is a schematic diagram of another dust box maintenance method provided by the present disclosure;

[0175] FIG85 is a schematic structural diagram of another maintenance switch provided in channel 1 in the present disclosure in a closed state;

[0176] FIG86 is a schematic structural diagram of another maintenance switch provided in channel 1 in the present disclosure in an open state;

[0177] FIG87 is a schematic diagram of the setting position of another maintenance switch in an open state provided by the present disclosure;

[0178] FIG88 is a schematic diagram of the arrangement position of another maintenance switch in a closed state provided by the present disclosure;

[0179] FIG89 is a schematic structural diagram of a cleaning robot provided by the present disclosure;

[0180] FIG90 is another schematic structural diagram of a cleaning robot provided by the present disclosure;

[0181] FIG91 is another schematic structural diagram of a cleaning robot provided by the present disclosure;

[0182] FIG92 is another structural diagram of a cleaning robot provided by the present disclosure;

[0183] 93 to 97 are schematic diagrams of baffle structures with different shapes provided by the present disclosure;

[0184] 98 and 99 are schematic diagrams of baffles with different opening structures provided by the present disclosure;

[0185] 100 to 101 are schematic structural diagrams of the dust collection assembly of the cleaning robot provided by the present disclosure when the cleaning robot is on a hard surface and a soft surface, respectively;

[0186] Figures 102 to 104 are other structural schematic diagrams of the dust collection assembly provided by the present disclosure

[0187] .

[0188] Description of reference numerals:

[0189] Cleaning robot 100, main body 10, sealing adjustment mechanism 11, suction port 12, first sensor 101, second sensor 102, suction system (also known as suction component) 1, walking system (also known as moving component) 2, controller 3, cavity 4, sensor component 5, filter device 114, maintenance switch 115, scraper 116, dust bag 202, large-sized garbage (corresponding to large particles, clumps of hair) 01, shielding member (corresponding to the first baffle 110), first mounting portion 1101; second mounting portion Part 2102, traction unit 120, winch 121, rope 122, compression spring 123, connecting rod 125, cam 126; housing 210, first support part 2101, second support part 2103; roller brush assembly 220, front roller brush (corresponding to the first roller brush) 2201; rear roller brush (corresponding to the second roller brush) 2202, roller brush bracket 230, tooth-shaped protrusion 2301, fan (also known as negative pressure fan, dust suction fan) 24, dust collection fan 25, air duct 240; guide part 111; drive wheel 21; left drive wheel 211; right drive wheel 212; universal wheel 22; dust collection box 103, first roller brush holder 230A, second roller brush holder 230B, dust inlet 14, space 14A between the outer contour of the first roller brush and the first baffle; space 14B between the outer contour of the second roller brush and the second baffle; baffle 109, free end 109A of the baffle; first baffle 110, free end 110A of the first baffle, second baffle 112; free end 112A of the second baffle; first beating area 100A; second beating area 100B; hard ground (also called hard ground) 2A, soft ground (also called soft ground) 2B; the lowest position point 2201A of the first roller brush; the lowest position point 2202A of the second roller brush; the connecting line 1C formed by the lowest position point 2201A of the first roller brush and the lowest position point of the second roller brush; the first distance 1A; the second distance 1B; the third distance M1; the fourth distance M2; the first horizontal distance N1; the second horizontal distance N2; the fifth distance Y1; the sixth distance Y2. DETAILED DESCRIPTION

[0190] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0191] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0192] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0193] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0194] The technical features involved in the different embodiments of the present disclosure described below can be combined with each other as long as there is no conflict between them.

[0195] First, a brief description of the terms used in this disclosure is given:

[0196] Cleaning Efficiency (CE): If there are 100 units of dust on the surface to be cleaned, and after one cleaning pass, 1 unit of dust is removed or the dust is reduced by 1 unit, the cleaning efficiency is defined as 1%.

[0197] Power: The power involved in this disclosure refers to the rated input power of energy-consuming equipment (such as fans, roller brush motors, drive motors, etc.), unless otherwise specified.

[0198] Rotational speed: The rotational speed involved in this disclosure refers to the rotational speed of the rotating equipment when it is under load; for example, the rotational speed of the cleaning roller brush refers to the rotational speed when the cleaning roller brush contacts the ground to be cleaned, unless otherwise specified.

[0199] Dust removal: means to remove at least part of the dust, hair, debris or other garbage from the floor to be cleaned or temporarily remove it.

[0200] Beating frequency: refers to the number of times the clean floor is beat per unit time.

[0201] The bottom of the roller brush: refers to the space below the roller brush. When the cleaning robot is on a hard ground, the interference fit between the roller brush and the hard ground is a negative value, that is, there is a gap between the roller brush and the hard ground. At this time, the bottom of the roller brush refers to the space formed by the gap below the roller brush; when the cleaning robot is on a soft ground, the interference fit between the roller brush and the soft ground is a positive value. In other words, the roller brush sinks into the inside of the soft ground. At this time, the bottom of the roller brush refers to the internal space of the soft ground.

[0202] Slapping area: refers to the area formed by the part where the roller brush contacts the environmental surface; when the cleaning robot is on a hard ground, the interference fit between the roller brush and the hard ground is a negative value, that is, there is a gap between the roller brush and the hard ground, and the roller brush is not in contact with the hard ground. At this time, the slapping area of ​​the roller brush is 0, or, when the cleaning robot is on a hard ground, the interference fit between the roller brush and the hard ground is 0, that is, the roller brush is just in contact with the hard ground, and the slapping area of ​​the roller brush is a line, the line length is equal to the axial length of the roller brush, and the line width is equal to the thickness of the bristles or rubber strips contacting the hard ground; when the cleaning robot is on a soft ground, the interference fit between the roller brush and the soft ground is a positive value, in other words, the roller brush sinks into the inside of the soft ground. At this time, the roller brush contacts the soft ground and has a width, and the slapping area of ​​the roller brush is a rectangular area, the length of the rectangle is the length of the roller brush in the axial direction; the width of the rectangle is the length of the line connecting the two points where the roller brush contacts the surface of the soft ground in the circumferential direction (circular outer contour).

[0203] As shown in Figures 89 to 102, the present disclosure provides a cleaning robot 100, comprising: a main body 10 having a front end; a moving assembly 2, disposed on the main body, supporting and driving the cleaning robot to move on the environmental surface of the area to be cleaned; a controller (not shown), controlling the cleaning robot to automatically perform cleaning operations on the environmental surface; and a dust collection assembly 1, disposed on the main body, performing cleaning operations on the environmental surface. The dust collection assembly includes a roller brush assembly 220 and a cavity 4 for accommodating the roller brush assembly.

[0204] In one embodiment, the cleaning robot may further include a sensor component 5 to detect the environment and send the information to the controller 3 .

[0205] In order to improve the cleaning efficiency of the cleaning robot, the structure of the dust collection component of the cleaning robot is improved so that the cleaning effect of the cleaning robot can reach a level comparable to that of a handheld vacuum cleaner.

[0206] The applicant has improved the dust collection effect of the cleaning robot. To improve the dust collection effect, in one embodiment, the roller brush assembly includes a first roller brush 2201 and a second roller brush 2202. The first roller brush and the second roller brush are arranged front and back, wherein the first roller brush is close to the front end of the main body;

[0207] The first roller brush beats the environment surface to form a first beating area 100A, and the second roller brush beats the environment surface to form a second beating area 100B.

[0208] The cleaning robot adopts double roller brushes for beating, which increases the number of beating mechanisms and the beating area compared with a single roller brush, thereby improving the dust removal effect.

[0209] Considering that the dust and other garbage beaten up by the double roller brushes may not be completely sucked in, which will also lead to low cleaning efficiency, in order to be able to suck in the dust beaten up by the double roller brushes, the applicant has also improved the dust suction effect so that the dust suction effect is adapted to or matched with the dust-raising effect of the double roller brushes.

[0210] In order to improve the dust collection effect, in one embodiment, by improving the sealing of the dust collection component, the airflow formed by the negative pressure of the dust collection mechanism (such as the dust collection fan 24) can better flow through the required places (such as the places where the garbage is beaten up), such as flowing through the bottom of the roller brush assembly 220, the beating area (100A, 100B) formed by the beating of the roller brush assembly, the inside of the soft ground (such as a full-length carpet with straight fibers and a thickness of straight hair between 5mm-15mm), and even the gaps in the hard ground, etc., to reduce the airflow lost from other places (such as places where the garbage is not beaten up), thereby increasing the effective dust collection energy and reducing the power or energy loss of the dust collection mechanism, thereby improving the dust collection effect.

[0211] Of course, in other embodiments, the dust collection effect can also be improved by directly increasing the suction force of the dust collection mechanism, for example, by using a high-power (power greater than 100W) dust collection fan.

[0212] In one embodiment, the dust collection assembly includes a first baffle 110 located in front of the roller brush assembly and a second baffle 112 located in the rear of the roller brush assembly; both the first baffle and the second baffle have free ends close to the ambient surface.

[0213] The free end of the baffle 109 (eg, collectively referred to as the first baffle and the second baffle) may be the lower end surface of the baffle.

[0214] In the present disclosure, the improvement of sealing is achieved through a baffle, by arranging a first baffle on the front side of the roller brush assembly and a second baffle on the rear side of the roller brush assembly, the free ends of the first baffle and the second baffle are close to the environmental surface, the first baffle seals the front of the roller brush assembly; the second baffle seals the rear of the roller brush assembly, so that the airflow outside the cavity can flow through the place where the environmental surface is beaten by the roller brush, such as flowing through the bottom of the roller brush or the beating area, so as to take away the dust beaten by the roller brush.

[0215] In one embodiment, the sealing degree of the baffle to the cavity can be represented by the distance between the free end of the baffle and the ambient surface.

[0216] Taking into account that the distance between the baffle and the environmental surface of the same cleaning robot is different on different environmental surfaces, such as hard floors and soft floors, and even soft floors of different thicknesses, especially on soft floors, due to its own gravity and the surface characteristics of the soft floor, the cleaning robot (such as the moving component, the dust suction component) will "sink" (meaning that the interference fit between the cleaning robot and the environmental surface is a positive value, for example, the interference fit between the moving component, the dust suction component, etc. and the environmental surface is a positive value), while the cleaning robot (such as the moving component, the dust suction component) usually does not produce such "sinking" on hard floors. In order to improve the reliability of the characterization of the distance between the baffle and the environmental surface, in one embodiment, the degree of sealing of the cavity by the baffle (including the first baffle and the second baffle) can be characterized by the distance between the free end of the baffle and the hard floor.

[0217] In one embodiment, when the cleaning robot is on a hard floor 2A, the minimum distance between the free end of the first baffle and the hard floor (or the plane formed by the moving components of the cleaning robot (such as two drive wheels 21 and one universal wheel 22)) is a first distance 1A, and the minimum distance between the free end of the second baffle and the hard floor is a second distance 1B; wherein the first distance is less than 5 mm and the second distance is less than 5 mm.

[0218] By setting the distance between the baffle and the hard ground to be smaller, the airflow outside the cavity can flow into the cavity close to the surface of the hard ground, which is conducive to taking away the garbage brought up by the roller brush.

[0219] It should be noted that, considering that the baffle can be in various shapes, for example, the free end of the baffle (the lower end face of the baffle) can be a horizontal line along the axial direction of the roller brush (as shown in Figure 93), or a straight line inclined at a certain angle to the horizontal plane (as shown in Figure 94), or even a wavy shape (as shown in Figure 95), a tooth shape (as shown in Figure 96, a pulse shape as shown in Figure 97), a combination of a wavy shape and a tooth shape, etc., the distance between the free end of the baffle and the hard ground may not be the same, so the minimum distance is used to describe it, and the minimum distance can also indicate the distance when the baffle is in the near-ground mode; similarly, the distance between the free end of the baffle and the lowest position point of the roller brush below is also described as the minimum distance.

[0220] Of course, fitting, smoothing and other processing can also be performed on baffles of different shapes. For example, the free end of the baffle can be equivalent to a horizontal straight line to represent the sealing degree of the baffle.

[0221] Among them, the first baffle makes the first airflow (also called the front airflow, 1F) close to the surface of the hard ground, which is conducive to taking away the garbage kicked up by the first roller brush; the second baffle makes the second airflow (also called the rear airflow, 2F) close to the surface of the hard ground, which is conducive to taking away the garbage kicked up by the second roller brush.

[0222] In this way, the first baffle cooperates with the first roller brush, for example, the first baffle guides the first airflow to cooperate with the first roller brush, so that the first airflow flows through the first baffle, the bottom of the first roller brush or the first beating area of ​​the first roller brush; the first baffle cooperates with the first roller brush, for example, the second baffle guides the second airflow to cooperate with the second roller brush, for example, the second airflow flows from under the second baffle, through the bottom of the second roller brush or the second beating area of ​​the second roller brush.

[0223] In order to make the first airflow and the second airflow equivalent, for example, to control the difference between the first airflow and the second airflow within a certain range, in one embodiment, it is possible to consider setting the first distance and the second distance to be approximately the same, or to make the difference between the first distance and the second distance within a predetermined range.

[0224] In one embodiment, when the cleaning robot is on a hard surface, the difference between the first distance and the second distance is within 3 mm. Furthermore, the difference between the first distance and the second distance is within 0-2 mm. Furthermore, the difference between the first distance and the second distance is within 0-1.5 mm.

[0225] Considering that the baffle can be of various shapes, in one embodiment, the sealing degree of the baffle can be characterized by the area of ​​the opening between the baffle and the hard ground.

[0226] To characterize the sealing degree of the cavity by baffles of different shapes, in one embodiment, the area of ​​the opening formed by the baffle and the hard floor can be used for characterization. For example, when the cleaning robot is on a hard floor, the first opening formed by the free end of the first baffle and the hard floor has a first area, and the second opening formed by the free end of the second baffle and the hard floor has a second area, wherein the ratio of the first area to the second area is within the range of 0.7-1.3; further, the ratio of the first area to the second area is within the range of 0.8-1.2. Even more preferably, the ratio of the first area to the second area is within the range of 0.9-1.1.

[0227] For example, when the free end of the baffle is tooth-shaped, the baffle is located on a hard ground, and the end face of the tooth-shaped free end of the baffle and the hard ground form a first opening portion, and the area of ​​the first opening portion is equal to the sum of the area of ​​the tooth shape and the area of ​​the opening formed by the line connecting the end points of the lower surface of the tooth shape and the hard ground.

[0228] It is understandable that the free end of the baffle may have a partial tooth shape or the like, and the calculation of the area of ​​the opening formed by the free end and the hard ground is similar to the above, and will not be elaborated on here.

[0229] The shape of the baffle is taken into consideration here. By making the sealing degree of the front and rear baffles to the cavity basically the same, the airflows entering the cavity from both sides are close, reducing the difference between the front and rear airflows.

[0230] Considering that the baffle, especially near the free end, may also be provided with an opening, the hole may be elliptical or triangular, as shown in Figures 98 and 99, or of course other shapes. In order to characterize the sealing degree of the cavity by baffles of different shapes and with openings, in one embodiment, the area of ​​the opening formed by the baffle and the hard floor can be combined with the area of ​​the opening to characterize. For example, when the first baffle is provided with a first hole, when the cleaning robot is on a hard floor, the first opening formed by the free end of the first baffle and the hard floor has a first area, and the second opening formed by the free end of the second baffle and the hard floor has a second area, wherein the ratio of the sum of the first area and the area of ​​the first hole to the second area is within the range of 0.7-1.3; further, the ratio of the sum of the first area and the area of ​​the first hole to the second area is within the range of 0.8-1.2. Furthermore, the ratio of the sum of the first area and the area of ​​the first hole to the second area is within the range of 0.9-1.1.

[0231] It is understandable that when a second hole is provided on the second baffle, the area of ​​the second hole needs to be taken into consideration, for example, the ratio of the sum of the first area and the area of ​​the first hole and the sum of the second area and the area of ​​the second hole is in the range of 0.7-1.3.

[0232] Here, the effects of the openings on the baffle and the shape of the baffle on the sealing degree of the cavity are taken into consideration. By making the sealing degree of the front and rear baffles to the cavity basically the same, the airflows entering the cavity from both sides are close or equivalent, reducing the difference between the front and rear airflows.

[0233] By limiting the first distance and the second distance to be very small, for example, the first distance is less than 5mm, and the second distance is less than 5mm; limiting the difference between the first distance and the second distance to be smaller, for example, the difference between the first distance and the second distance is within 3mm; limiting the opening area of ​​the front and rear baffles and the environmental surface to be close, so that when the first roller brush beats the environmental surface to form a first beating area, and the second roller brush beats the environmental surface to form a second beating area, the first airflow flows from the outside of the cavity through the first beating area to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the second beating area to the dust inlet.

[0234] The dust inlet can be connected to a dust suction fan that generates negative pressure.

[0235] In one embodiment, the area of ​​the leakage range caused by the shape of the baffle or the opening can also be used to characterize the degree of sealing. Here, the gaps for gas flow caused by the shape of the baffle, the opening, etc. are called leakage holes. For example, the area of ​​the leakage holes of the baffle is controlled within 30% of the area of ​​the entire baffle. In one embodiment, the area of ​​the leakage holes of at least one of the front and rear baffles is within 30% of the total area of ​​the baffle, so that the airflow difference between the front and rear baffles is controlled within a certain range, so that the front and rear airflows are close or equivalent.

[0236] In one embodiment, the first distance is greater than or equal to the second distance, for example, the value of the first distance minus the second distance is 0-3 mm; further, the value range of the first distance minus the second distance is 0-2 mm; further, the value range of the first distance minus the second distance is 0-1.5 mm.

[0237] In one embodiment, the first distance is equal to the second distance.

[0238] It should be noted that when the first distance is equal to the second distance, the flow rates of the first airflow and the second airflow are substantially the same.

[0239] In one embodiment, the first distance is greater than the second distance.

[0240] In one embodiment, the value range of the first distance is 3-4 mm. When the cleaning robot is on a hard ground, the setting of the first distance can allow garbage with a size of 2-3 mm (also known as small particles) to pass through, thereby improving the collection effect of garbage and thus improving the cleaning efficiency of the hard ground.

[0241] In one embodiment, the second distance has a value range of 1-2 mm, which can ensure the sealing of the rear portion of the cavity, so that the second airflow can better flow through the bottom of the second roller brush or the second beating area.

[0242] In one embodiment, when the cleaning robot is on a soft ground, the first airflow and the second airflow can flow through the surface of the soft ground or even the inside of the soft ground in a concentrated manner; wherein, concentrated means as follows: the airflow is increased compared to when the cleaning robot is not provided with a baffle (or the baffle described below is in an open state), that is, when the cleaning robot is on a soft ground, the airflow volume of the first airflow and the second airflow flowing through the surface of the soft ground or even the inside of the soft ground is increased.

[0243] Due to the above-mentioned "sinking" effect, when the cleaning robot is on the soft ground, the distance between the baffle and the soft ground is further reduced compared to the case where the cleaning robot is on the hard ground, and the sealing is further improved, so that the airflow outside the cavity is closer to the surface of the soft ground and can even flow into the cavity through the inside of the soft ground, cooperating with the roller brush assembly in the cavity, thereby achieving a better effect of taking away the garbage knocked up by the roller brush; that is, the cleaning efficiency of the cleaning robot on the soft ground is greater than the cleaning efficiency of the cleaning robot on the hard ground.

[0244] It should be noted that when cleaning hard floors, the cleaning robot with improved sealing can achieve a certain improvement in cleaning efficiency (for example, an increase of about 5%) compared to the cleaning robot without improved sealing, and when cleaning soft floors, the cleaning robot can achieve a significant improvement in cleaning efficiency (for example, an increase of about 25%) compared to the cleaning robot without improved sealing.

[0245] In one embodiment, for certain soft floors, such as carpets, which have channels for air circulation inside (gaps between carpet hairs), when the cleaning robot is on the soft floor with an interior for air to pass through, the first airflow and the second airflow can flow concentratedly through the surface and even the interior of the soft floor to achieve better cleaning effects.

[0246] Compared with hard floors, for carpets, the distance between the free end of the first baffle and the free end of the second baffle and the surface to be cleaned is further reduced, and the sealing is improved, so that the first airflow and the second airflow can flow through the surface and even the interior of the carpet in a concentrated manner; that is, compared with existing cleaning robots, when the cleaning robot is on the carpet, the airflow flowing through the surface or interior of the carpet increases, which is conducive to improving the cleaning effect of the carpet.

[0247] In one embodiment, for a carpet whose pile is straight (for example, the free end of the pile is vertically upward when produced) and whose pile length is greater than a certain length (preset length), when the cleaning robot is on the carpet, the free end of the first baffle and the free end of the second baffle can contact the surface of the carpet, so that the first airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet; the ratio of the first airflow to the second airflow is greater than or equal to 0.7 and less than or equal to 1.3.

[0248] For baffles of different shapes, even with openings, on a certain carpet, the free end of the baffle can contact the carpet and meet the preset sealing degree, so that the first airflow is equivalent to the second airflow.

[0249] In one embodiment, the pile length of the carpet is greater than or equal to 5 mm and less than or equal to 15 mm.

[0250] In one embodiment, the pile length of the carpet is greater than or equal to 5 mm and less than or equal to 10 mm.

[0251] In one embodiment, the pile length of the carpet is greater than or equal to 5 mm and less than or equal to 8 mm.

[0252] For example, when the cleaning robot is on a wall-to-wall carpet with a pile length of 10 mm or more, the first airflow and the second airflow flow centrally through the interior of the wall-to-wall carpet to clean the interior of the wall-to-wall carpet.

[0253] It is understandable that for a wall-to-wall carpet with a straight pile (pile) length equal to 4.5 mm, since carpets usually have a pad (for example, 1 mm) for setting the pile, the thickness of the wall-to-wall carpet with a pile length of 4.5 mm will be greater than 5 mm. However, since the pile length is not greater than 5 mm, even if the total thickness meets the requirements, a carpet whose pile length does not meet the above requirements does not fall into the category of carpets that meet the above conditions.

[0254] Among them, when the cleaning robot is on a wall-to-wall carpet, the distance between the free end of the first baffle and the free end of the second baffle and the surface to be cleaned is further reduced, and even the free end of the first baffle and the free end of the second baffle can contact the surface of the wall-to-wall carpet, so that the first airflow and the second airflow can flow through the interior of the wall-to-wall carpet in a concentrated manner; that is, compared with existing cleaning robots, when the cleaning robot is on a wall-to-wall carpet, the airflow flowing through the interior of the wall-to-wall carpet increases.

[0255] In addition, the roller brush assembly "sinks" into the wall-to-wall carpet, so that the lowest points of the bottoms of the first roller brush and the second roller brush are inside the wall-to-wall carpet. The first roller brush and the second roller brush can slap the inside of the wall-to-wall carpet to pick up garbage in the gaps between the carpet pile. The first airflow can take away the garbage picked up by the first roller brush, and the second airflow can take away the garbage picked up by the second roller brush, thereby greatly improving the cleaning effect on the wall-to-wall carpet.

[0256] In one embodiment, the cleaning robot includes a dust suction fan for generating negative pressure;

[0257] When the cleaning robot is on a carpet and the free ends of the first baffle and the second baffle are in contact with the carpet, the flow rate of the airflow flowing through the carpet accounts for 70% or more of the flow rate flowing out of the dust inlet.

[0258] The flow rate of the airflow out of the dust inlet can be measured at the dust inlet or at the suction side of the dust suction fan (connected to the dust inlet);

[0259] In one embodiment, the flow rate of the airflow flowing through the interior of the carpet can be measured at the dust inlet after sealing the passage between the baffle and the roller brush or even the space between the roller brush heads.

[0260] It should be noted that the negative pressure can be used to generate an airflow for sucking garbage from the surface of the environment.

[0261] Due to the improved sealing, especially when the cleaning robot is on the carpet and the free end of the first baffle and the free end of the second baffle are in contact with the carpet, that is, the distance between the first baffle and the second baffle and the surface of the standard test carpet is basically equal to 0, or even less than 0, where less than 0 means that the baffles extend into the interior of the standard test carpet, so that the airflow formed by the negative pressure of the dust suction fan flows through the interior of the carpet in a concentrated manner. The degree of concentrated airflow through the carpet can be characterized by a proportion, for example, the flow rate of the airflow flowing through the interior of the standard test carpet accounts for more than 70% of the flow rate of the airflow on the suction side of the dust suction fan.

[0262] As for other soft floors, if the hardness of the carpet is higher than a certain set value (for example, close to the hardness of the floor) or the length of the carpet is much shorter than a certain length, such as a 2mm carpet, the airflow may not be able to circulate through the inside. Therefore, when the cleaning robot is on this type of soft floor, the first airflow and the second airflow can also flow through the surface of this type of soft floor in a concentrated manner, which can also improve the cleaning effect of this type of soft floor.

[0263] In one embodiment, the first distance is less than the length of a line 1C formed by the lowest point of the first roller brush and the lowest point of the second roller brush.

[0264] The second distance is less than the length of a line formed by the lowest position point of the first roller brush and the lowest position point of the second roller brush.

[0265] The distance between the baffle and the ambient surface is small, and the opening formed by the small distance generates a first resistance to the airflow, and a second resistance to the airflow is generated inside the carpet with a certain pile length (for example, a straight-haired carpet with a pile length of 3-5 mm), wherein the first resistance is equivalent to the second resistance, for example, the ratio of the second resistance to the first resistance is between 0.8-1.2, at this time, when the cleaning robot is on a soft ground, especially for the carpet with a certain pile length, the airflow can flow through the inside of the carpet in a concentrated manner; and the distance between the lowest position points of the outer contours of the first roller brush and the second roller brush is large, and the opening formed by the larger distance generates a third resistance to the airflow, wherein the third resistance is equivalent to the second resistance, for example, the third resistance is less than or equal to the second resistance, so that when the cleaning robot is on a soft ground, especially for the carpet with a certain pile length, the airflow can flow out from the space between the first roller brush and the second roller brush.

[0266] In order to better coordinate the airflow with the slapping action of the roller brush, the airflow is directed to where it is needed (for example, the airflow is directed to the bottom / slapping area of ​​the roller brush) to avoid the airflow from where it is not needed (for example, the bottom / slapping area that is not brushed by the roller, but from the side gap / space / channel formed by the baffle and the outer contour of the roller brush) to improve the utilization rate of the airflow; in one embodiment, the free end of the baffle can be extended to near the bottom of the roller brush or the slapping area formed by the roller brush; or, when the roller brush contacts the ambient surface, the baffle is extended to the position of the roller brush close to where the roller brush contacts the ambient surface.

[0267] Therefore, in one embodiment, the extent of the baffle extension can be characterized by the distance between the free end of the baffle and the lowest point of the adjacent roller brush;

[0268] For example, the minimum distance between the free end 110A of the first baffle and the lowest point 2201A of the first roller brush is a third distance M1, wherein the third distance is less than 15 mm, and the first airflow is directed to the bottom of the first roller brush;

[0269] The minimum distance between the free end 112A of the second baffle and the lowest point 2202A of the second rolling brush is a fourth distance M2, wherein the fourth distance is less than 15 mm, and the second airflow is directed to the bottom of the second rolling brush.

[0270] Furthermore, the minimum distance between the free end of the first baffle and the lowest point of the first roller brush is a third distance, wherein the third distance is less than 12 mm, and the first airflow is directed to the bottom of the first roller brush;

[0271] The minimum distance between the free end of the second baffle and the lowest point of the second roller brush is a fourth distance, wherein the fourth distance is less than 12 mm, and the second airflow is directed to the bottom of the second roller brush.

[0272] For ease of understanding, when the distance between the centers of the front and rear roller brushes is 35.5mm (the roller brush radius is approximately 17.25mm) and the reserved spacing between the two roller brushes is 1mm (to prevent the two roller brushes from interfering with each other), when the lowest end of the front baffle is 2mm from the ground, the distance between the lowest end and the lowest point where the front roller brush contacts the ground is approximately 11.76mm; when the lowest end of the rear baffle is 1mm from the ground, the distance between the lowest end and the lowest point where the rear roller brush contacts the ground is approximately 10.1mm.

[0273] By extending the first baffle to the lowest point near the first roller brush, the first airflow is guided to the bottom of the first roller brush, so that the first airflow and the flapping of the first roller brush are better coordinated; further, the second baffle is extended to the lowest point near the second roller brush, and the second airflow is guided to the bottom of the second roller brush, so that the second airflow and the flapping of the second roller brush are better coordinated, thereby improving the cleaning effect on the environmental surface.

[0274] In one embodiment, the free end 110A of the first baffle is a third distance M1 away from the lowest point 2201A of the first roller brush, wherein the third distance is less than 15 mm, and the first airflow is directed to the first beating area of ​​the first roller brush;

[0275] The free end 112A of the second baffle is at a fourth distance M2 from the lowest point 2202A of the second roller brush, wherein the fourth distance is less than 15 mm, and the second airflow is directed to the second beating area of ​​the second roller brush.

[0276] Furthermore, the free end of the first baffle is at a third distance from the lowest point of the first roller brush, wherein the third distance is less than 12 mm, and the first airflow is directed to the first beating area of ​​the first roller brush;

[0277] The free end of the second baffle is at a fourth distance from the lowest point of the second roller brush, wherein the fourth distance is less than 12 mm, and the second airflow is directed to the second beating area of ​​the second roller brush. Similarly, by setting the baffle close to the beating area, the airflow is directed to the beating area of ​​the roller brush, so that the airflow carrying garbage can cooperate more directly with the beating action of the roller brush, which is beneficial to improving the cleaning efficiency of the environmental surface.

[0278] It should be noted that by placing the baffle close to the lowest point of the roller brush, when the cleaning robot is on a soft floor, especially for carpets with a certain pile length, the air flow can flow through the inside of the carpet, greatly improving the cleaning effect of the carpet.

[0279] The lowest position point of the roller brush is the lowest point on the outer contour of the roller brush when the cleaning robot is on the surface of the environment.

[0280] In one embodiment, the length of the line connecting the free end of the first baffle and the lowest point of the first roller brush is smaller than the distance between the lowest point of the first roller brush and the lowest point of the second roller brush.

[0281] The distance between the free end of the first baffle and the lowest point of the first roller brush is small. On the one hand, the first airflow can be guided to the needed place. On the other hand, the resistance of the opening formed by the distance between the free end of the first baffle and the lowest point of the first roller brush to the airflow is equivalent to the resistance of the internal channel of a carpet with a certain pile length (for example, a carpet with a pile length of 3-4mm) to the airflow, which enables the first airflow to flow through the inside of the carpet; that is, the distance between the free end of the first baffle and the lowest point of the first roller brush is made smaller, so that when the cleaning robot is on a soft ground, especially when the cleaning robot is on a certain pile length, the first airflow can be better guided to the bottom of the first roller brush or the first beating area, and the first airflow is also easier to flow through the inside of the carpet; and the distance between the lowest point of the first roller brush and the lowest point of the second roller brush is large, and the resistance of the opening formed by the lowest point of the first roller brush and the second roller brush to the airflow is less than or equal to the resistance of the carpet to the airflow, so that the airflow flowing through the inside of the carpet can flow out from the space between the first roller brush and the second roller brush and flow to the dust box of the cleaning robot.

[0282] In one embodiment, the length of the line connecting the free end of the second baffle and the lowest point of the second roller brush is smaller than the distance between the lowest point of the first roller brush and the lowest point of the second roller brush.

[0283] Similarly, the distance between the second baffle and the lowest point of the second roller brush is small, while the distance between the lowest point of the first roller brush and the lowest point of the second roller brush is large, so that when the cleaning robot is on a soft ground, especially a carpet with a certain length of pile, the second airflow can be more smoothly guided to the bottom of the second roller brush or the second beating area, and the second airflow can more easily flow through the inside of the carpet and out from the space between the first roller brush and the second roller brush, and finally flow into the dust box of the cleaning robot.

[0284] In one embodiment, the extent of baffle extension can also be characterized by the horizontal distance between the free end of the baffle and the outer contour of the adjacent roller brush (for example, the distance from the free end of the baffle to a point on the outer contour of the roller brush that is in the same horizontal plane as the free end and is closest to the free end).

[0285] Taking into account the issue of how the baffle extends, in one embodiment, the first baffle has at least one midpoint different from the free end of the first baffle, wherein the distance between the midpoint and the lowest position of the first roller brush is greater than the third distance, and the projection of the midpoint on the horizontal plane and the line connecting the free end points to the lowest position of the first roller brush.

[0286] By setting the baffle as a non-vertically extending baffle, when the cleaning robot encounters an obstacle and needs to cross the obstacle, the baffle can also lift the roller brush, which can play a certain role in assisting in crossing the obstacle.

[0287] In one embodiment, the first baffle has a non-free end portion, wherein the non-free end portion refers to other portions of the baffle that are farther from the ground than the free end;

[0288] The horizontal distance between the free end of the first baffle and the first roller brush (corresponding to the first horizontal distance below) is less than or equal to the horizontal distance between the non-free end of the first baffle and the first roller brush;

[0289] The horizontal distance between the free end of the second baffle and the second roller brush (corresponding to the second horizontal distance below) is less than or equal to the horizontal distance between the non-free end of the second baffle and the second roller brush;

[0290] In one embodiment, the first baffle is arc-shaped and extends toward the first roller brush; the second baffle is arc-shaped and extends toward the second roller brush.

[0291] By setting the baffle in an arc shape, the baffle fits the shape of the roller brush more closely, so that the baffle can smoothly transition and extend to the roller brush, which on the one hand makes the airflow guidance smoother, and on the other hand, better adapts to the obstacle crossing scenario; wherein, the first baffle smoothly extends toward the first roller brush, and the second baffle smoothly extends toward the second roller brush.

[0292] Of course, in other embodiments, the first baffle and the second baffle may also be configured to be non-arc-shaped, such as step-shaped.

[0293] In order to reduce the flow of gas from unnecessary places, for example, to reduce the flow of air from the channel between the first baffle and the first roller brush; in one embodiment, the size of the opening between the baffle and the adjacent roller brush can be characterized by the horizontal distance between the free end of the baffle and the outer contour of the adjacent roller brush;

[0294] For example, the free end of the first baffle is spaced apart from the outer contour of the first roller brush by a first horizontal distance N1, and the first horizontal distance is less than or equal to 5 mm;

[0295] In order to reduce the airflow from the channel between the second baffle and the second roller brush, in one embodiment, the free end of the second baffle is spaced apart from the second roller brush by a second horizontal distance N2, and the second horizontal distance is less than or equal to 5 mm.

[0296] Furthermore, the free end of the first baffle is at a first horizontal distance from the outer contour of the first roller brush, and the first horizontal distance is less than or equal to 4 mm; the free end of the second baffle is at a second horizontal distance from the second roller brush, and the second horizontal distance is less than or equal to 4 mm; further, the first horizontal distance is less than or equal to 3 mm; the free end of the second baffle is at a second horizontal distance from the second roller brush, and the second horizontal distance is less than or equal to 3 mm.

[0297] It should be noted that, in order to avoid wear, the free end of the baffle cannot come into contact with the outer contour of the adjacent roller brush. Therefore, in one embodiment, the first horizontal distance and the second horizontal distance are greater than 0.

[0298] In one embodiment, the size of the opening between the baffle and the adjacent roller brush can be characterized by the minimum distance between the free end of the baffle and the outer contour of the adjacent roller brush; the minimum distance here refers to the minimum value of the distance between the point on the free end and the center of the roller brush minus the radius of the roller brush.

[0299] For example, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is the fifth distance Y1, which is less than or equal to 4 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is the sixth distance Y2, which is less than or equal to 4 mm.

[0300] Furthermore, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is less than or equal to 3 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is less than or equal to 3 mm; further, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is less than or equal to 2 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is less than or equal to 2 mm.

[0301] It should be noted that in order to avoid wear, the free end of the baffle cannot come into contact with the outer contour of the adjacent roller brush. Therefore, in one embodiment, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush and the minimum distance between the free end of the second baffle and the outer contour of the second roller brush are greater than 0.

[0302] By making the openings on both sides smaller, the airflow flowing in from the openings on both sides is reduced, so that more airflow can flow through the bottom / flapping area of ​​the roller brush; at the same time, interference between the roller brush and the baffle is avoided, preventing wear from affecting the life of the components.

[0303] Specifically, taking the horizontal distance as an example to represent the size of the opening, the first horizontal distance between the free end of the first baffle and the first roller brush is reduced to reduce the first airflow flowing into the opening formed by the first horizontal distance, so that more airflow flows to the bottom of the first roller brush or the first beating area;

[0304] The second horizontal distance between the free end of the second baffle and the outer contour of the second roller brush is made smaller to reduce the second airflow flowing into the opening formed by the second horizontal distance, so that more airflow flows through the bottom of the second roller brush or the second beating area.

[0305] In one embodiment, when the first roller brush and the second roller brush rotate in opposite and facing directions, the first airflow flows from the outside of the cavity, from under the first baffle, through the bottom of the first roller brush to the space between the first roller brush and the second roller brush, and the second airflow flows from the outside of the cavity, from under the second baffle, through the bottom of the second roller brush to the space between the first roller brush and the second roller brush.

[0306] The double roller brushes adopt opposite-direction flapping. On the one hand, by flapping from two opposite and facing directions, the gaps in the hard floor, the garbage between the carpet pile or deep in the carpet can be lifted up, which is beneficial to improve the dust removal effect; on the other hand, the double roller brushes have a stirring effect on the airflow when rotating, and the stirring effect is better than that of a single roller brush, because the airflow on one side of the single roller brush must be promoted, and the airflow on the other side cannot be effectively utilized (it cannot flow through the bottom of the roller brush, but flows directly away from the channel between the roller brush bracket and the roller brush profile and is lost). The double roller brushes rotate in two opposite and facing directions. Both sides of the component are conducive to promoting the flow of airflow. For example, after the first airflow cooperates with the first roller brush (bottom or slapping area), after the second airflow cooperates with the second roller brush (bottom or slapping area), the first airflow and the second airflow are promoted to flow concentratedly into the space between the two roller brushes; in other words, when the first roller brush and the second roller brush rotate in opposite and facing directions, the first airflow flows from the outside of the cavity, from under the first baffle, through the bottom of the first roller brush, to the space between the first roller brush and the second roller brush, and the second airflow flows from the outside of the cavity, from under the second baffle, through the bottom of the second roller brush, to the space between the first roller brush and the second roller brush.

[0307] In one embodiment, the cavity has a dust inlet 14 connected to a dust suction fan;

[0308] The first roller brush rotates along a first direction, and the second roller brush rotates along a second direction, where the second direction is opposite to and facing the first direction; for example, the first direction is counterclockwise, and the second direction is clockwise.

[0309] The free end of the first baffle is at a first horizontal distance from the first roller brush, forming a first inlet for airflow, and the first direction obstructs airflow flowing through the first inlet along the space 14A between the outer contour of the first roller brush and the first baffle toward the dust inlet of the cavity;

[0310] The free end of the second baffle is at a second horizontal distance from the second roller brush, forming a second opening for airflow to enter, and the second direction hinders the airflow flowing toward the dust inlet through the second opening along the space 14B between the outer contour of the second roller brush and the first baffle.

[0311] Compared with a single roller brush, the double roller brushes have a stronger stirring effect on the air when rotating in opposite directions. In addition to promoting airflow from where it is needed (such as promoting the airflow on both sides to flow through the bottom / beating area of ​​the first roller brush and the second roller brush respectively, and then gathering to flow to the space between the double roller brushes), the rotation direction of the double roller brushes can also prevent airflow from flowing from where it is not needed, such as preventing airflow from flowing through the channel between the baffle and the roller brush on both sides (for example, airflow flowing through the first inlet along the space between the outer contour of the first roller brush and the first baffle to the dust inlet of the cavity, and airflow flowing through the second opening along the space between the outer contour of the second roller brush and the first baffle to the dust inlet of the cavity).

[0312] In one embodiment, the dual roller brushes are driven by a common roller brush motor, and the power of the roller brush motor ranges from 20W to 40W.

[0313] In this cleaning robot, the power of the roller brush motor of the double roller brush (for example, 25-35W) is higher than that of the single roller brush (10-20W), so that the number of beats per unit time is increased, thereby improving the dust removal effect.

[0314] In order to reduce the adverse effects of airflow suction on the baffle, such as causing the baffle to deform and affecting the sealing, in one embodiment, the hardness of the material of at least one of the first baffle and the second baffle is greater than or equal to 80HA.

[0315] In one embodiment, the hardness of the material of the first baffle is greater than or equal to 80HA; further, the hardness of the material of the second baffle is greater than or equal to 80HA.

[0316] By making the hardness of the materials of the first baffle and the second baffle greater than or equal to 80HA, the baffles can match the suction force after sealing and are not easily deformed.

[0317] Taking into account the presence of some large-sized garbage 01 (such as large particles and clumps of hair) on the surface of the environment with a large size (for example, a size greater than the first distance and smaller than a certain threshold to distinguish it from obstacles), in order to take into account the cleaning of large particles, clumps of hair (for example, 5mm-20mm) and other garbage, at least one of the first baffle and the second baffle is set to be movable.

[0318] It should be pointed out that, when the first baffle or the second baffle is movable, the above-mentioned sealing degree and the effect achieved are achieved when the first baffle or the second baffle is in the near-ground mode. For example, the first baffle is movable and has an open state and a closed state. The above-mentioned sealing degree can only be achieved in the near-ground mode when the first baffle is in the closed state, such as when the first roller brush and the second roller brush rotate in opposite and facing directions, the first airflow flows from the outside of the cavity, from under the first baffle, through the bottom of the first roller brush to the space between the first roller brush and the second roller brush, and the second airflow flows from the outside of the cavity, from under the second baffle, through the bottom of the second roller brush to the space between the first roller brush and the second roller brush, or, the first roller brush is rotated in the opposite and facing directions. The environmental surface is slapped to form a first slapping area, and when the second roller brush slaps the environmental surface to form a second slapping area, the first airflow flows from the outside of the cavity through the first slapping area to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the second slapping area to the dust inlet; for example, in a scenario where the cleaning robot is on a carpet with a thickness greater than a certain thickness, the free end of the second baffle is in contact with the carpet, and when the first baffle is in a closed state, the free end of the first baffle is in contact with the carpet (reaching a corresponding degree of sealing), so that the first airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet; the ratio of the first airflow to the second airflow is greater than or equal to 0.7 and less than or equal to 1.3.

[0319] It is understandable that when the second baffle is movable, the sealing effect mentioned above can only be achieved when the second baffle is in the near-ground mode, which will not be elaborated here.

[0320] Since the cleaning robot usually moves forward (with the front end of the main body facing forward), in one embodiment, the first baffle is movable to adjust the distance between the free end of the first baffle and the hard ground, so that the first baffle has a closed state and an open state;

[0321] When the first baffle is in the closed state, the free end of the first baffle is at a first distance from the hard ground surface. Taking into account factors such as the shape of the baffle, the first distance refers to the minimum distance when the first baffle is in the near-ground mode.

[0322] When the first baffle is in the open state, the free end of the first baffle is at a second distance from the hard ground. This second distance is greater than the first distance. It should be noted that, considering factors such as the shape of the baffle, the second distance is the minimum distance when the first baffle is in a non-near-ground mode (e.g., far-ground mode).

[0323] By setting the first baffle to be movable, the first baffle has an open state and a closed state; when the first baffle is in the closed state, the cleaning robot can clean with higher cleaning efficiency; when the first baffle is in the open state, the cleaning robot can absorb large particles and clumps of hair (also known as hair clumps) in front.

[0324] That is to say, when the cleaning robot recognizes a clump of hair, the baffle is in an open state; for example, the first baffle is movable, and when the cleaning robot recognizes a clump of hair, the first baffle is opened to clean the clump of hair.

[0325] In one embodiment, the second baffle is also movable to adjust the distance between the free end of the second baffle and the hard ground, so that the second baffle has a closed state and an open state;

[0326] The second baffle has a closed state and an open state;

[0327] When the second baffle is in a closed state, the distance between the free end of the second baffle and the hard ground is a second distance. When the second baffle is in an open state, the distance between the free end of the second baffle and the hard ground is greater than the second distance.

[0328] Similarly, when the second baffle is movable and large particles or clumped hair near the second baffle need to be cleaned, the second baffle is opened.

[0329] It should be noted that, since the second baffle is disposed at the rear end of the main body, usually, the second baffle is in a closed state to improve the sealing effect of the cavity.

[0330] In one embodiment, the dust collection assembly includes a housing, and the housing includes a first roller brush support portion at least partially covering the first roller brush.

[0331] In one embodiment, the housing further includes a second roller brush support portion at least partially covering the second roller brush.

[0332] In one embodiment, the shell includes a first roller brush holder portion that at least partially covers the first roller brush and a second baffle that at least partially covers the second roller brush, the first roller brush holder portion extends from the dust suction port along the outer contour of the first roller brush to one end away from the environmental surface; the second baffle extends from the dust suction port along the outer contour of the second roller brush to one end away from the environmental surface; at least one of the first roller brush holder portion and the second baffle is non-arc-shaped, and the distance between the non-arc-shaped roller brush holder portion in the first roller brush holder portion and the second baffle and the outer contour of the roller brush varies between 1-4 mm.

[0333] It should be noted that the dust collection assembly has a shell, and the first baffle and the second baffle can be part of the shell, or can be additional components independent of the shell.

[0334] In one embodiment, a dust inlet 14 is provided at the upper portion of the housing.

[0335] For example, referring to Figures 100 and 101, the shell includes a first roller brush holder portion 230A and a second roller brush holder portion 230B, and the first baffle 110 is arranged independently of the shell, for example, it can be arranged on the first roller brush holder portion 230A, or it can be arranged on the main body of the cleaning robot; the second baffle 112 is a part of the second roller brush holder portion 230B (for example, the part at the lower end of the second roller brush holder portion that acts as a seal); at this time, the first baffle, the first roller brush holder portion, and the second roller brush holder portion are arranged to form a cavity.

[0336] For another example, referring to Figure 102, the shell includes a first roller brush holder portion 230A and a second roller brush holder portion 230B, and the second baffle 112 is arranged independently of the shell, for example, it can be arranged on the second roller brush holder portion 230B, or it can be arranged on the main body of the cleaning robot; the first baffle 110 is a part of the first roller brush holder portion 230A (for example, the part at the lower end of the first roller brush holder portion that acts as a seal); at this time, the first baffle, the first roller brush holder portion, and the second roller brush holder portion are arranged to form a cavity.

[0337] For another example, referring to Figure 103, the shell includes a first roller brush bracket portion 230A and a second roller brush bracket portion 230B, the first baffle 110 is a part of the first roller brush bracket portion 230A (for example, the part at the lower end of the first roller brush bracket portion that acts as a seal); the second baffle 112 is a part of the second roller brush bracket portion 230B (for example, the part at the lower end of the second roller brush bracket portion that acts as a seal); at this time, the first roller brush bracket portion and the second roller brush bracket portion are surrounded to form a cavity.

[0338] For another example, referring to Figure 104, the shell includes a first roller brush holder portion 230A and a second roller brush holder portion 230B, and the first baffle 110 is independently arranged from the shell, for example, it can be arranged on the first roller brush holder portion 230A, or it can be arranged on the main body of the cleaning robot; the second baffle 112 is independently arranged from the shell, for example, it can be arranged on the second roller brush holder portion 230B, or it can be arranged on the main body of the cleaning robot; at this time, the first baffle, the first roller brush holder portion, the second roller brush holder portion and the second baffle are arranged to form a cavity.

[0339] In one embodiment, the housing may further include a roller brush cover, as shown in FIG66 , where the roller brush bracket and the roller brush cover are detachably connected to facilitate maintenance of the roller brush assembly.

[0340] In one embodiment, the shell includes an upper shell (also called an upper bracket) and a lower shell (also called a roller brush cover, lower bracket), wherein the upper shell and the lower shell together constitute a roller brush bracket, that is, the roller brush bracket may include a roller brush cover for covering the roller brush assembly; further, the roller brush bracket includes a first roller brush bracket portion for at least partially covering the first roller brush and a second roller brush bracket portion for at least partially covering the second roller brush, wherein the first roller brush bracket portion includes the upper shell and the front half of the lower shell, and the second roller brush bracket portion includes the upper shell and the rear half of the lower shell.

[0341] In one embodiment, a dust inlet 14 communicating with the dust suction fan may be formed on the upper shell.

[0342] In one embodiment, the first baffle is movably disposed on the first roller brush support portion to shield the first roller brush.

[0343] By arranging the first baffle independently from the shell, the first baffle can be easily controlled to take into account both the cleaning of large particles and the tightness of the cavity, while reducing the impact of the opening and closing of the first baffle on the entire shell structure.

[0344] It should be noted that the first baffle can be arranged on the outside of the first roller brush bracket portion, and can also be arranged on the inside of the first roller brush bracket portion (that is, the first baffle can be arranged between the first roller brush and the first roller brush bracket portion).

[0345] In order to ensure sealing, avoid mutual interference between components, and make full use of the internal space of the equipment, the gap between the first roller brush bracket and the outer contour of the first roller brush is usually very small. Therefore, in one embodiment, the first baffle can be arranged on the outside of the first roller brush bracket.

[0346] By arranging the first baffle on the outside of the first roller brush bracket, it is convenient to arrange the traction mechanism that drives its movement, and at the same time it will not interfere with the first roller brush bracket and the first roller brush. At the same time, it is beneficial to the extension of the lower part of the first baffle, making it easier to approach the lowest position of the first roller brush, which is beneficial to ensure the sealing effect.

[0347] Considering that the second baffle is at the rear end of the main body, it is usually in a fixed position in a closed state to improve the sealing effect of the entire cavity. It rarely needs to be opened frequently to take into account large particles. At the same time, in order to reduce the software and hardware costs of the controller of the entire cleaning robot and simplify the operation.

[0348] In one embodiment, the second shielding member is a part of the second roller brush bracket portion to shield the second roller brush; the first roller brush bracket portion and the second roller brush bracket portion are arranged to form a cavity for accommodating the roller brush assembly.

[0349] By providing the second baffle as a part of the shell, the sealing performance of the cavity is improved while the control logic is simplified, which is conducive to reducing the cost of the equipment.

[0350] In one embodiment, when the first baffle is in an open state, the difference between the first airflow and the second airflow is Δ1; when the first baffle is in a closed state, the difference between the first airflow and the second airflow is Δ2; wherein Δ2 is less than Δ1;

[0351] When the second baffle is always in a closed state, for example, as a part of the shell, always sealing the rear part of the cavity, the difference between the first airflow and the second airflow becomes smaller before and after the first baffle is closed.

[0352] It is understood that, regardless of whether the surface is a hard or soft floor, the first baffle in the closed state can improve sealing, thereby achieving the aforementioned effect of improved sealing. Moreover, when the cleaning robot is on a soft floor, the cleaning efficiency with the baffle in the closed state is higher than the cleaning efficiency when the cleaning robot is on a hard floor with the baffle in the closed state.

[0353] Among them, before the first baffle is closed, that is, when the first baffle is open, the distance from the ground is large and the resistance is small. Since the second baffle is in a closed state, that is, when the second baffle is closed, the distance from the ground is small and the resistance is large. Since the airflow tends to flow through the place with small resistance, the airflow formed by the negative pressure is more inclined to enter the cavity from the first baffle (the front side of the main body) and avoid entering the cavity from the second baffle (the back side of the main body). Therefore, the first airflow is large and enters from the front side of the main body, while the second airflow is small and almost zero; and the large airflow formed between the first baffle and the ambient surface The first airflow entering through the opening cannot effectively reach the first roller brush, so the first airflow cannot effectively cooperate with the bottom or flapping area of ​​the first roller brush; after the first baffle is closed, the distance between the first baffle and the ground becomes smaller, the resistance becomes larger, the distance between the first baffle and the second baffle is close to the ground, and the resistance is basically the same. The airflow generated by the negative pressure (including the first airflow and the second airflow) can enter from the front and back sides of the main body, so that the first airflow passes through the first baffle to reach the bottom or flapping area of ​​the first roller brush, and the second airflow passes through the second baffle to reach the bottom or flapping area of ​​the second roller brush, which greatly improves the cleaning efficiency.

[0354] In one embodiment, when the first baffle is in a closed state, the airflow in the beating area where the first roller brush beats the environmental surface has a first flow velocity; when the first baffle is in an open state, the airflow in the beating area has a second flow velocity, and the first flow velocity is greater than the second flow velocity.

[0355] That is to say, when the second baffle is always in the closed state or the distance is less than or equal to 5 mm on the hard ground or the free end of the second baffle is in contact with the carpet, the flow rate of the airflow in the beating area increases before and after the first baffle is closed, so that the garbage beaten up can be better taken away, thereby improving the cleaning effect.

[0356] In one embodiment, when the cleaning robot is on the carpet and the free ends of the first baffle are in contact with the second baffle, the first baffle is in a closed state, and the airflow at the first beating area where the first roller brush beats the environmental surface has a first flow rate; when the first baffle is in an open state, the airflow at the first beating area has a second flow rate, and the first flow rate is greater than the second flow rate.

[0357] In one embodiment, when the cleaning robot is on the carpet and the free end of the second baffle is in contact with the carpet, the first baffle is in a closed state, and the flow rate of the airflow flowing through the first baffle from the inside of the carpet is greater than the flow rate of the airflow flowing through the first baffle from the inside of the standard carpet when the first baffle is in an open state.

[0358] In other words, when the second baffle is always in the closed state, or when the distance on a hard floor is less than or equal to 5 mm, or when the free end of the second baffle contacts a carpet, the flow rate of air flowing from the bottom of the first baffle through the interior of the carpet increases before and after the first baffle is closed, thereby improving the cleaning effect on the standard test carpet.

[0359] The reason is that when the first baffle is in the closed state, the distance between the free end of the first baffle and the carpet (for example, in contact, the distance is 0) is smaller than the distance when the first baffle is in the open state (for example, there is a small gap that allows airflow to pass through), and the resistance of the opening in the closed state is greater than the resistance of the opening in the open state, so airflow can flow through the inside of the carpet more easily.

[0360] In one embodiment, when the cleaning robot is on the carpet and the free end of the second baffle is in contact with the carpet, the first baffle is in a closed state, and the flow rate of the airflow flowing from the inside of the carpet through the second baffle is greater than the flow rate of the airflow flowing from the inside of the carpet through the second baffle when the first baffle is in an open state.

[0361] That is to say, when the second baffle is always in the closed state, the flow rate of the airflow flowing from the bottom of the second baffle through the interior of the carpet is also increased before and after the first baffle is closed, thereby improving the cleaning effect of the carpet.

[0362] In one embodiment, when the first baffle is in a closed state, the vacuum degree at a certain position of the cavity is greater than the vacuum degree at the same position of the cavity when the first baffle is in an open state.

[0363] When the second baffle is always in the closed state or the distance is less than or equal to 5 mm on the hard ground or the free end of the second baffle contacts the carpet, the sealing performance at the same position of the cavity is improved before and after the first baffle is closed.

[0364] Among them, a certain position of the cavity includes but is not limited to the dust inlet of the cavity and the space between the first roller brush and the second roller brush.

[0365] Therefore, in one embodiment, when the first baffle is in a closed state, the dust inlet of the cavity has a first vacuum degree, and when the first baffle is in an open state, the dust inlet of the cavity has a second vacuum degree, wherein the first vacuum degree is greater than the second vacuum degree.

[0366] In order to achieve the mobility of the baffle, in one embodiment, the dust collection assembly includes a traction unit, which is arranged on the shell and drives the first baffle to switch between an open state and a closed state.

[0367] The structure of the traction unit 120 may be specifically described in the following description of the traction unit, and will not be elaborated here.

[0368] In order to reset the baffle, in one embodiment, the dust collection assembly may include a reset unit.

[0369] It is understandable that, in one embodiment, the baffle reset function can be achieved by controlling the traction unit without the need for an additional reset unit.

[0370] In order to meet the needs of navigating obstacles, cleaning, and sealing uneven environmental surfaces, in one embodiment, the dust collection assembly includes a housing, the housing including a roller brush bracket for at least partially covering and supporting the roller brush assembly, and the roller brush bracket is configured to float up and down relative to a horizontal plane or the main body of the cleaning robot;

[0371] The roller brush assembly is arranged on the roller brush bracket, and the roller brush assembly floats as the roller brush bracket floats.

[0372] In order to better ensure the sealing effect, in one embodiment, the baffle can also be set to float so that the baffle can maintain a relatively stable state with the corresponding roller brush.

[0373] For example, the first baffle is configured to be able to float in an up-down direction.

[0374] The first baffle can also float up and down relative to the horizontal plane or the main body of the cleaning robot, so that the first baffle and the first roller brush maintain a relatively stable state, thereby ensuring the sealing effect of the cavity.

[0375] For another example, the second baffle is configured to float in the up and down directions.

[0376] The second baffle can also float up and down relative to the horizontal plane or the main body of the cleaning robot, so that the second baffle and the second roller brush maintain a relatively stable state, thereby ensuring the sealing effect of the cavity.

[0377] Since the second baffle is usually a part of the roller brush bracket, the roller brush bracket and the roller brush assembly float synchronously, so the second baffle and the second roller brush can always maintain a relatively stable state.

[0378] The first baffle is usually provided independently. Therefore, in one embodiment, the first baffle is configured to float synchronously with the roller brush holder, thereby maintaining a relatively stable state between the first baffle and the first roller brush.

[0379] In order to achieve the purpose of synchronous floating while being simple and easy without increasing costs, in one embodiment, the first baffle is arranged on the roller brush bracket, so that the first baffle can float with the floating of the roller brush bracket like the roller brush assembly, thereby maintaining a relatively stable state between the first baffle and the first roller brush.

[0380] Taking into account that various components are provided on the dust suction assembly, such as components for driving (such as motors) and transmission components (such as transmission mechanisms), in one embodiment, the dust suction assembly includes a baffle driving assembly for driving the first baffle and a roller brush driving assembly for driving the roller brush assembly to rotate, and the baffle driving assembly and the roller brush driving assembly are both provided on the roller brush bracket, so that the baffle driving assembly and the roller brush driving assembly both float with the floating of the roller brush bracket.

[0381] Wherein, the baffle driving assembly includes a baffle driving motor and a first transmission component connected to the driving motor;

[0382] The roller brush drive assembly includes a roller brush drive motor and a second transmission component connected to the roller brush drive motor;

[0383] The first and second transmission components mentioned above may both adopt a gear rack transmission structure, a cam transmission structure or other mechanical transmission structures, for example, which is not limited in the present disclosure.

[0384] Of course, considering whether the baffle is opened and closed in place, in one embodiment, the dust collection component can also be provided with a position detection device to detect whether the baffle is in place. For details, please refer to the description below and will not be elaborated here.

[0385] It should be noted that the in-place detection device may also be provided on the roller brush bracket, so that the in-place detection device floats as the roller brush bracket floats.

[0386] In order to seal and adapt to various scenarios, such as overcoming obstacles and cleaning surfaces in different environments, in one embodiment, all components of the dust collection assembly can float together synchronously, with a simple structure.

[0387] In order to facilitate the disassembly and maintenance of the roller brush, in one embodiment, the housing includes a roller brush cover.

[0388] Considering how to set the baffle, especially the movable first baffle, in one embodiment, the roller brush cover has a connecting portion connected to the roller brush bracket (which can be narrowly understood as the upper bracket here), and the connecting portion includes two; along a direction parallel to the rotation axis, the two connecting portions are respectively arranged on both sides of the first baffle;

[0389] By arranging the connection portion between the roller brush cover and the roller brush bracket on both sides of the first baffle, the movement or floating of the first baffle is avoided from being affected, and the first baffle will not affect the maintenance of the roller brush assembly.

[0390] It should be noted that movement is active, for example, it is achieved by active control of the traction unit by a controller or manually; while floating is passive, requiring only a floating space.

[0391] To guide the movable baffle and prevent dust from getting stuck in it during its movement, in one embodiment, taking the movable first baffle as an example, ribs are provided between the first baffle and the first roller brush support portion. The ribs are used to guide the baffle along the first roller brush support portion. In one embodiment, there may be multiple ribs, and spaces for dust collection may be formed between adjacent ribs.

[0392] To prevent airflow from escaping through the gap between the roller brush holder and the baffle, improving the sealing effect and achieving better cleaning efficiency, in one embodiment, taking the movable first baffle as an example, a sealing strip is provided between the first baffle and the first roller brush holder along the length of the roller brush assembly. For details, please refer to the description of the dust storage space below.

[0393] Taking into account the scenario of lifting the roller brush, a lifting drive structure needs to be set up. In order to reduce costs, in one embodiment, the baffle drive motor and the roller brush lifting motor share one motor. Taking the movable first baffle as an example, in one embodiment, the cleaning robot includes a lifting mechanism for driving the dust collection component to lift, and the lifting mechanism includes the drive motor 1291. The drive motor is also configured to drive the dust collection component to move up and down. For details, please refer to the following.

[0394] In order to make the structure of the dust collection assembly more compact, in one embodiment, the first baffle is rotatable to adjust the height of the free end of the first baffle relative to the ambient surface, and the rotation axis of the first baffle does not overlap with the rotation axis of at least one of the first roller brush and the second roller brush.

[0395] To prevent damage to the gear train in a collision scenario, in one embodiment, the fit between the motor output shaft and the gear is designed to be loose (with margin). For example, the dust collection assembly includes a drive system for driving the first baffle and a transmission system for transmitting the driving force of the drive system to the first baffle; the drive system includes a drive motor, and the transmission system includes a gear train, with clearance between the output shaft of the drive motor and the gear train. For details, please refer to the description of loose fit below.

[0396] In order to reduce the force on the baffle in a collision scenario, in one embodiment, an anti-collision portion can be provided on the bracket to reduce the force on the first baffle. For example, in one embodiment, the dust collection component has an anti-collision portion. Along the front end direction of the main body, the anti-collision portion has at least a portion located in front of the first baffle, and the portion located in front of the first baffle is not connected to the first baffle, so that when the cleaning robot collides with an obstacle, it contacts the obstacle. Furthermore, the dust collection component includes a shell, the shell has a first roller brush bracket portion that at least partially covers the first roller brush, and the anti-collision portion includes a protrusion provided on the outer side wall of the first roller brush bracket portion and protruding from the first baffle.

[0397] In order to realize the intelligence of the cleaning robot and achieve intelligent sealing, taking the real-time detection and intelligent control of the movable first baffle as an example, in one embodiment, the cleaning robot includes a floor type detection device for detecting the floor type;

[0398] The controller is configured to control the first baffle to open when the detection device detects that the ground type is hard ground; and to control the first baffle to close when the detection device detects that the ground type is soft ground.

[0399] Furthermore, the cleaning robot includes an environment detection device for detecting the type of foreign matter;

[0400] When the cleaning robot performs cleaning work on a soft ground, the controller is at least configured to control the first baffle to switch from a closed state to an open state when the environment detection device identifies that the type of foreign matter is garbage with a size that meets preset conditions.

[0401] In order to reduce the hardware cost of real-time detection, taking the reduction of the real-time detection sealing of the movable first baffle as an example, in one embodiment, the cleaning robot has a deep cleaning mode and a regular cleaning mode, wherein in the deep cleaning mode, the cleaning robot has a first cleaning parameter, and in the regular cleaning mode, the cleaning robot has a second cleaning parameter, the first cleaning parameter is different from the second cleaning parameter, wherein the cleaning parameter includes at least one of the following parameters: the state of the first baffle, the moving speed, and the fan power;

[0402] When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to switch between two cleaning modes to alternately perform the cleaning operations.

[0403] Furthermore, in the deep cleaning mode, the first baffle is in a closed state; in the regular cleaning mode, the first baffle is in an open state.

[0404] Furthermore, the controller is configured to control the cleaning robot to alternately perform the deep cleaning mode and the regular cleaning mode according to natural days, wherein the cleaning modes of the cleaning robot are different in two adjacent natural days;

[0405] Alternatively, the controller is configured to control the cleaning robot to alternately perform the deep cleaning mode and the regular cleaning mode according to a number of times, wherein the cleaning robot completes a traversal of the environmental surface as one time, and the cleaning mode of the cleaning robot is different in two adjacent times.

[0406] When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to first clean the soft floor in a deep cleaning mode, and then perform at least one edge cleaning on the soft floor. During the first edge cleaning, the cleaning robot is in a normal cleaning mode.

[0407] The deep cleaning mode here and the high-efficiency cleaning mode below are both modes that can improve the cleaning efficiency of the cleaning robot, and can be collectively referred to as the first cleaning mode. The regular cleaning mode here and the ordinary cleaning mode below are both modes in which the cleaning robot maintains relatively general cleaning efficiency, and can be collectively referred to as the second cleaning mode.

[0408] In order to achieve auxiliary obstacle crossing of the baffle, especially the first baffle located at the front end, in one embodiment, the outer side wall of the first baffle is defined by a guide surface, which is inclined toward the first roller brush and is set at an acute angle to the horizontal plane; when the first baffle is in a closed state, the guide surface is at least partially closer to the environmental surface relative to the roller brush bracket.

[0409] It can be understood that when the first baffle is movably arranged on the first roller brush bracket portion, in order to achieve the purpose of lifting the roller brush assembly when the first baffle assists in overcoming obstacles, the distance between the position of the free end of the first baffle in the closed state and the cleaning surface is less than the distance between the lowest position of the first roller brush bracket portion and the cleaning surface.

[0410] Furthermore, in the scenario of intelligent sealing, the cleaning robot includes an environment detection device to detect obstacles in the environment; when the environment detection device identifies an obstacle whose size meets preset conditions, the controller controls the first baffle to close.

[0411] In one embodiment, the cleaning robot includes a fan, and the power of the fan is greater than or equal to 60W.

[0412] Due to the improved sealing effect, better cleaning efficiency can be achieved by using a medium-power fan such as 60W-80W, without the need to use a high-power fan with a fan power of at least 100W to improve the cleaning effect without improving the sealing, thereby saving costs, reducing the power supply capacity requirements of the power supply device, and facilitating the miniaturization of the machine.

[0413] It should be noted that all of the above technologies can be applied to other cleaning devices such as handheld vacuum cleaners, especially DC (direct current) handheld vacuum cleaners, and this disclosure will not elaborate on this.

[0414] The present disclosure also provides a cleaning system, characterized in that it includes the above-mentioned cleaning robot and a base station for the cleaning robot to dock, and the base station is also used to maintain the cleaning robot.

[0415] In one embodiment, the cleaning robot includes a dust collection box, and the base station includes a dust collection fan for performing dust collection maintenance operations; when the base station performs dust collection maintenance on the dust collection box, at least one of the first baffle and the second baffle is in an open state.

[0416] In order to reduce the frequent opening and closing of the baffle during maintenance and increase the life of the baffle, in one embodiment, the base station includes an air inlet channel connecting the outside and at least one gap at the bottom of the cavity.

[0417] Considering that the dust box is usually provided with a filter device 114, such as HEPA, in order to achieve maintenance of the filter device, in one embodiment, the dust box is provided with a filter device, and when the base station performs dust collection maintenance on the filter device, the first baffle and the second baffle are in a closed state at least part of the time. (The door can be closed)

[0418] Research has found that the existing structure of the roller brush assembly and housing has limitations, resulting in the cleaning robot's suction port being unable to adjust the efficiency of the negative pressure-generated airflow to absorb foreign matter during cleaning based on the conditions of the cleaning surface. Specifically, the contact between the suction port and the cleaning surface, as well as the contact between the roller brush and the cleaning surface, restricts the airflow path and the airflow's ability to carry foreign matter during cleaning. Refer to Figure 2, which shows the suction port, roller brush, and cleaning surface on the housing during cleaning of a cleaning robot, respectively, on carpet and floor, with the airflow path marked. Figure 2 clearly shows that the suction port is significantly separated from the cleaning surface on the side of the robot's travel direction, and the negative pressure-generated airflow primarily flows into the air duct from the side of the suction port facing the robot's travel direction and the adjacent side. This suction port structure, due to poor sealing on the front side of the robot's travel direction, reduces the negative pressure differential at the suction port, resulting in poor suction performance. This results in low cleaning efficiency when the cleaning robot is cleaning soft surfaces such as carpet. As a solution, increasing the operating power of the robot's fan to improve the suction power of the suction port can be achieved. However, increasing the fan power often results in a larger size, louder noise, increased power consumption, and a resulting increase in the overall cost of the electronic circuit system. Larger changes in fan power may also require structural changes to meet the space and heat dissipation requirements of the electronic circuit system, leading to a significant cost increase. Therefore, it is necessary to provide a new solution to improve the cleaning performance of the robot on carpets.

[0419] After extensive research, the inventors of the present disclosure have pointed out that the cleaning efficiency (CE) of a cleaning robot on the surface to be cleaned is closely related to the dust-raising and dust-collecting capabilities of the dust collection system (dust collection component). Specifically, the dust-raising capability can be reflected by the number of times the brush body hits the cleaning surface. The dust collection capability can be reflected by improving the dust collection and suction capabilities of the dust collection port on the cleaning surface. Based on this, a technical solution for improving the dust-raising and dust collection capabilities is proposed in the embodiments of the present disclosure. The specific description is as follows:

[0420] The present disclosure provides feasible implementation methods for increasing the number of times the brush body of the roller brush assembly hits the cleaning surface as follows: Any of the following methods or any combination thereof can improve the dust collection capacity of the dust collection system to a certain extent. Specifically including:

[0421] 1. Increasing the number of brush bodies of the roller brush assembly, which may specifically include: increasing the number of roller brushes and / or increasing the number of brush bodies (such as brush strips and bristles) on a single roller brush.

[0422] 2. Increase the speed of the roller brush.

[0423] 3. Increase the impact force of the roller brush on the ground, which can specifically include increasing the interference between the brush body and the cleaning surface.

[0424] 4. Changing the dust collection angle or direction may include adjusting the angle or direction of the bristles, adjusting the installation angle and rotation direction of the roller brush on the main body, etc. In the configuration of more than one roller brush, the assembly method of the roller brush may also be adjusted to further optimize the dust collection ability. The adjustment of the assembly method may include: the coordination of the rotation speed, the coordination of the rotation direction, the coordination of the installation angle, the coordination of the brush body material, and / or the coordination of the beating order of the brush body, etc.

[0425] The present disclosure further provides feasible implementation methods for improving the dust collection ability of the dust collection system (also known as the dust collection component) to collect garbage on the cleaning surface as follows: any of the following methods or any combination of adjustment methods can improve the dust collection ability of the dust collection system to a certain extent.

[0426] 1. Increase the passing rate of garbage when it gathers towards the suction port.

[0427] 2. Increase the coverage area of ​​the suction port.

[0428] The present disclosure also provides feasible implementation methods for improving the dust collection system's ability to absorb garbage on a cleaning surface. Any of the following methods or any combination thereof can improve the dust collection ability to a certain extent.

[0429] 1. Improve the structure of the suction port and guide the flow path of the airflow formed by the negative pressure at the suction port.

[0430] 2. Increase the negative pressure in the area covered by the suction port and adjust the airflow's ability to carry foreign matter at the suction port.

[0431] For ease of understanding, the following takes the example of a first baffle (hereinafter described as a shielding member) movably provided on the first roller brush holder portion to shield the first roller brush; the second baffle is a part of the second roller brush holder portion to shield the second roller brush; the first baffle, the first roller brush holder portion and the second roller brush holder portion enclose a cavity for accommodating the roller brush assembly, and describes the cleaning robot with movable seal provided by the present disclosure in combination with the accompanying drawings. As shown in Figures 3 and 9, the dust suction system of the cleaning robot 100 (corresponding to the dust suction assembly) is provided on the main body 10, and its dust suction system includes a roller brush mechanism, a sealing adjustment mechanism 11 (including a first baffle and a movable sealing structure of the traction unit), a fan (corresponding to the dust suction fan) and an air duct 240, wherein the roller brush mechanism includes a shell 210 and a roller brush assembly 220, and the roller brush assembly 220 is provided in the shell 210, and a dust suction port 12 is provided on the shell to allow the roller brush assembly 220 to contact the ground. One end of the air duct 240 is located above the dust suction port and is connected to the shell 210; a fan is set at the other end of the air duct 240, and the garbage at the dust suction port is transported to the dust collection box through the air duct 240 under the action of the suction force generated by the fan.

[0432] In the embodiment of the present disclosure, the suction port is shown in Figures 20 and 21, and is used to expose the roller brush assembly 220. The roller brush assembly 220 can contact the ground through the suction port 12. In this example, the suction port 12 is set to a rectangle. In other implementations, the structure of the suction port is not limited to a rectangle, and can also be other shapes. During the cleaning process of the cleaning robot, the suction port contacts the ground. When the roller brush assembly rotates, it slaps the cleaning surface to separate foreign matter from the cleaning surface. The rotation of the fan generates negative pressure inside and outside the suction port. Under the action of negative pressure, the external airflow can flow into the suction port through the rectangular edge of the suction port to absorb foreign matter, thereby cleaning the ground.

[0433] In the embodiment of the present disclosure, the cleaning robot 100 includes at least a dust collection system for cleaning the surface to be cleaned. In addition, the cleaning robot 100 may also be configured with functional components such as mopping or washing the floor.

[0434] In one embodiment, as shown in Figures 4 and 5, the dust collection system 1 of the cleaning robot 100 includes a roller brush mechanism and a sealing adjustment mechanism 11. The roller brush mechanism includes a housing 210 and a roller brush assembly 220. The roller brush assembly 220 is disposed within the housing 210. The housing 210 is provided with a suction port that allows the roller brush assembly 220 to contact the surface to be cleaned. When the roller brush assembly rotates, it slaps the cleaning surface to separate foreign matter from the cleaning surface. Under the action of negative pressure, the foreign matter is sucked into the dust collection box through the suction port. The sealing adjustment mechanism 11 is disposed on the housing. During the cleaning process of the cleaning robot, the sealing adjustment mechanism 11 adjusts or stabilizes the negative pressure generated by the suction port for at least part of the time.

[0435] In one embodiment, the sealing adjustment mechanism 11 adjusts or stabilizes the negative pressure generated at the dust suction port at least in part of the time period, which at least includes stabilizing and adjusting the flow path of the airflow formed at the dust suction port, and adjusting and stabilizing the ability of the airflow at the dust suction port to carry foreign matter.

[0436] In one embodiment, referring to FIG5 , the sealing adjustment mechanism 11 includes a shielding member 110 (corresponding to the first baffle), and the relative position of the shielding member 110 to the housing is fixed. During the cleaning task of the cleaning robot 100, the sealing adjustment mechanism 11 forms a closed surface of the airflow path on the front side of the cleaning robot in the direction of travel. The closed surface is located in the front part of the housing on one side of the cleaning robot 100 in the direction of travel, and plays a regulating role in the airflow path of the suction port. Specifically, referring to FIG6 , a schematic diagram of the state in which the shielding member 110 cooperates with the housing in the direction of travel of the robot or other cleaning equipment is shown, which is used to assist in explaining the process of regulating or stabilizing the negative pressure generated by the sealing shielding mechanism on the suction port. As shown in FIG6 , the sealing adjustment mechanism 11 forms a closed surface of the airflow path on the front side of the cleaning robot in the direction of travel. Specifically, the end of the shielding member facing the ground floats on the carpet, or maintains a very small gap to block the airflow to a certain extent, so that the airflow flows more between the roller brush and the cleaning surface, enhancing the ability to absorb foreign matter on the carpet. On the other hand, the shielding member forms a closed surface of the airflow passage in front of the cleaning robot in the direction of travel, and maintains a small gap with the carpet surface, which increases the sealing inside and outside the dust suction port, is conducive to increasing and maintaining the pressure difference inside and outside the dust suction port, and can further improve the foreign matter suction capacity of the dust suction system.

[0437] In one embodiment, tooth-shaped protrusions 2301 may be provided at intervals on the housing 210 on one side of the robot's direction of travel, with airflow channels formed between the tooth-shaped protrusions 2301. The shielding member 110 is provided in front of the tooth-shaped protrusions 2301, and can close the gaps between the tooth-shaped protrusions 2301 during the movement of the cleaning robot 100, thereby forming a closed surface. When the cleaning robot 100 is cleaning a soft surface such as a carpet, the sealing effect of the shielding member 110 blocks the airflow path of the suction port in the direction of travel of the cleaning robot 100, thereby enabling the airflow to be concentrated through the contact surface between the roller brush and the carpet, thereby improving the suction capacity of the suction port for garbage on the cleaning surface. In some other embodiments, the tooth-shaped protrusions 2301 may not be provided, and the same method as the above-mentioned shielding member 110 can still be used to increase the negative pressure in the area covered by the suction port, thereby improving the suction capacity of the suction port for garbage on the cleaning surface.

[0438] In one embodiment, the housing 210 is configured as a detachable component, and a dust suction port is provided on the detachable portion. Preferably, as shown in FIG9 , the housing 210 includes a snap-on roller brush holder 230 , which is a detachable portion of the housing 210 , making it easier for the user to disassemble and assemble the roller brush.

[0439] In a preferred embodiment, the roller brush holder 230 is provided with tooth-shaped protrusions.

[0440] As an optional embodiment, the shielding member 110 can be made of materials such as plastic, rubber or silicone. The shape of the shielding member 110 can be plate-shaped, strip-shaped or belt-shaped. Furthermore, the shielding member 110 can be set on the roller brush bracket, and fill the gap in the form of teeth against teeth between the two, as shown in Figure 5. The shielding member 110 forms a closed surface together with the tooth-shaped protrusions on the roller brush bracket in the direction of travel of the cleaning robot 100. Alternatively, the shielding member 110 directly blocks the outer side or inner side of the roller brush bracket facing the direction of travel of the cleaning robot 100, and achieves a sealing effect by continuously blocking the gap between the tooth-shaped protrusions 2301, as shown in Figure 6. In this embodiment, the tooth-shaped protrusions 2301 can be flat teeth as shown in Figure 5, or sharp teeth as shown in the protrusions, wherein the sharp teeth can guide foreign objects entering the gap and increase their passing rate. Furthermore, the roller brush bracket and the shielding member 110 can be assembled by gluing or snapping. Preferably, the shielding member 110 is integrally formed with the roller brush bracket. The disclosed embodiment does not specifically limit the shielding member's material, shape, installation method, and positioning and limiting between the shielding member and the roller brush. Those skilled in the art can make adaptive adjustments based on the specific structural form of the product.

[0441] The shielding member 110 may also form closed surfaces in front of and behind the tooth-shaped protrusions, or may form closed surfaces by matching the gaps between the tooth-shaped protrusions.

[0442] In one embodiment, the shielding member 110 has a certain degree of elasticity, so that the shielding member 110 has the ability to self-adjust in some scenarios. For example, when it collides with an obstacle, it can deform due to the pressure of the obstacle and return to its pre-collision state when the collision is resolved to avoid damage. Alternatively, when it contacts a large foreign object, it can adapt to the pressure of the foreign object and deform to increase the pass rate of foreign objects when they gather at the suction port; when the pressure of the foreign object is resolved, it can automatically return to its previous state. Preferably, the shielding member 110 is made of rubber with a hardness range of between 60HA and 80HA.

[0443] In some other embodiments, the hardness of the shielding member 110 can be increased to maintain a more stable shape during the vacuuming process. For example, the shielding member 110 can be made of a material with a hardness greater than 80HA or hard plastic.

[0444] It should be noted that in order to enhance the ability to collect debris from the cleaning surface through the sealing effect of the shielding member 110, a balance must be struck between the hardness parameter and the stability of the shielding member 110's shape. When the hardness is high, the shielding member 110 can withstand greater negative pressure, maintaining its stability. When the hardness is low, the shielding member 110's self-adjustability is enhanced. In some scenarios, it can deform to allow debris to pass through the gaps between the tooth-shaped protrusions and collect near the suction port, which also helps improve the ability to collect debris.

[0445] To improve the cleaning efficiency of the cleaning robot 100 on soft surfaces such as carpets, the inventors of this disclosure have determined that the shielding member 110 should be able to maintain a basic sealing effect when cleaning carpets. This includes at least maintaining a substantially stable sealing surface under the negative pressure of the suction port. Therefore, this disclosure further provides alternative embodiments.

[0446] In one embodiment, at least a guide or support structure is provided between the tooth-shaped protrusion 2301 and the shielding member 110. Under the action of negative pressure, the shielding member 110 maintains a basically stable shape of the closed surface by limiting its own deformation properties or one of the guide structure and support structure.

[0447] It should be understood that, in order to maintain a substantially stable shape of the closed surface, adding a limiting structure can reduce the requirement for the hardness of the shielding member 110 itself, and even flexible plastic can be used.

[0448] In one embodiment, the shielding member 110 maintains a substantially stable shape of the closed surface through its own material properties, preferably with a hardness ranging from 70HA to 80HA.

[0449] Furthermore, as a preferred embodiment, after the shielding member 110 is assembled, the end of the shielding member 110 facing the cleaning surface is less than or equal to 2 mm from the ground. Experiments have found that when cleaning carpets, the edge of the shielding member 110 can form a substantially stable contact surface with the carpet surface within this distance range. This improves the sealing between the suction port and the carpet during cleaning, creates a stable and greater pressure differential between the suction port and the floor, and thus achieves better carpet vacuuming performance. It should also be noted that if the gap between the suction port and the floor is too small, it will increase resistance to the floor, affecting the performance of the walking system and, in turn, the cleaning performance of the cleaning robot.

[0450] The distance between the end of the shielding member 110 facing the cleaning surface and the ground is affected by various factors, such as the material of the soft floor, the hardness of the soft floor, the length of the carpet, etc. In some other embodiments, the distance between the end of the shielding member 110 facing the cleaning surface and the ground can be adjusted within a wider range, for example, setting the distance between the end of the shielding member 110 facing the cleaning surface and the ground to between 0 and 5 mm.

[0451] The above embodiment describes that the covering part 110 of the sealing adjustment mechanism 11 forms a closed surface in the direction of the cleaning robot 100, which can increase the internal and external negative pressure of the suction port when vacuuming, adjust the flow path of the airflow generated by the negative pressure at the suction port, and maintain a basically stable negative pressure at the suction port, thereby helping to improve the garbage suction capacity when cleaning soft floors such as carpets.

[0452] It is understood that the sealing adjustment mechanism 11 in the above embodiment can at least act on the dust suction port during the cleaning process of soft surfaces such as carpets. This solution can be used as one of the methods to improve the cleaning efficiency of the cleaning robot 100. After being combined with the other factors related to dust collection and suction capabilities described above and optimized, it can be applied to the cleaning robot 100 to improve the cleaning robot 100's ability to collect dust when cleaning soft surfaces such as carpets, thereby enabling the cleaning robot 100 to adapt to the cleaning needs of different scenarios.

[0453] In a preferred embodiment, the roller brush mechanism is located at the front of the main body 10, as shown in Figures 20 and 21. The cleaning robot 100 can more conveniently clean the cleaning surface and the corners of the cleaning surface, thereby improving the cleaning effect of the cleaning robot. At the same time, the roller brush mechanism is located at the front end of the main body, which allows the cleaning device to first clean the area in front of the cleaning robot's walking direction, thereby reducing the possibility of secondary contamination of the cleaning surface by the walking system 2, thereby achieving a better cleaning effect.

[0454] In a preferred embodiment, the roller brush mechanism is provided at the front of the main body, and the main body is configured in a D-shape, as shown in Figures 20 and 21. It should be understood that the roller brush mechanism being located at the front of the D-shaped machine represents that the roller brush mechanism is at the front of the main body along the direction of travel of the cleaning robot 100, and the roller brush mechanism can be configured to cover the maximum length along the direction of travel on the D-shaped main body.

[0455] In a preferred embodiment, the roller brush mechanism is located at the front of the main body, which is configured in a D-shape. The shielding member 110 of the sealing adjustment mechanism 11 forms a closed surface facing the cleaning robot 100. The sealing adjustment mechanism 11 and the roller brush mechanism can at least act on the suction port during cleaning of soft surfaces such as carpets.

[0456] In this embodiment, the dust collection capacity of the dust collection system 1 can be further enhanced by improving the ability of the roller brush assembly 220 to beat the cleaning surface. For example, the roller brush assembly 220 can be switched from a single roller brush to a dual roller brush (as shown in Figures 20 and 21), or the material, beating direction, and installation position of the roller brush can be changed. Specific configurations can be referenced to any of the aforementioned feasible embodiments of dust collection capacity and will not be repeated in this embodiment.

[0457] On the basis of the above-mentioned embodiment, in the embodiment of the present disclosure, the sealing adjustment mechanism 11 is configured to switch or move between two preset positions on the housing.

[0458] In one embodiment, the sealing adjustment mechanism 11 includes a shielding member, a traction unit and a reset unit. The traction unit is disposed on the housing and is configured to drive the shielding member to switch or move between a first position and a second position of the housing.

[0459] In particular, in one embodiment, adjusting the shielding member between a first position and a second position can adjust the size of the shielding member's opening relative to the ground. The larger the shielding member's opening relative to the ground, the higher the chance of foreign matter passing through the suction port. The smaller the shielding member's opening relative to the ground, the lower the chance of foreign matter passing through the suction port. However, this effectively increases the negative pressure differential created at the suction port, helping to enhance and stabilize the airflow's ability to carry foreign matter. Adjustment of the shielding member's opening relative to the ground can also be specifically controlled based on the type and amount of waste. For example, depending on the type of floor, the opening size for carpet cleaning can be smaller than that for hard floors; depending on the size of the waste, the opening size for collecting large or piled waste can be larger than that for collecting small waste. Alternatively, the size can be adjusted based on human command (e.g., remote control via an app). For spot cleaning or when collecting large amounts of waste, the opening size can be adjusted based on corresponding command controls.

[0460] In one embodiment, when the shielding member is in the first position of the housing, a distance H2 between the end of the shielding member facing the ground and the ground is greater than a distance H1 between the end of the shielding member facing the ground and the ground when the shielding member is in the second position of the housing.

[0461] In one embodiment, as shown in Figure 12, when the shielding member is in the second position, the distance L between its end and the tangent line between the closest roller brush and the cleaning surface is less than or equal to half the outer radius R of the roller brush. Specifically, the value of distance L not only affects the curvature of the closed surface formed by the shielding member in the second position, but also influences whether foreign matter knocked up by the roller brush can be sucked away with the smallest possible path. The smaller the distance L, the shorter the airflow path, allowing the airflow passing through the roller brush and the cleaning surface to more quickly draw foreign matter into the air duct, thereby improving foreign matter suction capacity. On the other hand, the smaller the distance L, the greater the curvature of the closed surface, which can reduce obstruction to airflow.

[0462] In one embodiment, the shielding member is made of plastic, rubber or non-woven fabric.

[0463] In one embodiment, the reset unit is a torsion spring or a compression spring.

[0464] In one embodiment, the traction unit includes a link drive structure or a hinge drive structure.

[0465] In one embodiment, the sealing adjustment mechanism 11 of the dust collection system 1 is further configured to enable its covering member 110 to switch between a first position and a second position; when the covering member 110 is in the first position, the covering member 110 avoids the airflow path of the dust collection port in the direction of travel of the cleaning robot 100; when the covering member 110 is in the second position, the covering member 110 acts for at least part of the time to adjust the flow path of the airflow in the direction of travel of the cleaning robot 100 or the pressure difference inside and outside the dust collection port, thereby improving the dust collection port's ability to absorb foreign matter.

[0466] Preferably, the shielding member can be freely switched in both directions between the first position and the second position.

[0467] In one embodiment, the sealing adjustment mechanism 11 is disposed on the main body 10 .

[0468] In one embodiment, the roller brush mechanism is configured to float on the main body 10 , specifically, to be able to move up and down within a preset space of the main body to move away from or closer to the ground during the cleaning process of the cleaning robot.

[0469] Furthermore, the sealing adjustment mechanism 11 can be disposed on the housing or on the main body. When the roller brush mechanism is configured to float on the main body 10, the sealing adjustment mechanism 11 is preferably disposed on the housing 210 so that it can move with the roller brush mechanism and maintain a relatively stable state with the roller brush mechanism.

[0470] As mentioned above, FIG6 shows a schematic diagram of the state in which the shielding member 110 cooperates with the shell 210 in the direction of travel of the robot, which is used to assist in explaining the process of the sealing adjustment mechanism adjusting or stabilizing the negative pressure generated by the suction port. When the shielding member is in the second position, the sealing adjustment mechanism 11 forms a closed surface of the airflow path on the front side of the direction of travel of the cleaning robot. Specifically, the end of the shielding member facing the ground floats on the carpet, or maintains a very small gap, so as to block the airflow to a certain extent, so that the airflow flows more between the roller brush and the cleaning surface, thereby enhancing the ability to absorb foreign matter on the carpet. On the other hand, the shielding member forms a closed surface of the airflow path on the front side of the direction of travel of the cleaning robot, and maintains a small gap with the carpet surface, which increases the sealing inside and outside of the suction port, is conducive to increasing and maintaining the pressure difference inside and outside the suction port, and can further improve the foreign matter absorption capacity of the dust collection system. When the shielding member is in the first position, on the side of the robot's moving direction, the airflow generated by the negative pressure mostly flows into the air duct from the side of the dust suction port facing the robot's moving direction and the adjacent side, and the large distance between the dust suction port and the cleaning surface is beneficial to the large particles of foreign matter entering the dust suction port, thereby helping to reduce the passing rate of large particles of foreign matter on hard floors.

[0471] It should be noted that when the cleaning robot 100 is cleaning soft floors, the shielding member 110 of the sealing adjustment mechanism 11 can be set in the second position. The shielding member 110 forms a closed surface in the direction of the cleaning robot 100 to improve the dust collection ability. When the cleaning robot 100 is cleaning hard floors, the shielding member 110 of the sealing adjustment mechanism 11 can be set in the first position. The shielding member 110 avoids the airflow path to allow large particles of garbage on the hard floor to gather toward the suction port. Therefore, when the shielding member 110 is in the first position, the cleaning robot 100 can improve its ability to gather garbage on hard floors, and is particularly suitable for cleaning large particles of garbage on hard floors.

[0472] In a specific embodiment, the operating principle of the shielding member 110 is achieved by controlling the position of the shielding member 110 and controlling when the shielding member 110 closes the airflow path in the direction of travel of the cleaning robot 100. It is understandable that the control system of the cleaning robot 100 can be configured to send control instructions to the dust collection system 1, so as to control how and when the shielding member 110 of the sealing adjustment mechanism 11 switches positions. In order to achieve this process, it also involves the control system of the cleaning robot 100 being able to transmit relevant control instructions, and other necessary settings for the sealing adjustment mechanism 11 to execute instructions. This part of the content is not the main invention content of the present disclosure, and those skilled in the art can know the relevant technology to enable it to be implemented, so it will not be elaborated in this disclosure. The following further provides an example of a feasible implementation of the dust collection system 1 to facilitate understanding of the main technical content of the present disclosure.

[0473] In a specific embodiment, tooth-shaped protrusions 2301 are arranged at intervals on a side facing the moving direction of the robot; the air flow passage includes an air flow path formed by gaps between adjacent tooth-shaped protrusions 2301.

[0474] In a specific embodiment, the sealing adjustment mechanism 11 includes a shielding member 110, and the sealing adjustment mechanism 11 is configured to enable the shielding member 110 to switch between a first position and a second position; when the shielding member 110 is in the first position, the shielding member 110 avoids the airflow path; when the shielding member 110 is in the second position, the shielding member 110 at least partially blocks the airflow path.

[0475] In an exemplary application, as shown in FIG9 , when the shielding member 110 is in the first position, the distance H1 of the end of the shielding member 110 facing the ground from the ground is less than 2 mm. When the shielding member 110 is in the second position, the distance H2 of the end of the shielding member 110 facing the ground from the ground is between 6 mm and 9 mm. It should be noted that when the shielding member 110 is in the second position, the distance H2 of the end of the shielding member 110 facing the ground from the ground can be adjusted based on factors such as the height of the housing 210, the size of the tooth-shaped protrusion, and the airflow path. In some other embodiments, the distance H2 of the end of the shielding member 110 facing the ground from the ground can be set to between 4 mm and 12 mm.

[0476] In the disclosed embodiment, the position of the shielding member can be adjusted to correspond to changes in the opening area or ground clearance in the robot's direction of travel. Regardless of the method, the shielding member is used to form a closed surface to adjust the airflow path within the suction port, the negative pressure differential, and the negative pressure stability.

[0477] In one specific embodiment, referring to FIG9 , the sealing adjustment mechanism 11 includes a traction unit 120 configured to drive the shielding member 110 to switch between a first position and a second position. As an actuator for the aforementioned control instructions, the traction unit 120 can drive the shielding member 110 to switch between the first position and the second position, and to stop at the first position or the second position as needed.

[0478] In one specific embodiment, the traction unit 120 includes a winch 121, a rope 122, and a torsion spring. One end of the rope 122 is secured by the winch 121, and the other end is connected to the shielding member 110. Referring to Figure 10 , the winch 121 includes an electrically driven shaft, and the shielding member 110 is provided with a first mounting portion 1101 for connecting to the rope 122. When the electrically driven shaft rotates, the rope 122 is driven by the shaft, thereby transmitting a tensile force to the shielding member 110. Specifically, the rope 122 can be tightened when the electrically driven shaft rotates in a first direction, pulling the shielding member 110 to the first position. Conversely, when the electrically driven shaft rotates in a direction opposite to the first direction, the rope 122 extends, causing the shielding member 110 to move to the second position. To ensure stable switching of the shielding member 110 between the first and second positions, the traction unit 120 is further provided with a torsion spring, and the housing 210 is further provided with a second mounting portion 2102. As shown in Figures 10 to 12, the rope 122 is connected to the shielding member 110 after passing through the second mounting portion 2102; the torsion spring is positioned on the housing 210, and the shielding member 110 includes a limiting structure for the torsion spring. Based on the structure shown in the figures, it can be understood that when the rope 122 is tightened to pull up the shielding member 110, the second limiting portion can limit and guide the rope 122, and the torsion spring can generate a reverse force on the shielding member 110, providing a limiting and damping effect. To this end, when the shielding member 110 needs to be switched from the second position to the first position, the tension of the rope 122 is set to be greater than the damping force of the torsion spring on the shielding member 110, so that the shielding member 110 can move to the first position and remain in the first position, as shown in Figure 11. When the shielding member 110 needs to be switched from the first position to the second position, the rope 122 is extended, and the reverse force of the torsion spring is transmitted to the shielding member 110 through the limiting structure, thereby pushing the shielding member 110 from the first position to the second position, as shown in Figure 12. Furthermore, by adjusting the extension of the rope 122, the shielding member 110 can be maintained at any position between the first position and the second position.

[0479] In another embodiment, the traction unit 120 includes a winch 121, a rope 122, and a compression spring 123. Unlike the above embodiment, in this example, a compression spring 123 is used instead of a torsion spring to limit and damp the shielding member 110. As shown in Figure 13, one end of the compression spring 123 is fixedly connected to the shielding member 110, and the other end of the compression spring 123 abuts against a first support portion 2101 provided on the housing 210. When the shielding member 110 needs to be switched from the first position to the second position, the rope 122 extends, and the compression spring 123, supported by the first support portion 2101, transmits an elastic force to the shielding member 110, thereby pushing the shielding member 110 from the first position to the second position. When the shielding member 110 needs to be switched from the second position to the first position, the tension of the rope 122 is greater than the damping force of the compression spring 123 on the shielding member 110, allowing the shielding member 110 to move to the first position and remain in the first position. This process can be specifically referred to the driving principle diagram of the traction unit 120 shown in Figure 14. As shown in the figure, the housing 210 can also be provided with a second support portion 2103, which is used to limit and guide the rope 122.

[0480] In another embodiment, the traction unit 120 uses a connecting rod drive to achieve the switching of the position of the shielding member 110. Specifically, as shown in Figure 15, the traction unit 120 includes an electric drive shaft, a cam 126, and a connecting rod 125. One end of the connecting rod 125 is connected to the electric drive shaft via the cam 126, and the other end of the connecting rod 125 is fixedly connected to the shielding member 110. When the electric drive shaft rotates, the cam 126 adjusts the driving direction of the connecting rod 125, thereby driving the shielding member 110 to move. When the shielding member 110 needs to be switched from the first position to the second position, the electric drive shaft rotates, causing the connecting rod 125 to drive the shielding member 110 from the first position to the second position. When the shielding member 110 needs to be switched from the second position to the first position, the electric drive shaft rotates in the opposite direction, driving the shielding member 110 from the second position to the first position. This process can be specifically referred to the schematic diagram of the driving principle of the traction unit 120 shown in Figure 16.

[0481] The preferred embodiment of the traction unit 120 provided above focuses on the necessary implementation structure for the working principle of the position switching of the shielding member 110 of the sealing adjustment mechanism 11. It should be understood by those skilled in the art that in specific applications, other factors such as the structure and appearance of the cleaning robot 100 are often also involved. Therefore, the technical solution claimed in this disclosure also includes technical content that, based on the above implementation content, adaptively adjusts the shape, limit or avoidance design in accordance with the design requirements of specific products.

[0482] In particular, in this embodiment, when the shielding member 110 is in the second position, the shielding member 110 acts on the closed surface of the airflow path during the cleaning task of the cleaning robot 100. In order to maintain a relatively stable dust collection effect, the shielding member 110 is also configured to maintain a basically stable shape of the closed surface under the action of negative pressure through its own deformation properties or a limiting method of the guide structure and support structure during the cleaning task of the cleaning robot 100. In this regard, the material, shape, and implementation methods of the shielding member 110 for maintaining a stable shape described in detail in the aforementioned embodiments can be adopted, and will not be repeated in this embodiment.

[0483] Furthermore, in a preferred embodiment of the present disclosure, the roller brush mechanism is provided at the front end of the main body.

[0484] In another preferred embodiment, the roller brush mechanism is provided at the front of the main body, and the main body is configured in a D shape.

[0485] Furthermore, in this embodiment, the dust collection capacity of the dust collection system 1 can be further improved by enhancing the ability of the roller brush assembly 220 to beat the cleaning surface, for example, by switching from a single roller brush to a double roller brush, or by increasing the material, orientation, and position of the brush body on the roller brush. Specific configurations can refer to any of the aforementioned feasible embodiments of dust collection capacity, and will not be repeated in this embodiment.

[0486] Based on the above-mentioned cleaning robot 100, the present disclosure further provides a cleaning robot 100. In this embodiment, the control system, dust collection system 1, sensor system, and power supply system of the cleaning robot 100 are combined to further improve the cleaning efficiency of the cleaning robot 100. In particular, the position of the shielding member 110 in this embodiment can be switched to take into account the cleaning performance of both hard and soft floors. The following is a detailed description:

[0487] In one embodiment, referring to Figures 1 and 2, a cleaning robot 100 includes a control system (also known as a controller, control device), a dust collection system (also known as a dust collection component) 1, a power supply system (also known as a power supply device, power supply component), a sensor system (also known as a sensor component), and a walking system (also known as a moving component) 2. The sensor system of the cleaning robot 100 includes at least one of a first sensor 101 for identifying the size of garbage and a second sensor 102 for identifying the material of the floor. The dust collection system 1 of the cleaning robot 100 includes a sealing adjustment mechanism 11, which is configured to receive control instructions from the control system and switch the position of its shielding member 110 according to the control instructions. The implementation structure of the sealing adjustment mechanism 11 for switching the position of the shielding member 110 can be referred to the contents described in the above embodiments and will not be repeated in this embodiment. The control system is configured to control the dust collection system 1 based on the garbage size information and the type of surface to be cleaned information obtained by the sensor system to further improve cleaning efficiency.

[0488] In one embodiment, the sensing system of the cleaning robot includes one or more of an AI object recognition sensor, a structured light module, and a TOF module, which are used to detect or identify the type of foreign matter, such as clumps of pet hair, piles of fine garbage, or large-sized granular garbage.

[0489] In one embodiment, the control device is configured to, in normal cleaning mode, determine the type of surface to be cleaned based on information collected by the sensor system and automatically control the shielding member 110 to switch between the first position and the second position based on the type of surface to be cleaned. Preferably, when cleaning on soft surfaces, the control device is configured to control the sealing adjustment mechanism 11 to switch the shielding member 110 to the second position via a control instruction; when cleaning on hard surfaces, the control device is configured to control the sealing adjustment mechanism 11 to switch the shielding member 110 to the first position via a control instruction.

[0490] The cleaning robot 100 of this embodiment has at least two technical effects: first, when the control device places the shielding member 110 in the second position via a control instruction, it can solve the problem of low cleaning efficiency when the cleaning robot 100 is cleaning on soft surfaces; second, when the control device places the shielding member 110 in the first position via a control instruction, it can further solve the problem of large-sized garbage 01 having difficulty passing through the airflow path when the cleaning robot 100 is performing cleaning tasks on hard surfaces, thereby improving the garbage collection capacity of the dust collection system 1. The necessary technical information involved can be obtained from the aforementioned embodiments and will not be repeated in this embodiment.

[0491] In one embodiment, the control device is configured to, in the fixed-point area cleaning mode, obtain the current position information of the cleaning robot 100, determine the positional relationship of the cleaning robot 100 relative to the fixed-point cleaning area based on the position information, and automatically control the shielding member 110 to switch between the first position and the second position based on the relative positional relationship. Preferably, when the cleaning robot 100 is cleaning outside the fixed-point cleaning area, the control device is configured to control the sealing adjustment mechanism 11 to switch the shielding member 110 to the second position through a control instruction; when the cleaning robot 100 is cleaning outside the fixed-point cleaning area, the control device is configured to control the sealing adjustment mechanism 11 to switch the shielding member 110 to the first position through a control instruction.

[0492] In one embodiment, the control device is configured to receive a control instruction sent by a mobile user terminal and, based on the instruction, automatically control the shielding member 110 to switch between the first position and the second position. Specifically, upon receiving a first control instruction indicating that the shielding member 110 is to be switched to the second position, the control instruction is executed to switch the shielding member 110 to the second position; and upon receiving a second control instruction indicating that the shielding member 110 is to be switched to the first position, the control instruction is executed to switch the shielding member 110 to the first position.

[0493] In one embodiment, the control device is further configured to determine the size of the opening of the shielding member 110 relative to the ground based on one of the ground material, the size of the trash, or user control instructions. In this embodiment, the opening size is represented by the distance between the end of the shielding member 110 closest to the ground and the ground. Taking the traction unit 120 of the above embodiment as an example, the control system is configured to adjust the size of the opening of the shielding member 110 relative to the ground by controlling the rotation amount of the electric drive shaft through control instructions.

[0494] In a specific embodiment, when the cleaning robot 100 is cleaning a hard floor, the opening of the shielding member 110 relative to the floor is larger than the opening when the cleaning robot 100 is cleaning a soft floor.

[0495] In a specific embodiment, when the cleaning robot 100 recognizes the large-sized garbage 01 , the opening of the shielding member 110 relative to the ground is larger than the opening when the cleaning robot 100 does not recognize the large-sized garbage 01 .

[0496] In a specific embodiment, the user instruction information received by the cleaning robot 100 includes control information of the opening size, and the size of the shielding member 110 relative to the ground opening is adjusted accordingly based on the control information.

[0497] In this embodiment, the user's control instruction may be sent through a mobile client, or may be a control instruction sent through a set web page or a direct operation on the host, or may be one of other remote interaction methods.

[0498] Furthermore, the control system of the cleaning robot 100 is also configured to control the input power of the fan of the vacuum system 1. In one specific embodiment, the control system is configured to maintain the same input power throughout the cleaning task. In one exemplary application, when the control system recognizes, based on information obtained by the sensor system, that the cleaning robot 100 is cleaning on a soft surface, the fan input power is configured to be between 60W and 80W.

[0499] In another specific embodiment, the control system is configured to determine the input power of the fan based on the obtained information about the type of surface to be cleaned. For example, a first power range is maintained when cleaning soft surfaces, and a second power range is maintained when cleaning hard surfaces. The first power range is higher than the second power range. In an exemplary application, when the control system recognizes that the cleaning robot 100 is cleaning on a soft surface based on information obtained by the sensing system, the input power is configured to be between 60W and 150W; when the control system recognizes that the cleaning robot 100 is cleaning on a hard surface based on information obtained by the sensing system, the input power is configured to be between 15W and 35W.

[0500] In this embodiment, the dust collection capacity of the dust collection system 1 can be further improved by enhancing the ability of the roller brush assembly 220 to beat the cleaning surface, for example, by switching from a single roller brush to a double roller brush, or by increasing the material, orientation, and position of the brush body on the roller brush. Specific configurations can refer to any of the aforementioned feasible embodiments of dust collection capacity, and will not be repeated in this embodiment.

[0501] This embodiment further provides a control schematic diagram based on the above-mentioned embodiment of the cleaning robot 100. As shown in Figure 17, when the cleaning robot 100 starts a cleaning task, the control system is configured to: obtain first information representing the surface to be cleaned collected by the sensor system through the sensor system; determine the type of the surface to be cleaned for the current cleaning task based on the first information; when the current surface to be cleaned is detected to be a soft ground, control the sealing adjustment mechanism 11 to place the shielding member 110 in the second position; and control the input power of the fan to be the second power; when the current surface to be cleaned is detected to be a hard ground, control the sealing adjustment mechanism 11 to place the shielding member 110 in the first position; and control the input power of the fan to be the first power. Referring to Figure 18, during the execution of the cleaning task, the control system is also configured to obtain second information representing the size of the garbage based on the sensor system; determine a control instruction for the sealing adjustment mechanism 11 based on the second information; when large particles of garbage are detected, generate a first instruction, the first instruction instructing the sealing adjustment mechanism 11 to place the shielding member 110 in the second position; when the large particle condition is not met, generate a second instruction, the second instruction instructing the sealing adjustment mechanism 11 to place the shielding member 110 in the first position.

[0502] In a preferred embodiment, as shown in FIG19 , when the cleaning robot 100 is detected cleaning on a soft surface, the control system is configured to: obtain the current rotational speed of the roller brush; determine whether the current rotational speed satisfies a preset rotational speed range; and when the rotational speed exceeds the preset speed range, control the input power of the roller brush motor to adjust the rotational speed to within the preset range. It should be noted that when the roller brush assembly 220 includes at least two roller brushes, the control device can adjust the rotational speeds of the different roller brushes in the same or different manner. In other embodiments, control of the roller brush assembly may also include control of the rotational direction of the roller brush.

[0503] In an exemplary application, the roller brush assembly 220 of the cleaning robot 100 is provided with two roller brushes, and the two roller brushes rotate relative to each other during a cleaning task.

[0504] In an exemplary application, when it is detected that the cleaning robot 100 is cleaning on a soft floor, the rotation speed of the roller brush is maintained within a range of 1500 rpm to 1900 rpm. The cleaning efficiency of the cleaning robot 100 on the soft floor can be maintained at above 35%.

[0505] In an exemplary application, when it is detected that the cleaning robot 100 is cleaning on a soft floor, the rotation speed of the roller brush is maintained at a speed higher than 1200 r / min.

[0506] It is understood that in this embodiment, the control of the fan input power and the roller brush speed of the cleaning robot 100 are both within the optimal data ranges obtained during testing. In actual applications, these numerical ranges may be affected by differences in the structure of the cleaning system 1 of the cleaning robot 100, differences in the surfaces to be cleaned, and different environments. To achieve the same cleaning effect, in this embodiment, the fan input power and roller brush speed can be wider, for example, the fan input power is between 40W and 100W, and the roller brush speed is between 500r / min and 1600r / min.

[0507] Furthermore, in a preferred embodiment of the present disclosure, the roller brush mechanism is provided at the front end of the main body.

[0508] In another preferred embodiment, the roller brush mechanism is provided at the front of the main body, and the main body is configured in a D shape.

[0509] Furthermore, in this embodiment, the dust collection capacity of the dust collection system 1 can be further improved by enhancing the ability of the roller brush assembly 220 to beat the cleaning surface, for example, by switching from a single roller brush to a double roller brush, or by increasing the material, orientation, and position of the brush body on the roller brush. Specific configurations can refer to any of the aforementioned feasible embodiments of dust collection capacity, and will not be repeated in this embodiment.

[0510] On the basis of the aforementioned embodiments, a cleaning robot is further provided in the embodiments of the present disclosure. The difference is that the roller brush mechanism of the cleaning robot in this embodiment can float relative to the main body.

[0511] In the embodiment of the present disclosure, the hard ground may be a floor or a tile, and the soft ground may be a ground made of soft materials such as a carpet.

[0512] The present disclosure provides another traction unit 120 that uses gear drive to achieve position switching of the shielding member 110. Specifically, as shown in Figures 25 to 34, traction unit 120 includes a drive mechanism 129, a first gear 127, and a second gear 128 connected in sequence. The second gear 128 is connected to the shielding member or forms a part of the shielding member. When the drive mechanism 129 rotates along the drive shaft, it adjusts the driving direction of the first gear 127 and the second gear 128, thereby driving the shielding member 110 to move.

[0513] When the driving mechanism 129 rotates in a first direction around the driving shaft, the first gear 127 and the second gear 128 drive the shielding member 110 to switch from the first position to the second position; when the driving mechanism 129 rotates in a second direction around the driving shaft, the first gear 127 and the second gear 128 drive the shielding member 110 to switch from the second position to the first position; the second direction is opposite to the first direction.

[0514] In one embodiment, the first gear 127 is a driving gear, and the second gear 128 is a local gear (such as a sector gear) provided on the shielding member; the radius of the driving gear is smaller than the radius of the sector gear.

[0515] In one embodiment, the drive mechanism 129 includes a drive motor and a reduction gearbox, with the drive motor connected to the first gear via the reduction gearbox. The first gear 127 and the second gear 128 form part of a transmission system. In one embodiment, the shielding member 110 is configured as a partially cylindrical structure rotatable about an axis of rotation, having the second gear 128. The shielding member 110 is driven by the drive motor of the drive mechanism 129 via the first gear 127 driven by the reduction gearbox.

[0516] The figure schematically shows the rotation centers of the shielding member and the roller brush. The rotation center of the shielding member of the partial cylindrical structure is A1; the rotation center of the roller brush is A2.

[0517] Since the axial dimension of the shielding member is relatively long, in order to ensure the smoothness of the transmission, in one embodiment, referring to Figures 33 and 34, a second gear 128 and a first gear 127 are provided at both ends of the shielding member 110 along the length direction of the roller brush, wherein a synchronization shaft 1271 is provided between the first gears 127 at both ends to ensure the synchronous rotation of the first gear and drive the shielding member to move smoothly as a whole.

[0518] In order to identify whether the shielding member is open or closed, the dust collection system further includes: a detection component, which is arranged on the sealing adjustment mechanism and is configured to detect the state of the shielding member.

[0519] In one embodiment, the detection component includes a position detection sensor 130 , which is disposed on the shielding member 110 and configured to detect the position of the shielding member when it is opened or closed.

[0520] In one embodiment, the in-place detection sensor 130 includes an open state in-place detection sensor 1301 and a closed state in-place detection sensor 1302 , which are respectively used to detect the in-place of the open state and the closed state of the shielding member 110 .

[0521] Furthermore, when the in-position detection sensor 130 detects the in-position signal of the shielding member 110 (including the open in-position signal and the closed in-position signal) and sends it to the control module, especially through instant communication technology, the control module cuts off the power of the driving mechanism 129 used to drive the shielding member 110 to move, so as to prevent the driving motor or transmission system of the driving mechanism from being overloaded and damaged.

[0522] In one embodiment, the in-position detection sensor 130 is a micro switch.

[0523] It should be pointed out that there can be only one in-place detection sensor to detect the opening and closing of the shielding member; in addition, the in-place detection sensor can also adopt an integrated transceiver light detector, or can include a pair of relatively arranged light transmitters and light receivers to perform in-place detection based on the principle that opening and closing affect light. This embodiment does not limit this.

[0524] In order to improve the reliability of the opening and closing of the shielding member, the dust collection system further includes a mechanical limiting portion 131 for mechanically limiting the opening and closing of the shielding member 110.

[0525] For example, when the detection component, especially the in-position detection sensor 130 , fails or malfunctions, the mechanical limiter is configured to limit the movement of the shielding member.

[0526] By providing the mechanical limit portion 131 , the opening and closing movement of the shielding member 110 can be forcibly restricted, thereby preventing the driving motor and transmission system of the driving mechanism 139 for driving the shielding member 110 from being overloaded and damaged, thereby improving reliability.

[0527] In one embodiment, the mechanical limiting portion includes an opening limiting portion 1311 and a closing limiting portion 1312 , which are respectively used to limit the opening and closing movements of the shielding member.

[0528] In one embodiment, the control module further includes a shielding member motor overload protection program. This motor overload protection program can protect the drive motor and transmission system of the drive mechanism for driving the shielding member 110 in response to unexpected situations, such as failure or malfunction of the in-position detection sensor 130.

[0529] Specifically, the control module monitors the electrical signal (such as current or voltage) of the driving motor of the shielding member through an electrical signal sensor (such as a current sensor or a voltage sensor); when the electrical signal of the driving motor exceeds the signal threshold, the motor overload protection program is triggered, and the control module controls the driving motor that drives the shielding member to move to shut down (i.e., cut off the motor power), and stop the continued movement of the shielding member, thereby providing overload protection for the driving motor and the transmission system.

[0530] Further, referring to Figures 25 to 28 , the roller brush mechanism of the cleaning robot in this embodiment, especially the roller brush bracket 230 , is configured to float relative to the main body 10 .

[0531] For example, when cleaning soft floors such as carpets, the carpet pile or carpet fibers are relatively soft. In order to adapt to the cleaning of soft floors, the roller brush mechanism is configured to float relative to the main body.

[0532] Among them, the above-mentioned floating refers to floating under non-active regulation or non-active control, that is, passive floating.

[0533] In order to ensure the sealing performance and improve the cleaning effect on complex cleaning floors, especially soft floors such as carpets, in one embodiment, the sealing adjustment mechanism 11, especially the shielding member 110, is configured to float relative to the main body.

[0534] By setting the shielding member 110 to float relative to the main body 10, it can adapt to different surfaces to be cleaned, avoiding changes in the height of the shielding member relative to the ground caused by the ups and downs of the surface to be cleaned, affecting the sealing performance, and is beneficial to improving the adaptability of the cleaning robot to complex floors. At the same time, when cleaning on complex floors, better cleaning effects can also be achieved.

[0535] Furthermore, the sealing adjustment mechanism and the roller brush mechanism are configured to float together or simultaneously.

[0536] In one example, the sealing adjustment mechanism is provided on the roller brush mechanism, so that the sealing adjustment mechanism can float together with the floating of the roller brush mechanism, or the floating of the roller brush mechanism floats along with the floating of the sealing adjustment mechanism.

[0537] Specifically, the shielding member 110 of the sealing adjustment mechanism is arranged on the roller brush bracket 230 of the roller brush mechanism, which ensures the sealing effect while having a simple structure and low cost.

[0538] Furthermore, the shielding member 110 and its transmission system (including the first gear 127 and the second gear 128) are both arranged on the roller brush bracket 230. The purpose of such arrangement is that the shielding member 110 and the roller brush bracket 230 can float synchronously with the height of the surface to be cleaned through the simplest structure, so as to achieve a better and real-time sealing effect.

[0539] Of course, in other embodiments, the floating of the sealing adjustment mechanism and the roller brush mechanism are independent of each other. For example, the sealing adjustment mechanism is not set on the roller brush mechanism, but is set at another preset position of the cleaning robot. The preset position is a position that can meet the sealing performance requirements of the shielding member on the roller brush mechanism, for example, a position with a sealing effect equivalent to that when the shielding member is set on the roller brush bracket. The above equivalent means: the sealing effect is the same or reaches a preset percentage of the sealing effect, for example, the preset percentage range is 70%-90%; in one example, the shielding member and its transmission system can also be independently and floatably set on the chassis of the cleaning robot, which may need to occupy a certain amount of mechanical space.

[0540] Considering that the sealing adjustment mechanism and the roller brush mechanism float independently, the floating amounts of the sealing adjustment mechanism and the roller brush mechanism may differ. To ensure a sealing effect, the difference in floating amount between the sealing adjustment mechanism and the roller brush mechanism is controlled within a certain range, or the difference in floating amount between the shielding member and the roller brush bracket is controlled within a certain range. In one example, at least one of the sealing adjustment mechanism and the roller brush mechanism can float relative to the main body, thereby ensuring that the difference in floating amount between the sealing adjustment mechanism and the roller brush mechanism, or the difference in floating amount between the shielding member and the roller brush bracket, is within a certain range; wherein the certain range is, for example, less than or equal to 2 mm.

[0541] By ensuring that the difference in floating amount between the shielding member and the roller brush holder is within a certain range, that is, the shielding member and the roller brush holder can move relative to each other within a certain range, the sealing effect is ensured, which is conducive to improving the cleaning effect.

[0542] In order to prevent the cleaning robot from being affected by other mechanisms or components during floating, in one embodiment of the present disclosure, referring to FIG. 35 , the cleaning robot has a floating space 133 .

[0543] By reserving a floating space 133 in the internal layout of the cleaning robot, the cleaning robot can adapt to complex surfaces to be cleaned without affecting the normal operation of other internal mechanisms or components.

[0544] Considering that when the cleaning robot moves on the surface to be cleaned, there are some uneven situations on the surface to be cleaned, such as low obstacles or bumps on the surface to be cleaned, among which low obstacles refer to obstacles whose size or height is lower than the preset value and which the cleaning robot can cross, such as carpet edges, cables, steps, etc.

[0545] To enable the cleaning robot to cope with the above-mentioned situations when performing cleaning operations on the surface to be cleaned, and to improve the cleaning robot's obstacle-crossing performance, in one embodiment, when the cleaning robot encounters an obstacle requiring overcoming or is in an obstacle-crossing state, the sealing adjustment mechanism 11 forms a closed surface for the airflow path in front of the cleaning robot in its direction of travel; alternatively, the shielding member is in a closed state, forming a closed surface for the airflow path. This shielding member or closed surface serves as a guide to assist in lifting the cleaning robot's roller brush mechanism for obstacle crossing.

[0546] 36 and 37 , the shielding member 110 has a guide portion 111 at one end thereof, which is closer to the floor to be cleaned. When the shielding member 110 is in a closed state, the guide portion 111 forms a closed surface. The guide portion 111 is arc-shaped, or the closed surface is an arc-shaped surface, and the arc or arc-shaped surface has an outer arc surface facing the front end of the cleaning robot body.

[0547] In one embodiment, the sealing adjustment mechanism includes a traction unit 120 for adjusting the opening and closing state of the shielding member; further, the traction unit 120 includes a driving mechanism, which drives the shielding member to move through traction, thereby adjusting the state of the shielding member so that the shielding member can switch between an open state and a closed state.

[0548] Specifically, when it is identified that the cleaning robot is in an obstacle crossing state, the traction unit 120 of the sealing adjustment mechanism is controlled to close the shielding member to assist in lifting the roller brush assembly.

[0549] By closing the shielding member 110 when crossing an obstacle, the roller brush mechanism is guided and the auxiliary roller brush assembly 220 is lifted, which is conducive to the cleaning robot to smoothly cross the obstacle.

[0550] For ease of understanding, referring to FIG38 , the following briefly describes the process of a cleaning robot encountering a step when cleaning a hard surface (such as a floor, tile, cement floor, etc.):

[0551] When the cleaning robot is cleaning hard floors, the sealing adjustment mechanism, particularly the shield 110, is in the open position. In this state, the cleaning robot can clean debris on the hard floor, especially large-sized debris (such as large particles). When the main unit with the shield in the open position passes over a certain height obstacle such as a step that can be crossed, the cleaning robot lacks a guide portion to assist in climbing, which may cause the roller brush assembly to collide with the step and damage the roller brush assembly. Therefore, when cleaning surfaces to be cleaned (especially hard floors), the cleaning robot has an obstacle crossing program that can cross obstacles such as steps that are smaller than a preset height.

[0552] Specifically, the cleaning robot determines the current state of the shielding member, determines whether the shielding member is normally open or whether the shielding member is in the open state. If so, the step is detected by a first sensor 101 (such as a depth camera) provided on the cleaning robot for detecting the height of the obstacle (step). The control module of the cleaning robot compares the obstacle height detected by the first sensor 101 with a preset value. When it is determined that the obstacle is a step that can be crossed, the obstacle crossing program is started, the shielding member is closed, or the sealing adjustment mechanism is controlled to switch the shielding member from the open state to the closed state, and the roller brush assembly is lifted using the closed surface formed by the guide portion of the shielding member to assist the cleaning robot in passing through the steps or climbing over the steps.

[0553] Further, it is determined whether the cleaning robot has passed the step or climbed over the step. If so, the shielding member is opened, or the sealing adjustment mechanism is controlled to switch the shielding member from a closed state to an open state;

[0554] Furthermore, the position detection unit is used to detect whether the shielding member is opened. If so, the process returns to the above step of determining the state of the shielding member.

[0555] In order to improve the reliability of guidance, in one embodiment, the shielding member 110 is an integrated structure.

[0556] Considering the problem that the roller brush assembly 220 cannot clean the edges, some local areas such as the edges and corners (referred to as corners) of the wall or carpet cannot be cleaned.

[0557] In order to achieve cleaning of edges and corners and reduce missed cleaning, further, referring to Figures 39 to 41, the cleaning robot also includes a side brush assembly 250, which is configured to perform cleaning work when the cleaning robot is in edge mode or edge cleaning, so as to clean edges, corners and other areas; the side brush assembly is particularly used to be turned on when the cleaning robot is performing edge cleaning on soft floors or walls, and perform edge cleaning work to clean garbage from the edges and corners of soft floors or walls.

[0558] To ensure that the garbage removed by the side brush assembly 250 can be swept into the dust collection box by the roller brush mechanism, the cleaning range of the side brush assembly and the projection area of ​​the roller brush mechanism on the surface to be cleaned at least partially overlap. The figure schematically shows that the cleaning range of the side brush assembly is circular, and its cleaning radius is R.

[0559] In one embodiment, there is an overlapping cleaning area W between the cleaning range of the side brush assembly 250 and the projection area of ​​the roller brush assembly 220 on the surface to be cleaned; or there is an overlapping cleaning area W between the cleaning range of the side brush assembly 250 and the projection area of ​​the shielding member 110 on the surface to be cleaned.

[0560] For example, along the moving direction of the cleaning robot, the side brush assembly and the roller brush mechanism are arranged in sequence front and back. In other words, the side brush assembly is arranged in front of the roller brush mechanism. When the side brush assembly of the cleaning robot is turned on, the cleaned garbage can be swept to the front of the roller brush mechanism, thereby facilitating the suction port to suck in the garbage cleaned by the side brush assembly.

[0561] For example, the main body 10 has a front end 10A and a chassis 10B, the side brush assembly 250 is arranged on the chassis 10B of the main body 10, close to the front end 10A, and the roller brush assembly 220 is arranged on the chassis 10B of the main body 10, away from the front end 10A.

[0562] In order to avoid the adverse effects of the sealing adjustment mechanism on the cleaning of the side brush assembly, in one embodiment, when the side brush assembly of the cleaning robot is turned on to perform cleaning work, the air flow passage of the sealing adjustment mechanism 11 on the front side of the moving direction of the cleaning robot is open; or, the shielding member is in an open state, so that the air flow passage of the sealing adjustment mechanism 11 on the front side of the moving direction of the cleaning robot is open, thereby facilitating the suction port to suck in the garbage cleaned by the side brush assembly 250.

[0563] In one embodiment, the side brush assembly 250 is disposed at the front side of the cleaning robot body 10A along the direction of travel of the cleaning robot and is at least partially exposed outside the cleaning robot body 10. The side brush assembly 250 is configured to be activated when the cleaning robot is performing edge cleaning or in an edge-cleaning state, thereby enabling the cleaning of edges, corners, and other locations on the surface to be cleaned. When the side brush assembly 250 is activated, the shield 110 opens and cooperates with the side brush assembly 250, thereby allowing the garbage swept by the side brush assembly to enter the dust collection box through the suction port. The side brush assembly 250 includes at least one side brush 2501.

[0564] For ease of understanding, referring to FIG42 , the following briefly describes a scenario where a cleaning robot is cleaning a soft floor (such as a carpet, a floor mat, etc.) and needs to clean along an edge:

[0565] When the cleaning robot (hereinafter referred to as the host) is cleaning soft floors, the sealing adjustment mechanism, particularly the shielding member 110, is in the closed state. In this state, the cleaning robot can clean debris trapped in the fluff or fibers of the soft floors. When the cleaning robot with the shielding member closed encounters edge cleaning, the roller brush assembly cannot reach the edge, so the current mode is switched to edge mode. If in edge mode, the cleaning robot has edge mode when cleaning soft floors, allowing it to clean debris in corners.

[0566] Specifically, the cleaning robot determines the current state of the shielding member, judges whether the shielding member is normally closed or whether the shielding member is in a closed state. If so, it detects whether it is in the edge mode. If so, it turns on the side brush and opens the shielding member (or controls the sealing adjustment mechanism to switch the shielding member from a closed state to an open state).

[0567] Furthermore, when the edge is finished, the side brush is turned off and the shielding member is closed (or the sealing adjustment mechanism is controlled to switch the shielding member from an open state to a closed state);

[0568] Furthermore, the position detection unit is used to detect whether the shielding member is closed. If so, the process returns to the above step of determining the state of the shielding member.

[0569] It should be pointed out that there is also an edge mode for hard floors, but the shielding parts are always open when cleaning along the edge. Therefore, when cleaning hard floors, there is no need to determine the status of the shielding parts, so no further explanation will be given.

[0570] In summary, when the cleaning robot is in edge mode or performs edge cleaning tasks on the surface to be cleaned (especially soft floors), the side brush works, the shield is in the open state, and the shield cooperates with the side brush to suck in the garbage swept out by the side brush.

[0571] It should be pointed out that when the cleaning robot is in non-edge mode or performs non-edge cleaning tasks on soft floors (such as cleaning tasks on soft floor surfaces), the side brush does not work and the shield is in a closed state, so that the suction airflow of the fan can flow through the fluff or fibers of the soft floor, and carry away the garbage between the fluff or fibers, thereby improving the cleaning effect on the soft floor.

[0572] In one embodiment, when the cleaning robot is cleaning along the edge or in the edge state, if it recognizes the presence of large-sized garbage, the cleaning robot can control the side brush assembly to turn on, thereby cleaning the large-sized garbage.

[0573] Furthermore, when the cleaning robot identifies large-sized garbage, the shield is configured to be in the open state, and the large-sized garbage cleaned by the side brush assembly passes through the shield and the dust suction port in sequence and is sucked into the dust collection box. Large-sized garbage here refers to, for example, granular objects with a height less than a set threshold height, and the threshold height can be defined based on common granular objects. The above-mentioned common granular objects include but are not limited to cat food, dog food, and various beans (such as red beans, soybeans, mung beans, chocolate beans, etc.).

[0574] Considering that when the cleaning robot is performing normal cleaning work on the cleaning surface, especially on soft floors such as carpets, the moving speed may suddenly decrease or the cleaning robot may slip and become unable to move.

[0575] For example, when the cleaning robot is traveling on a carpet, the walking system 2 (also called the moving component), the dust collection system 1 (especially the roller brush component), etc. of the cleaning robot will sink into the carpet. Since the carpet has different parameters, including the length and density of the carpet fibers (or carpet fluff), carpets with different parameters have different supporting capabilities for the cleaning robot. In other words, when the cleaning robot travels on carpets with different parameters, the depth to which it sinks into the carpet is also different; Figures 43 and 44 respectively schematically show the depths H3 and H4 of the cleaning robot sinking when it is on two carpet fibers with different lengths, where H3 and H4 are not equal.

[0576] To improve carpet cleaning, when the cleaning robot is cleaning soft surfaces such as carpets, the shield is configured to be closed, forming a sealed area below the roller brush mechanism. Airflow then flows from the lower portion of the shield, bypassing it, passing through the carpet fibers, and then through the suction port and air duct into the dust collection box. Therefore, the longer and denser the carpet fibers, the more difficult it is for airflow to pass through the carpet fibers. The better the sealing effect of the sealed area formed below the roller brush mechanism, the higher the negative pressure, and the greater the travel resistance of the main unit (i.e., the cleaning robot). When the resistance increases to a certain level, exceeding the driving force of the walking mechanism used to drive the cleaning robot, the cleaning robot will suddenly slow down, slip, and become unable to move.

[0577] Considering that the occurrence of the above situation may be due to the large negative pressure of the suction port and the large friction between the roller brush assembly and the ground, in order to avoid the occurrence of the above situation from the perspective of reducing the negative pressure.

[0578] In one embodiment, the control module of the cleaning robot detects operating parameters of the walking system, such as the operating current of the driving motor for driving the walking wheels, the speed of the walking wheels, the displacement of the cleaning robot, etc.; wherein the walking system includes the walking wheels;

[0579] In one embodiment, the traveling wheels include a driving wheel 21 . Furthermore, there are two driving wheels, namely a left driving wheel 211 and a right driving wheel 212 . Of course, the traveling wheels may also include a universal wheel 22 .

[0580] Compare the detected working parameters with the corresponding set values ​​to determine whether the cleaning robot is obstructed; for example, compare the working current with the current threshold, or compare the current rotation speed (actual rotation speed) of the running wheel with the theoretical rotation speed at the theoretical driving speed on the carpet, or compare the current displacement (actual displacement) of the cleaning robot per unit time with the theoretical displacement per unit time; when the working current is greater than the current threshold, or the current rotation speed (actual rotation speed) of the running wheel is less than the theoretical rotation speed at the theoretical driving speed on the carpet, or the current displacement (actual displacement) of the cleaning robot per unit time is less than the theoretical displacement per unit time, it is determined that the cleaning robot is obstructed;

[0581] When the movement of the cleaning robot is obstructed, the control module controls the shield to open, for example, by opening it step by step according to the opening step height or step by step according to the gear position, until the operating parameters of the walking mechanism return to normal. Specifically, when the operating current is consistent with the current threshold, or when the current rotation speed (actual rotation speed) of the walking wheel is consistent with the theoretical rotation speed at the theoretical driving speed on the carpet, or when the current displacement (actual displacement) of the cleaning robot per unit time is consistent with the theoretical displacement of the cleaning robot per unit time, it is determined that the operating parameters of the walking mechanism have returned to normal.

[0582] In one embodiment, the step height of each opening of the shielding member is 0.2 mm.

[0583] In one embodiment, the maximum opening height of the shielding member is no greater than 15 mm.

[0584] Furthermore, when the opening height of the shielding member reaches a maximum value or cannot be increased further, if the operating parameters of the walking mechanism have not returned to normal, the control module controls the dust suction fan to turn off.

[0585] Of course, in other embodiments, when the cleaning robot is obstructed in its travel, the control module may also control the dust suction fan to turn off, so that the working parameters of the walking mechanism return to normal.

[0586] The negative pressure at the dust suction port is related to the sealing adjustment mechanism (especially the shielding member) and the suction force of the dust suction device (such as a fan).

[0587] Therefore, in order to reduce the negative pressure at the suction port, at least one of the following two aspects can be achieved:

[0588] First, from the perspective of the sealing adjustment mechanism:

[0589] For example, this can be achieved by controlling the closing state of the shielding member or controlling the size of the closed surface formed by the shielding member; the size of the closed surface can be characterized by the distance between the end of the shielding member close to the surface to be cleaned and the surface to be cleaned (the distance from the ground, also known as the opening height).

[0590] In one embodiment, when the shielding member has only two states, open and closed, the negative pressure can be adjusted by controlling the closed state of the shielding member. Specifically, when the cleaning robot detects a sudden change in movement speed, the sealing adjustment mechanism is controlled to open the shielding member, so that the air flow passage of the sealing adjustment mechanism 11 in front of the direction of travel of the cleaning robot is opened, thereby reducing the pressure difference of the negative pressure at the suction port and reducing the friction between the roller brush assembly and the surface to be cleaned, so that the cleaning robot can move normally. The above-mentioned sudden change in movement speed, for example, refers to the cleaning robot dropping from the normal driving speed v1 to 0 or from v1 to a preset percentage of v1. The preset percentage can be set according to actual needs, and the value range of the preset percentage here is at least greater than or equal to 50%.

[0591] In another embodiment, when the size of the closed surface formed by the shielding member is adjustable, for example, when the shielding member has multiple gears, the negative pressure can be adjusted by controlling the opening height of the shielding member.

[0592] It is understandable that the sizes of the closed surfaces formed by the shielding member are different at different gear positions; or the opening heights of the shielding member are different at different gear positions.

[0593] In one example, different gears correspond to sudden changes in movement speed, wherein the greater the sudden change in movement speed, the greater the gear of the shielding member, and the greater the opening height of the shielding member.

[0594] For ease of understanding, the following description is made using an example in which the shielding member has a first gear position and a second gear position:

[0595] The first gear corresponds to the partially open state of the shielding member, at which time the opening height of the shielding member is h1; the first gear corresponds to a sudden change in moving speed k1;

[0596] The second gear corresponds to the fully open state of the shielding member, at which time the opening height of the shielding member is h2; the second gear corresponds to a sudden change in moving speed k2;

[0597] Among them, h1 is smaller than h2, and k1 is smaller than k2.

[0598] It should be noted that the above-mentioned movement speed mutation amount k is used to characterize the change in movement speed. The movement speed before the change is V1, and the movement speed after the change is V2. Then the movement speed mutation amount k = (V1-V2)*100% / V1; assuming that the cleaning robot is traveling at a normal movement speed V1 before the change, and suddenly the cleaning robot cannot move, that is, the movement speed V2 is 0, according to the above formula, the movement speed mutation amount k at this time is 100%.

[0599] By setting the shielding member to have different gears, the cleaning robot can cope with different movement speed changes when moving on the surface to be cleaned, thereby helping the cleaning robot to escape from trouble.

[0600] Since the moving speed of the running wheel is related to parameters such as the current of the drive motor, the speed of the running wheel, and the displacement of the cleaning robot, the moving speed can be obtained by detecting the working current of the drive motor, the speed of the running wheel, and the displacement of the cleaning robot per unit time. Therefore, the change in the moving speed can be obtained by detecting the change in the working current of the drive motor, the difference between the theoretical and actual speeds of the running wheel, and the difference between the theoretical and actual displacement of the cleaning robot per unit time. Among them, the working current can be detected by a current sensor, the speed of the running wheel can be detected by a Hall sensor, and the displacement can be detected by a speed sensor.

[0601] In addition, considering that carpets generally have different thicknesses (which can be represented by the length of carpet fibers), in order to adapt to the sudden change in moving speed when cleaning carpets of different thicknesses, in one embodiment, the shielding member has different gears, and the opening height of the shielding member varies in different gears;

[0602] Wherein, different gear positions correspond to carpets of different thicknesses, or, for carpets of different thicknesses, the opening height of the shielding member is different;

[0603] The thickness of the carpet is inversely proportional to the opening height of the shielding member. That is, the smaller the thickness of the carpet, the greater the opening height of the shielding member.

[0604] Secondly, from the perspective of dust collection device:

[0605] For example, this can be achieved by adjusting the suction force of the fan.

[0606] Since the suction force of the fan is related to the power of the fan, the suction force of the fan can be adjusted by adjusting the power of the fan or turning off the fan.

[0607] When the cleaning robot is unable to move or its moving speed suddenly changes during normal cleaning of the floor, the negative pressure of the suction port can be reduced by opening the cover, lowering the power of the fan or turning off the fan, thereby reducing the friction between the roller brush assembly and the floor, allowing the cleaning robot to perform cleaning work normally.

[0608] Referring to Figure 46, the cleaning robot is cleaning on a soft floor. Considering that there is large-sized garbage 01 (such as large particles) on soft floors such as carpets, and large-sized garbage usually does not sink into the carpet fibers or fluff, since the shielding part is in a closed state when the cleaning robot is cleaning on soft floors such as carpets, it may affect the cleaning effect of large-sized garbage.

[0609] Therefore, in order to clean the large-sized garbage 01 on the carpet and further improve the carpet cleaning effect, in one embodiment, when the cleaning robot is in carpet working mode or performing cleaning work on the carpet surface, if the cleaning robot recognizes the large-sized garbage 01, the shielding member 110 is configured to be in an open state, or the control module is configured to control the shielding member to switch from a closed state to an open state. The above-mentioned recognition can be understood as detection or identification.

[0610] When the cleaning robot is cleaning the carpet, after identifying large-sized garbage, the cleaning robot opens the shielding piece so that the cleaning robot can clean the large-sized garbage on the carpet, thereby improving the cleaning effect of the carpet.

[0611] It should be noted that in order to prevent large-sized garbage from being cleaned on the carpet, it is necessary to ensure that the shield is in the open state before the large particles reach the shield.

[0612] For example, the time t1 during which the cleaning robot runs a distance S is greater than or equal to the time t2 during which the shielding member is opened.

[0613] To achieve the above purpose, at least one of the following methods can be used:

[0614] Method 1 can be achieved by controlling the opening rate or opening time of the shielding member; the opening time refers to the time it takes for the shielding member to switch from a closed state to an open state.

[0615] Method 2: You can control the moving speed of the cleaning robot.

[0616] Therefore, in one embodiment, when the cleaning robot does not slow down, the opening speed or opening time of the shielding member is controlled. In one embodiment, the opening time of the shielding member is about 0.5s.

[0617] In one embodiment, the cleaning robot may be controlled to first decelerate and then accelerate from a normal cleaning speed, and the shielding member may be in an open state before the cleaning robot reaches the normal cleaning speed.

[0618] Regarding the issue of the timing of opening the shielding member after the large particles are identified, in one embodiment, the control module of the cleaning robot controls the shielding member to open after the large particles are identified.

[0619] Considering that there is a distance between the recognition of large particles and the cleaning of large particles, in order to avoid the problem of reduced cleaning effect on the carpet due to this distance, in one embodiment, after the cleaning robot recognizes the large particles, it detects the distance between the large particles and the front end of the main body (for example, visual detection can be performed by the first sensor 101 using a depth camera) or detects the distance S between the large particles and the sealing adjustment mechanism (i.e., the sum of the distance from the shielding member to the front end of the main body and the distance from the large particles to the front end of the main body), wherein the distance from the shielding member to the front end of the main body is a known distance after installation; therefore, the distance S between the large particles and the sealing adjustment mechanism can be obtained by adding the distance from the large particles to the front end of the main body obtained by visual detection using the first sensor 101 using the depth camera to the known distance. When the distance reaches the threshold distance, the control module controls the shielding member to open; wherein the value range of the threshold distance is 60mm-300mm.

[0620] In one embodiment, when the cleaning robot identifies large particles, the large particles are within a range of 15-25 mm from the cleaning robot body.

[0621] Regarding how to detect large-sized garbage, in one embodiment of the present disclosure, the size of the obstacle (such as height) is detected by the first sensor 101, and the size of the obstacle is compared with a preset size. If the preset size requirement for large-sized garbage is met, it is determined to be large-sized garbage.

[0622] After large particles are identified and before they are cleaned, the shielding member 110 remains in the closed state, thereby continuing to clean the stains attached to the carpet fibers, thereby improving the cleaning effect of the carpet in the distance between the identification of large particles and the cleaning of the large particles.

[0623] Furthermore, to improve the cleaning effect of the carpet between the identification of large particles and the cleaning of the large particles, in one embodiment, referring to FIG. 47 , after the cleaning robot identifies a large particle on the carpet, it detects the distance between the large particle and the front end of the main body. When the distance is within a certain threshold, the control module controls the cleaning robot to decelerate at a deceleration rate of P1. After the cleaning robot completes deceleration, for example, after the initial movement speed of the cleaning robot on the carpet is reduced to a preset speed and the robot continues to run at the preset speed for a preset distance or a preset time, the control module controls the shield to open. The preset distance or preset time can be determined based on the preset speed and the distance between the roller brush assembly and the front end of the main body.

[0624] Because the cleaning robot slows down and travels at a low speed for a period of time or distance after identifying large particles, the roller brush mechanism hits the carpet fibers more times per unit time, which has a better dust removal effect and is conducive to gathering large particles in front of the roller brush mechanism, thereby further improving the cleaning effect of the carpet within the distance from the identification of large particles to the cleaning.

[0625] In addition, considering that the switching of the shielding member also takes time, after the cleaning robot identifies large particles, it can control the cleaning robot to slow down, and can also reduce the distance / area that the cleaning robot travels during the switching process of the shielding member (for example, from closed to open state), thereby maximizing the overall cleaning effect of the carpet.

[0626] Of course, reducing the distance / area that the cleaning robot travels during the switching process of the shield (for example, from the closed state to the open state) can be achieved, on the one hand, by reducing the moving speed of the cleaning robot as mentioned above; on the other hand, it can also be achieved by increasing the opening speed of the shield, that is, by quickly opening the shield.

[0627] In one embodiment, the control module controls the seal adjustment mechanism to open the shutter at a first rate.

[0628] The first rate is achieved in different ways depending on the type of the sealing adjustment mechanism. For example, if the sealing adjustment mechanism is a gear structure, the first rate is achieved by controlling the rotational angular velocity of the gear.

[0629] In order not to affect the cleaning effect of the carpet after cleaning large particles, further, when the cleaning robot finishes cleaning the large-sized garbage on the carpet, the shielding member is in a closed state, or the control module controls the shielding member to switch from the open state back to the closed state to continue cleaning the garbage between the carpet pile.

[0630] It should be noted that when the shielding member switches from the open state to the closed state, it closes at a second rate, which is greater than or equal to the first rate, to reduce the time the shielding member takes to open. Preferably, the second rate is equal to the first rate to increase the service life of the sealing adjustment mechanism and simplify the control program.

[0631] Considering that large particles are usually concentrated or not very large in area, in order to reduce the impact of the shielding member opening on the carpet cleaning effect, in one embodiment, after the shielding member of the cleaning robot is opened, the shielding member remains in the open state for a set time, and the control module controls the sealing adjustment mechanism to close the shielding member;

[0632] By controlling the opening time of the shielding member, the distance or area traveled when the shielding member is opened is minimized, so that the overall cleaning effect of the carpet is maintained at an optimal state.

[0633] Furthermore, after the large particles are cleaned, the control module controls the shield to close. When the cleaning robot detects that the shield is in a closed state, the control module controls the cleaning robot to return to a normal driving speed, such as the initial moving speed of the cleaning robot on the carpet. The recovery rate is P2, wherein the recovery rate P2 is greater than or equal to the deceleration rate P1, so that the cleaning robot can quickly return to the carpet processing state before processing the large particles, thereby ensuring the uniformity and consistency of the carpet cleaning effect.

[0634] It should be pointed out that in other embodiments, after the large particles are cleaned, the control module controls the shield to close. When the cleaning robot detects that the shield begins to close, the control module controls the cleaning robot to return to the normal cleaning speed, for example, the initial moving speed V of the cleaning robot on the carpet, and the recovery rate is P2, wherein the recovery rate P2 is greater than or equal to the deceleration rate P1, in order to reduce the distance or area traveled by the cleaning robot on the carpet when the shield is opened, thereby reducing the impact on the cleaning effect of the carpet.

[0635] In order to increase the beauty of carpets, carpets usually have carpet tassels, and in order to prevent the cleaning robot from causing damage to the tassels.

[0636] In one embodiment, referring to FIG. 48 , before the cleaning robot goes on the carpet, for example, when the front end of the cleaning robot's main body is a preset distance away from the carpet, the shielding member is configured to be in a closed state, or the control module controls the shielding member to be closed.

[0637] Before the cleaning robot goes on the carpet, for example, before the cleaning robot climbs onto the carpet from the floor, the shielding member is closed, thereby facilitating the cleaning robot's suction port from sucking in the carpet tassels.

[0638] The first sensor 101 includes a carpet boundary sensor. The cleaning robot turns on the carpet boundary sensor to identify the carpet boundary so as to close the shielding member before going on the carpet.

[0639] To prevent the tassels from being sucked in, in one embodiment, the dust suction fan can be turned off simultaneously with, before, or after the shield is closed. Of course, in other embodiments, the fan can be turned off without controlling the closing of the shield to prevent the tassels from being sucked in, and this disclosure is not limited to this.

[0640] It should be noted that the first sensor 101 may also include a large-size garbage recognition sensor for identifying large-size garbage.

[0641] For ease of understanding, the following describes the operation of a cleaning robot in a scenario where it climbs from a hard surface such as a floor to a soft surface such as a carpet to clean the carpet, with reference to FIG49 :

[0642] When the cleaning robot is in floor cleaning mode or cleaning a hard floor, it travels at a first moving speed and operates at a first power, the first power including at least the power of the dust suction fan and the power of the roller brush, and the shield is in an open state;

[0643] When the cleaning robot recognizes that there is a carpet in front of it or recognizes the boundary of the carpet, the cleaning robot detects the first distance between the front end of the main body and the carpet. When the first distance is less than the preset value, the control module controls the shielding member to close, so that the shielding member switches from an open state to a closed state. On the one hand, it can assist the roller brush mechanism to lift, so that the cleaning robot can move from the floor to the carpet; on the other hand, it can avoid the tassel suction problem of carpets with tassels.

[0644] After the cleaning robot climbs onto the carpet, it switches from floor cleaning mode to carpet cleaning mode;

[0645] When the cleaning robot is in carpet cleaning mode, the cleaning robot travels at a second moving speed and operates at a second power, the second power at least including the power of the dust suction fan and the power of the roller brush, and the shielding member is in a closed state; wherein the second moving speed is less than the first moving speed, and the second power is greater than the first power, so as to increase the number of times the roller brush assembly hits the carpet per unit time and / or the dust suction effect, which is beneficial to improving the cleaning effect of the carpet.

[0646] Furthermore, during the carpet cleaning process, the cleaning robot turns on the large-size garbage recognition sensor, and when large-size garbage (such as large particles) is identified, the distance between the large particles and the front end of the main body is detected; when the distance is within a certain threshold, the control module controls the cleaning robot to decelerate, and the deceleration rate is P1. After the cleaning robot completes deceleration, for example, the initial moving speed of the cleaning robot on the carpet is reduced to a preset speed, and after continuing to run at the preset speed for a preset distance or a preset time, the control module controls the shielding member to open to clean the large particles.

[0647] It should be pointed out that the large-size garbage recognition sensor can be turned on before switching to the carpet cleaning mode (as shown in Figure 49), or after switching to the carpet cleaning mode, or at the same time as switching to the carpet cleaning mode. This disclosure does not limit this.

[0648] The following is a brief description of the relevant detection logic involved in this disclosure:

[0649] A. Detection of carpet area (long-distance detection):

[0650] Cleaning robots, handheld vacuum cleaners and other cleaning equipment use the first sensor 101 to identify whether the front area is a carpet area. The first sensor 101 is, for example, set at the front upper part of the main body of the cleaning robot, handheld vacuum cleaner and other cleaning equipment; the detection direction of the first sensor 101 is obliquely downward.

[0651] Refer to the figure

[0652] B. Detection of large-sized garbage (such as large particles):

[0653] Regardless of whether a cleaning robot, handheld vacuum cleaner or other cleaning device is in edge mode or other modes, the cleaning robot, handheld vacuum cleaner or other cleaning device identifies large particles on the carpet through the first sensor 101 .

[0654] Specifically, the empirical threshold is obtained by detecting that the height of the object is less than the empirical threshold and identifying it as a large particle (chocolate beans, dog food, etc.), which is usually a few mm.

[0655] C. Recognition of obstacle crossing scenes

[0656] Cleaning robots, handheld vacuum cleaners and other cleaning equipment recognize obstacle crossing scenes through the first sensor 101 provided at the upper front portion.

[0657] Specifically, by detecting the height of the object in front, the system can identify whether it is an obstacle that needs to be avoided (e.g., greater than 2 cm) or a low obstacle that can be crossed (less than or equal to 2 cm).

[0658] In one embodiment, in order to distinguish whether the object ahead is a surmountable obstacle or large-sized garbage, the width information of the object may be used for confirmation.

[0659] D Floor and carpet detection logic (close range detection):

[0660] A cleaning robot, handheld vacuum cleaner, or other cleaning device uses a second sensor 102 to detect whether the surface is hard or soft, with the detection direction facing downward. The second sensor 102 may be one or more. The second sensor 102 may be located below the front of the main body or elsewhere, such as near the roller brush assembly. Furthermore, the second sensor 102 is located in front of the roller brush assembly in the forward direction of the cleaning robot, handheld vacuum cleaner, or other cleaning device.

[0661] It should be noted that the first sensor 101 may be, for example, a 3D (three-dimensional) time of flight (TOF) camera or a 3D depth camera.

[0662] The second sensor 102 may be, for example, a ground material sensor, which may be an ultrasonic sensor.

[0663] General logic for opening and closing E shield:

[0664] When a cleaning robot, handheld vacuum cleaner or other cleaning equipment is on a hard surface (such as a floor), the shielding member is in an open state, and further, the opening height of the shielding member is at its maximum;

[0665] When cleaning robots, handheld vacuum cleaners and other cleaning equipment are on a soft floor (such as a carpet), the shield is in a closed state or the opening height of the shield becomes smaller; further, the shield is in a completely closed state and the opening height of the shield is the smallest.

[0666] The logic of F carpet thickness (carpet fiber length) and the height of the shield opening is:

[0667] For carpets with fiber length greater than or equal to a length threshold, cleaning robots, handheld vacuum cleaners, and other cleaning equipment will not be able to go up the carpet. For example, they can bypass the carpet.

[0668] For carpets whose fiber length is less than the length threshold, cleaning robots, handheld vacuum cleaners and other cleaning equipment can be used. Furthermore, when the thickness of the carpet (ie, the length of the carpet fiber) is greater, the opening height of the shielding member is smaller.

[0669] G The timing control logic of the shield opening and closing

[0670] When cleaning robots, handheld vacuum cleaners, and other cleaning equipment detect large particles, the door is immediately controlled to open; the shield is always open on the floor, so there is no switching action when large particles are detected on the floor;

[0671] As for the carpet, since the shielding member on the carpet is closed, when a large particle is detected, the shielding member is switched from the closed state to the open state.

[0672] Of course, due to factors such as recognition time, there is usually a certain delay; in addition, you can also actively set a delayed trigger to open. At least it must be satisfied that the shield is in the open state before the large particle reaches the shield.

[0673] H The opening state of the shield before climbing onto the carpet

[0674] Before a cleaning robot, handheld vacuum cleaner or other cleaning equipment climbs onto the carpet, in order to avoid inhaling carpet tassels, the shielding member is closed or the fan (vacuum motor) used for vacuuming is turned off;

[0675] It should be pointed out that since the roller brush is set at the rear, considering that the vacuum fan or shielding piece is turned off immediately when the edge of the carpet is recognized, the ground from the front end of the cleaning robot, handheld vacuum cleaner and other cleaning equipment to the roller brush is not cleaned, so a delayed shutdown can be set; of course, the closing rate of the shielding piece can also be controlled to avoid sucking in carpet tassels and cleaning as much floor as possible.

[0676] When large particles are detected, the logic of changing the walking speed

[0677] When a cleaning robot, handheld vacuum cleaner or other cleaning equipment identifies large particles on the floor, the driving speed of the cleaning robot, handheld vacuum cleaner or other cleaning equipment remains unchanged.

[0678] When a cleaning robot, handheld vacuum cleaner or other cleaning device identifies large particles on the carpet, the driving speed of the cleaning robot, handheld vacuum cleaner or other cleaning device may be reduced.

[0679] It should be noted that the speed of cleaning robots, handheld vacuum cleaners and other cleaning equipment on the floor is greater than the speed on the carpet; for example, the speed of cleaning robots, handheld vacuum cleaners and other cleaning equipment on the floor is 0.3m / s; in order to improve the cleaning effect of carpets, the speed on carpets is reduced to 0.2m / s.

[0680] On the basis of the aforementioned embodiment, a cleaning system is further provided in an embodiment of the present disclosure, referring to FIG. 50 , which includes a base station 200 and the aforementioned cleaning robot 100 , wherein the base station 200 is used for the cleaning robot 100 to dock.

[0681] It should be pointed out that in order to facilitate the cleaning robot to dock at the base station, the shielding member is in an open state before the cleaning robot enters the base station platform, especially before the cleaning robot enters the guide surface (such as a slope) set in front of the base station platform.

[0682] Furthermore, the base station 200 is also used to provide maintenance operations for the cleaning robot 100 , which maintenance operations include dust collection maintenance, that is, the base station 200 can recycle garbage in the dust box 103 of the cleaning robot 100 .

[0683] In order to realize dust collection maintenance for the cleaning robot, the base station includes a base 201 for the cleaning robot to dock and a functional body for performing dust collection, which is connected to the base 201.

[0684] The base 201 includes a base station dust collection port 2011, which is connected to the dust box outlet 1031 of the dust box 103 at least when the cleaning robot performs a dust collection operation, so as to recycle the garbage in the dust box of the cleaning robot;

[0685] Regarding the problem of how to ensure that the base station dust collection port 2011 is connected with the dust box dust outlet 1031, in one embodiment, the base 201 has a docking position. When the cleaning robot is in the docking position, the base station dust collection port is connected with the dust box dust outlet.

[0686] In order to ensure that the cleaning robot is in the docking position and prevent the dust collection port 2011 of the base station from being misaligned with the dust outlet 1031 of the dust box, which affects the dust collection efficiency, in one embodiment, a limiting component is provided on the base 201, and the limiting component is, for example, a groove for limiting the walking wheel (such as a driving wheel) of the cleaning robot or a charging electrode for docking with the charging electrode of the cleaning robot for charging; wherein, when the charging electrode of the cleaning robot is docked with the charging electrode, it is determined that the cleaning robot is in the docking position. In order to ensure that the charging electrode is accurately docked with the charging electrode, further, when the charging electrode contacts the charging electrode, an electrical signal can be detected by a sensor to determine that the charging electrode and the charging electrode are successfully docked, wherein the sensor for detecting the electrical signal is provided on at least one of the base station and the cleaning robot.

[0687] The functional body described above includes a dust box maintenance device, which includes at least a dust bag 202 and a suction duct 203. One end of the suction duct 203 is connected to the base station's dust collection port 2011, and the other end is connected to the dust bag 202. The capacity of the base station's dust bag 202 is much greater than that of the main unit's dust box 103, allowing for multiple dust collection and maintenance operations, thereby extending the total maintenance time. The large dust bag capacity also extends the time users have to maintain the dust bag.

[0688] The dust box maintenance device includes a suction assembly (obscured and not labeled in the figure), which is used to provide suction to draw trash from the cleaning robot's dust box into a dust bag. In one example, the suction assembly includes a base station fan (also known as a dust collection fan 25), which is disposed at the end of the airflow path 205.

[0689] According to the suction principle, the air flow path 205 for dust collection should remain unobstructed. Therefore, if the shielding member 110 is in a closed state, the air flow path 205 may be blocked, affecting the dust collection efficiency; the air flow path 205 is from the outside of the cleaning robot 100 through the dust suction port 12 of the cleaning robot 100, the air duct 240, the dust box dust outlet 1031, the base station dust collection port 2011, and the suction duct 203 of the base station 200 to reach the dust bag 202.

[0690] Therefore, in order to ensure the dust collection efficiency, in one embodiment, the shielding member 110 is configured to be in an open state at least when the base station 200 performs dust collection maintenance on the cleaning robot 100.

[0691] For example, when the cleaning robot 100 needs dust collection maintenance, the cleaning robot stops at the parking position of the base station base 201, and the cleaning robot controls the shielding member 110 to open.

[0692] Furthermore, in order to ensure that the shielding member is opened, the system also includes: a detection component, which is arranged on at least one of the cleaning robot or the base station and is configured to detect the status of the shielding member at least when the base station performs dust collection maintenance on the cleaning robot.

[0693] In one embodiment, the detection component includes an in-place detection sensor, which is arranged on the cleaning robot, especially on the sealing adjustment mechanism, and is configured to detect the opening and closing of the shielding member.

[0694] It should be noted that the specific content of the detection component can be referred to the above description and will not be elaborated here.

[0695] Taking into account that each time the shield is controlled to open, the dust collection operation becomes more complicated. At the same time, the sealing adjustment mechanism may malfunction or fail to reset, which may cause the shield to fail to open, thereby affecting dust collection. In addition, in order to ensure the reliable operation of the dust collection function, it may also be necessary to set a detection element for detecting the closed state of the shield, which increases the cost.

[0696] In order to avoid at least one of the above problems, in one embodiment, referring to FIG. 51 , the base 201 of the base station 200 includes an air inlet channel 2012 for connecting the external space of the cleaning robot and the suction port 12 of the roller brush mechanism.

[0697] By setting up an air inlet channel, the shielding member can be in both the open and closed states at this time, so dust collection can be achieved without detecting the closed state of the shielding member, thereby ensuring the dust collection efficiency. At the same time, since there is no need to detect the closed state of the shielding member, there is no need to set up additional detection sensors, which reduces the complexity of the dust collection operation and saves costs.

[0698] In one embodiment, at least a portion of the air inlet channel 2012 is within the projection range of the roller brush mechanism.

[0699] For example, when the cleaning robot is on the base (specifically, its docking position), at least a portion of the air inlet channel 2012 is within the projection area of ​​the roller brush mechanism onto the base.

[0700] Furthermore, there is at least one gap 206 between the roller brush assembly 220 and the roller brush bracket 230. The gap 206 allows external airflow to flow into the air duct. Therefore, a portion of the air inlet channel 2012 can be set below the position of any gap.

[0701] It should be noted that when the roller brush assembly includes at least two roller brushes, there is also a gap 206 between two adjacent roller brushes. In this case, a portion of the air inlet channel can be arranged below the position corresponding to the gap between the adjacent roller brushes.

[0702] In one embodiment, one side of the air inlet channel 2012 is connected to the outside, and the other side is connected to the gap 206. The other side of the air inlet channel 2012 can be set below the position of any gap 6, or the other side of the air inlet channel 2012 can be connected to at least one gap 6, so that the air inlet channel connects the outside and the gap for air flow, thereby ensuring dust collection efficiency.

[0703] In order to achieve air purification and prevent foreign matter carried by the airflow from contaminating or damaging the fan (main fan or negative pressure fan) that provides negative pressure on cleaning robots or vacuum cleaners, in one embodiment, a high-efficiency particulate air filter (HEPA) is installed at the outlet of the dust collection system (especially the dust collection box) (at one end of the connection channel between the dust collection box and the fan) of the cleaning robot or vacuum cleaner.

[0704] Furthermore, considering that after the use of HEPA, as the cleaning equipment is cleaned, cotton wool, hair, dust and other foreign matter will gradually accumulate on the HEPA, which will gradually clog the HEPA, resulting in a significant reduction in the air intake of the fan, and then greatly reducing the suction power of the fan, resulting in a significant decrease in the cleaning power of the cleaning equipment.

[0705] To avoid this problem, most products currently replace HEPA with washable materials (surface coating) and use a manual cleaning method that requires users to manually rinse. However, this manual cleaning method requires users to disassemble and rinse the HEPA, which greatly reduces the user experience.

[0706] To address this issue, some existing products have added pre-filters before the HEPA. For example, robot vacuums from Dyson and Samsung use a cyclone filter in front of the HEPA to reduce the amount of dust, lint, and hair that enters the HEPA, thereby reducing the need for manual cleaning. Similarly, brands like Ecovacs and Midea use fixed filters in front of the HEPA to reduce the amount of large debris like lint and hair that enters the HEPA.

[0707] While the aforementioned cyclone pre-filtration solution reduces the frequency of HEPA maintenance, it presents the following issues: 1. The cyclone itself requires maintenance, especially when the floor is heavily soiled, contains a lot of particulate matter, pet hair, or carpets, where it can easily become stuck with particles, hair, and lint. 2. The cyclone itself takes up a lot of space, compressing the dust collection box, making it more likely to get stuck, causing the machine to malfunction and requiring manual maintenance, impacting the user experience. Furthermore, the cyclone's large footprint means that machines using it are generally taller, making it difficult to clean low spaces.

[0708] However, by setting a fixed filter in front of the HEPA, there is the following problem: when performing dust collection maintenance, the dust on the HEPA will fall between the HEPA and the filter, and the user also needs to clean it manually.

[0709] In summary, cleaning equipment using HEPA has at least the following problems: 1. As HEPA is used, it gradually becomes clogged with attachments, causing a rapid decline in floor cleaning effectiveness and affecting the user experience. 2. Frequent disassembly and assembly of HEPA and manual cleaning of HEPA also affect the user experience. Adding a pre-filter to reduce the frequency of HEPA cleaning increases equipment costs, and the equipment still requires manual cleaning (for example, cleaning the cyclone device itself or cleaning dust between the fixed filter and HEPA). Frequent disassembly and assembly of the equipment for manual cleaning also affects the user experience.

[0710] In view of this, the present disclosure provides a solution for manual-free maintenance of HEPA, which automatically performs maintenance operations on HEPA through a base station (for example, each time a cleaning device completes cleaning, it reaches a base station used to maintain the cleaning device, and especially when maintenance is required, the base station performs HEPA maintenance operations on the HEPA) to avoid the problem of HEPA clogging, does not affect the cleaning ability of the cleaning device, and is conducive to achieving the user's need to manually clean HEPA within the life cycle of HEPA (for example, 6 months), thereby improving user experience and reducing maintenance costs.

[0711] In one embodiment, when the base station performs HEPA maintenance operations, the shield is in a closed state, as shown in FIG77 .

[0712] It should be noted that, in the case of maintenance operations on the filter device (such as HEPA), the shielding member is in a closed state at least for part of the time;

[0713] For example, the shield may be kept in the closed state throughout the maintenance operation of the filter device (such as HEPA);

[0714] For another example, during the entire process of performing maintenance operations on a filter device (such as HEPA), the shield can be kept in a closed state for multiple different time periods, such as by using a pulsed control method to switch the shield between the open and closed states multiple times to achieve self-cleaning of the HEPA. Of course, the shield can also be kept in a closed state for a specific time period, such as after the shield is in the open state (such as during maintenance operations on the dust box) and remains in the open state for a preset time period (such as after the dust box maintenance operation is completed and then maintained for a period of time), the shield is closed, so that the shield is in the closed state and remains in the closed state for a specific time period to achieve self-cleaning of the HEPA.

[0715] When the base station performs automatic maintenance operations on the HEPA, in order to clean the garbage on the HEPA, the shielding member can be closed. Under the action of the shielding member or the rear side wall of the dust collection system, the air flow can only be blown into the dust collection box from channel 2, that is, from the side (back) of the HEPA close to the negative pressure fan of the cleaning equipment, so that the air flow generated by the base station fan (suction component) can be blown through the HEPA, thereby playing a good cleaning role on the HEPA.

[0716] It should be noted that in one embodiment, the end of the rear sidewall of the vacuum system can extend close to the ground, or a scraper 116 can be provided on the rear sidewall to prevent dust from escaping through the opening in the rear sidewall, thereby improving cleaning effectiveness. Furthermore, the scraper can prevent wear caused by friction between the rear sidewall and the ground, thereby reducing the lifespan of the robot. In one embodiment, the scraper is removably provided at the end of the vacuum system for easy replacement.

[0717] In one embodiment, when the base station performs dust collection maintenance operation on the dust box of the cleaning device, the shielding member is in an open state, as shown in Figure 78. Further, the cleaning device performs maintenance operation on the HEPA after the dust collection maintenance operation on the dust box.

[0718] For ease of understanding, the following briefly describes the central dust collection process of a cleaning robot using the cleaning device as an example with reference to the accompanying drawings:

[0719] 77 to 81 , the cleaning robot includes a roller brush assembly, a dust collection box, a fan for providing negative pressure (also known as a negative pressure fan), channel 1, channel 2, channel 3, and a shielding member; wherein a hepa is provided in the dust collection box;

[0720] In one embodiment, the roller brush assembly includes two roller brushes, a first roller brush and a second roller brush, that is, the cleaning robot adopts a dual roller brush structure.

[0721] The central dust collection process of the base station (the dust collection fan of the base station is turned on) mainly includes the following two stages:

[0722] Central dust collection stage 1, also known as the dust box maintenance stage, the cover is in the open state, and the garbage in the dust box of the cleaning robot is sucked through the suction component of the base station, especially the base station fan (also known as the dust collection fan), and the garbage in the dust box is sucked into the dust bag of the base station to empty the garbage in the dust box.

[0723] In the above-mentioned stage 1, the shielding member is opened so that the airflow can enter the dust box through channel 1, and can also enter the dust box from channel 3 through the fan and from channel 2. The total air flow passing through the dust box is large, which is beneficial to improving the emptying rate of the dust box (such as the emptying efficiency and the emptying degree).

[0724] In the central dust collection stage 2, also known as the HEPA maintenance stage, the shield is in the closed state, and the garbage on the HEPA of the cleaning robot is sucked through the suction component of the base station, especially the base station fan (also known as the dust collection fan), so that the garbage on the HEPA is blown off and then sucked into the dust bag of the base station to clean the HEPA.

[0725] In the above-mentioned stage 2, the shielding member is closed and the central dust collection process continues (the base station fan is turned on). At this time, since the shielding member is closed, the airflow can only pass through channel 3 through the negative pressure fan of the cleaning robot and channel 2 to enter the dust collection box. The garbage on the HEPA will be blown off by the airflow passing through the HEPA, for example, falling into the dust collection box, and then carried away by the airflow generated by the base station fan that performs the central dust collection process (from the dust collection box) and sucked into the dust bag of the base station, thereby completing the cleaning of the HEPA.

[0726] In order to improve the cleaning effect of HEPA, in one embodiment, when the dust box maintenance stage is completed or the dust box is emptied, the dust collection fan can be suspended. For example, the dust collection fan is turned off by the controller of the base station to suspend the dust collection fan (the central dust collection process is suspended). The end of the dust box maintenance stage or the completion of the dust box emptying can be represented by one of the following methods: the dust box cleaning time reaches the preset time, the garbage capacity of the dust box is less than the threshold, etc.; the dust box cleaning time can be represented by the opening time of the dust collection fan or the opening time of the shielding member, and the garbage capacity of the dust box can be achieved by position detection by a position detection device such as an infrared sensor.

[0727] At the same time as the dust collection fan is turned off or a period of time after it is turned off, the shield is then closed to execute stage 2. At the same time as the shield is closed or a preset period of time after it is closed, the dust collection fan is turned on, so that the dust collection fan continues to operate and the central dust collection process continues. The opening or closing of the shield can be detected by, for example, an in-place detection device, which will not be described in detail here; the above-mentioned period of time or preset time can be set as needed, for example, to be less than or equal to a threshold time, which can be determined, for example, based on the time it takes for the fan and the shield to be opened or closed, which is not limited here.

[0728] By controlling the dust collecting fan to pause briefly, that is, turning the dust collecting fan off and then on again, an instantaneous airflow is generated to impact the HEPA, thereby improving the cleaning effect of the HEPA.

[0729] Furthermore, during the automatic HEPA maintenance process (Phase 2), the dust collection fan can be repeatedly turned on and off to generate multiple instantaneous airflows to better clean the HEPA. The time intervals between the fan on and off can be set as needed and can be set to be the same or different; for example, the intervals can be controlled by pulse signals to turn the dust collection fan on and off.

[0730] It should be noted that, in other embodiments, after generating an instantaneous airflow, the dust collecting fan can also be maintained to continue normal operation without having to be repeatedly opened and closed.

[0731] Of course, in other embodiments, the dust collecting fan is not paused between stage 1 and stage 2. Only in stage 2 (automatic maintenance process of HEPA), the dust collecting fan is turned off at the same time as the shielding member is closed or a period of time thereafter, and then the dust collecting fan is turned on after a set time interval to generate instantaneous airflow, which generates instantaneous airflow to impact the HEPA and improve the cleaning effect.

[0732] Furthermore, the above-mentioned closing and opening actions of the dust collecting fan are repeated to generate instantaneous airflow multiple times to better clean the HEPA; for example, the dust collecting fan is controlled by a pulse signal to achieve the stable generation of multiple instantaneous airflows; similarly, the time interval for turning on (or off) the dust collecting fan can be set according to needs, and can be set to the same or different; for example, the time interval can be used to realize the switching control of the dust collecting fan through a pulse signal.

[0733] It should be noted that, in other embodiments, after generating an instantaneous airflow, the dust collecting fan can also be maintained to continue normal operation without having to be repeatedly opened and closed.

[0734] In order to improve the cleaning effect of HEPA, in another embodiment, when the dust box maintenance stage is over or the dust box is emptied, the shield can still be in the open state and in position for a preset time. For example, within the initial time of the HEPA maintenance stage, the shield is controlled to maintain the open state for a preset time, and then the shield is controlled to be closed by the controller of the cleaning robot or through the interaction between the controller of the base station and the controller of the cleaning robot, so that the shield is in the closed state. While improving the cleaning effect of HEPA, it can avoid the shutdown control of the dust collection fan, simplify the control logic, reduce the frequent opening and closing of the dust collection fan, and increase the life of the fan. The end of the dust box maintenance stage or the completion of the dust box emptying can be represented by one of the following methods: the dust box cleaning time reaches the preset time, the garbage capacity of the dust box is less than the threshold, etc.

[0735] During the HEPA maintenance phase, the shield is controlled to be briefly opened and then closed, that is, the shield is first opened and then closed, so that dust on the HEPA that falls into the dust box can still be sucked away, thereby improving the cleaning effect of the HEPA.

[0736] Figure 82 shows a schematic diagram of the central dust collection process.

[0737] As shown in Figure 82, the entire central dust collection process mainly includes:

[0738] The cleaning robot returns to the base station; when the cleaning robot needs to return to the base station for maintenance, for example, when the cleaning robot needs dust collection maintenance (central dust collection process) or receives a maintenance instruction, the cleaning robot automatically returns to the base station and docks with the base station; when the docking of the two is completed, channel 4 (i.e., the suction duct) used for dust collection maintenance is in an open state.

[0739] The shield is opened;

[0740] Open the shielding member so that the shielding member is in an open state, in preparation for emptying the dust box.

[0741] The dust collection fan is turned on and the central dust collection stage 1 begins;

[0742] Turn on the dust collection fan so that it is in working state, and start the central dust collection stage 1 to empty the dust box of the cleaning robot; the representation of the emptying of the dust box can be referred to above and will not be repeated here.

[0743] The shield is closed;

[0744] When the dust box is empty, the shielding member is closed so that the shielding member is in a closed state.

[0745] Continue with central dust collection stage 2;

[0746] The dust collection fan continues to work to clean the garbage on the HEPA.

[0747] The central dust collection process is completed;

[0748] When the cleaning effect of HEPA meets the preset conditions, for example, the cleaning time of HEPA (which can be represented by the time when the shield is closed or the working time of the dust collection fan in stage 2) meets the cleaning threshold or the degree of dirtiness of HEPA is less than the threshold, the central dust collection process ends.

[0749] Of course, in other embodiments, in addition to providing a shielding member, a closable sealing door can be additionally provided to achieve self-maintenance of the HEPA. The sealing door can be provided at a preset position of the channel 1 or at the entrance of the dust box. As long as the airflow from the channel 1 into the dust box can be reduced or even avoided during central dust collection, or the airflow can pass through the HEPA more effectively, effective cleaning of the HEPA can be achieved.

[0750] The present disclosure also provides another solution for the HEPA self-maintenance of a cleaning robot.

[0751] 83 to 86 , the cleaning robot includes a roller brush mechanism, a dust collection box, and a fan for providing negative pressure. The roller brush mechanism includes a housing and a roller brush assembly. The roller brush assembly is disposed within the housing and has a connection portion on the housing for connection to (the inlet of) the dust collection box via a channel 1. When the roller brush assembly rotates, it strikes the cleaning surface to separate foreign matter from the cleaning surface. The foreign matter is then sucked into the dust collection box through the channel 1 under the action of the negative pressure fan.

[0752] In one embodiment, the roller brush assembly includes one roller brush, that is, the cleaning robot adopts a single roller brush structure.

[0753] In order to prevent foreign matter from escaping from the rear end of the roller brush, in one embodiment, a scraper is provided on the housing near the rear end of the roller brush.

[0754] In one embodiment, there is a channel 2 between the dust collection box and the negative pressure fan. In order to prevent foreign matter from entering the negative pressure fan through the channel 2 and affecting the fan, in one embodiment, a hepa is provided on the side of the dust collection box close to the negative pressure fan or at the outlet of the dust collection box or in the channel 2.

[0755] In order to achieve self-maintenance of HEPA, in one embodiment, the cleaning robot further includes an openable and closable maintenance switch 115, which may be a valve, for example.

[0756] In one embodiment, when the base station performs a hepa maintenance operation on the cleaning robot, the maintenance switch is in an off state;

[0757] In one embodiment, when the base station performs a dust box maintenance operation on the cleaning robot, the maintenance switch is in an on state;

[0758] Furthermore, the maintenance operation of the cleaning device on the HEPA is performed after the dust collection maintenance operation on the dust box.

[0759] In one embodiment, the maintenance switch is set at a preset position of channel 1, and the cleaning and maintenance of the HEPA is achieved by switching the open and closed states;

[0760] Furthermore, the maintenance switch may be provided on a side of the channel 1 close to the dust box; furthermore, the maintenance switch may be provided at the connection between the channel 1 and the dust box.

[0761] In one embodiment, the channel 1 is made of flexible material.

[0762] Since flexible materials are usually easy to deform, the sealing of the channel 1 cannot be guaranteed, which can easily lead to blockage of the channel 1.

[0763] In another embodiment, the maintenance switch is provided at the inlet of the dust box to avoid blocking the channel 1. At the same time, the dust box is not easily deformed, so it is easy to set the maintenance switch. Compared with flexible materials, the sealing performance is also improved.

[0764] Of course, in other embodiments, the maintenance switch can also be set at other positions as long as the sealing of channel 1 can be achieved, for example, it can be set at a position of the shell away from channel 1. As shown in Figures 87 and 88, the maintenance switch is set at a position of the shell near the front end of the roller brush.

[0765] It should be pointed out that the above-mentioned HEPA self-maintenance scheme can be applied to any equipment or components that require filtering, such as cleaning robots and vacuum cleaners; it can be applied to cleaning equipment with double roller brushes and cleaning equipment with only a single roller brush; of course, the above-mentioned scheme can also be applied to cleaning equipment with an additional pre-filtering device, which can achieve maintenance-free pre-filtering device.

[0766] Since the cleaning robot will inevitably encounter hair dropped by people or animals during the cleaning process of the surface to be cleaned, in order to avoid problems caused by hair entanglement, such as hair entangled in the roller brush assembly of the cleaning robot affecting the cleaning effect, and hair entangled in the walking mechanism of the cleaning robot affecting movement, further referring to Figure 50, the base station 200 also has a hair cutting device 207, which is used to perform hair cutting operations on the cleaning robot to maintain the roller brush assembly or the walking mechanism.

[0767] Considering the issue of how to dispose of the cut hair after the hair cutting device 207 has cut hair, a cleaning robot can further collect the cut hair. Specifically, after the hair cutting device 207 has finished cutting hair, the cleaning robot can activate the roller brush assembly 220, such as the fan and / or roller brush for dust collection, to draw the cut hair into the dust collection box 103. The hair is then collected by the dust collection function of the base station 200 into the dust bag 202.

[0768] Taking into account the process of the cleaning robot sucking hair into the dust collection box, in order to improve the passability of hair and thus improve the hair collection effect, in one embodiment, the shielding member 110 is configured to be in an open state after the hair cutting is completed.

[0769] When performing hair cutting maintenance on the roller brush assembly or walking mechanism of the cleaning robot, after the hair cutting operation is completed, the shielding member is opened to allow smooth air flow, which is conducive to sucking the cut hair into the dust collection box, thereby improving the hair collection effect.

[0770] Furthermore, after the hair cutting is completed and the hair is sucked into the dust box 103 , the shielding member 110 is configured to be in an open state.

[0771] Of course, in other embodiments, the shielding member may be in an open state before the roller brush assembly is started, especially before the fan for dust collection is started.

[0772] In other embodiments, considering the strong adhesion of hair, after the hair cutting is completed, the shielding member 110 is configured to be in a closed state, so as to increase the suction force of absorbing hair, make it easier to suck up hair, and facilitate hair collection.

[0773] It should be noted that, in other embodiments, the hair cutting device may also be provided on a cleaning robot, which is not limited in this embodiment.

[0774] Of course, in other embodiments, in addition to the above-mentioned dust collection operation and hair cutting operation, the maintenance operation may also include charging, replenishing water, replacing wiping parts (such as mops), cleaning wiping parts, etc. Correspondingly, the base station includes a functional body corresponding to performing the above-mentioned maintenance operations, which is not limited in this disclosure.

[0775] As shown in Figure 52, with a single roller brush, the dust collection effect is poor due to the single stroke. Furthermore, at the rear sidewall 2310, the roller brush rotates in the same direction as the airflow (backward airflow). The airflow (backward airflow) has a shorter path along the rear sidewall 2310, and the airflow is relatively unobstructed. This results in the airflow (backward airflow) being unable to effectively deep clean the interior of the carpet, resulting in a significant loss of energy required for effective cleaning. Consequently, the improvement in dust collection is minimal. Furthermore, it should be noted that due to the gap between the rear sidewall and the cleaning surface, some of the forward airflow (i.e., the front airflow) escapes through the gap between the rear sidewall and the cleaning surface, further resulting in a loss of energy required for effective cleaning. As shown in FIG54 , in the case of a dual roller brush, the presence of two beats increases the number of beats compared to a single roller brush, improving dust collection. Furthermore, at rear sidewall 2310, rear roller brush 2202 rotates in the opposite direction of the airflow, blocking the flow of the backward airflow along rear sidewall 2310 and forcing the backward airflow to pass through the carpet's fluff and enter the dust box through the channel between the two roller brushes. This allows both the forward and backward airflows to flow through the carpet's interior for deep cleaning, resulting in high energy utilization and minimal energy loss for effective cleaning. The dust collection effect is significantly improved. The airflow rate C is approximately equal to the sum of the forward airflow rate C1 and the backward airflow rate C2. Furthermore, by providing shielding member 110, particularly with the farthest end of shielding member 110 extending close to the position where the roller brush contacts the ground, C1 is substantially equal to C2.

[0776] It should be noted that, as shown in FIG54 , in the case of a double roller brush, along the forward direction of the cleaning robot, the double roller brush includes a first roller brush and a second roller brush arranged in sequence, and the first roller brush and the second roller brush rotate in opposite directions.

[0777] Furthermore, the first roller brush is a pure rubber brush (i.e., it only includes a rubber strip), and the second roller brush is a roller brush containing hair (such as a rubber strip, a mixed brush of bristles, or a mixed brush of soft and hard bristles, or a pure brush), wherein the rubber strip has a good beating effect on the carpet, but will produce noise due to friction; therefore, in the double roller brush structure, when cleaning the carpet, the interference fit of the first roller brush is smaller than the interference fit of the second roller brush, wherein the interference fit is used to characterize the degree to which the roller brush penetrates into the carpet and is away from the carpet surface; for example, when cleaning the carpet, the interference fit L3 of the first roller brush is smaller than the interference fit L4 of the second roller brush, as shown in FIG54; in the double roller brush structure, when cleaning the floor, the distance between the first roller brush and the floor is larger than that of the second roller brush. The distance between the roller brush and the floor; if the second roller brush contains a rubber strip and bristles, the bristles in the second roller brush are grounded, and the rubber strip in the second roller brush is not grounded. For example, the first roller brush does not touch the floor, the bristles in the second roller brush touch the floor, and the rubber strip in the second roller brush is not grounded. For example, the length of the bristles in the second roller brush in the direction perpendicular to the ground is greater than the length of the rubber strip in the direction perpendicular to the ground; in this way, the bristles can have a good cleaning effect on the floor, and the rubber strip can improve the beating ability of the carpet, which is beneficial to improving the cleaning effect of the carpet. At the same time, since the rubber strip is not grounded when cleaning the floor, it is beneficial to reduce the noise generated by the friction between the rubber strip and the ground, thereby improving the user experience.

[0778] As shown in Figure 53, the air flow rate C is approximately equal to the sum of the forward air flow rate C1' and the backward air flow rate C2'. Since the flow path of the forward air flow is shorter and the flow is smoother, the forward air flow rate C1' is greater than the backward air flow rate C2', that is, the energy of C2' is small, but the structure of the rear roller brush has not changed, so the energy utilization rate remains unchanged, so the effective dust collection energy D2' corresponding to C2' becomes smaller, and under the same suction force, the forward air flow rate C1' in Figure 53 is greater than the forward air flow rate C1 in Figure 54. Although the energy of C1' is large, the energy utilization rate of the airflow decreases due to the change in the forward structure in Figure 53 (unobstructed) compared to Figure 54. This is because the path of the forward airflow through the interior of the carpet becomes shorter, that is, the flow rate C1' of the forward airflow passes near the surface of the carpet and fails to penetrate deep into the carpet. Therefore, the effective dust collection energy D1' corresponding to C1' becomes smaller. The effective dust collection energy is used to characterize the energy used for deep cleaning. It is related to energy and energy utilization. For example, in one embodiment, the effective dust collection energy is roughly equal to the product of the energy of the airflow and the energy utilization rate. In summary, compared to Figure 54, the total dust collection energy D = D1' + D2' in Figure 53 becomes smaller, and the cleaning effect is poor.

[0779] In addition, in Figure 53, since the front opening is larger, the resistance is smaller, and the interference fit of the front roller brush is smaller than that of the rear roller brush, the airflow at the rear may escape from the front opening, thereby reducing the effective cleaning energy; especially when cleaning the floor, since the height of the front roller brush from the ground is higher than the height of the rear roller brush from the ground, the airflow at the rear goes out more from the gap between the front roller brush and the floor through the opening, and the airflow energy loss is greater.

[0780] In one embodiment, referring to Figure 54, when cleaning the carpet, the interference L3 of the front roller brush 2201 (close to the shielding member 110) is smaller than the interference L4 of the rear roller brush (away from the shielding member); wherein the front roller brush refers to the roller brush close to the shielding member, and the rear roller brush refers to the roller brush away from the shielding member.

[0781] 55 to 58 , considering the problem of uneven ground or poor contact between the roller brush and the ground, in order to achieve real-time sealing, at least one of the following methods can be used:

[0782] A roller brush assembly can float;

[0783] In order to improve the adaptability to uneven ground, in one embodiment, the roller brush holder or the roller brush assembly can float; further, the shielding member can also float. In order to achieve real-time floating tracking, the shielding member 110 should be installed on the roller brush holder 230.

[0784] B Along the length direction of the roller brush, a space is reserved between at least one side of the shielding member and the corresponding side of the roller brush bracket 230, wherein the space can be used to set the connecting portion between the roller brush cover 260 and the roller brush bracket 230.

[0785] In one embodiment, a space is reserved between both sides of the shielding member and both sides of the roller brush bracket 230, and the two spaces can be used to set the connecting parts of the roller brush cover 260 and the roller brush bracket 230 respectively. For example, the shielding member is set in the middle of the roller brush mechanism, and the connecting parts of the roller brush cover 260 and the roller brush bracket 230 are located on both sides of the shielding member.

[0786] C The entire roller brush mechanism can float;

[0787] Among them, the roller brush mechanism at least includes a roller brush bracket 230 and a shielding member and a roller brush assembly arranged on the roller brush bracket 230; in addition, the roller brush mechanism can also include a roller brush motor for driving the roller brush assembly to move, a shielding member driving motor for driving the shielding member to move, and a transmission system connected to the shielding member and the shielding member driving motor respectively, and an in-place detection sensor for detecting whether the shielding member is moved into place, etc. The transmission system can, for example, be a gear rack structure, and the in-place detection sensor can, for example, include an open shielding member in-place detection sensor and a closed shielding member in-place detection sensor.

[0788] In order to improve the cleaning effect of soft floors such as carpets, the sealing effect of the roller brush assembly can be improved. In order to improve the sealing effect of the roller brush assembly, on the one hand, the following can be achieved:

[0789] A: Adjust the closing degree of the sealing adjustment mechanism (especially the shielding member) to improve the sealing effect of the roller brush assembly. By adjusting the closing degree, for example, controlling the free end of the shielding member to extend close to the position where the roller brush contacts the ground, the sealing degree of the roller brush assembly and the airflow rate flowing through the carpet can be adjusted. In one embodiment, referring to Figure 55, the distance between the free end of the shielding member (in the vertical direction, close to the end of the cleaning ground) and the hard ground is in the range of M, where the value range of M is less than or equal to 3mm, so that when the cleaning robot cleans soft ground such as carpet, the roller brush can sink to a certain height in the carpet due to the softness of the carpet. At this time, the free end of the shielding member is closer to the carpet than to the hard ground, thereby reducing the airflow rate flowing through the outside of the carpet (such as the gap between the free end of the shielding member and the carpet), ensuring that the airflow can flow more from the inside of the carpet, and realize the cleaning of the soft ground fluff or garbage in the soft ground fibers, thereby improving the cleaning effect of the carpet.

[0790] On the other hand, it is possible to:

[0791] B: Design at least one of the position, thickness or shape of the shielding member so that when the shielding member is closed, the inner edge 1100 of the shielding member is as close to the roller brush as possible to improve the sealing effect and reduce the airflow flow from the non-dust suction port side (the side of the roller brush away from the dust suction port, such as the two ends of the roller brush bracket 230) through the external path of the carpet. For example, when the shielding member is closed, the inner edge of the shielding member extends to a position close to the side of the roller brush away from the dust suction port. In one embodiment, referring to Figures 55 and 60 , the distance between the farthest end T of the inner side 1100 of the shield (the side facing the roller brush in the horizontal direction) away from the main body (or, in other words, the closest end of the inner side 1100 to the ground) and the projection point T0 onto the side of the roller brush away from the suction port is N, where N is within a range of 5 mm or less. Furthermore, in another embodiment, the vertical projection Ay of the farthest end of the shield is located between the projection Ry of the outer contour of the roller brush in the same direction and the projection Yo of the center A2 of the roller brush in the same direction; and the horizontal projection Ax of the farthest end of the shield is located between the projection Rx of the outer contour of the roller brush in the same direction and the projection Xo of the center A2 of the roller brush in the same direction. In other words, the distance from the farthest end of the shield to the vertical axis of the roller brush (passing through the center A2 of the roller brush) and the distance from the farthest end of the shield to the horizontal axis of the roller brush (passing through the center of the roller brush) are both less than the radius R of the roller brush.

[0792] Ax is related to the radius R of the roller brush. Therefore, Ax can be obtained based on the roller brush radius R. In one embodiment, as the roller brush radius increases, Ax also increases accordingly. For example, when the shielding member is closed, the value of Ax / R ranges from 0.5 to 1 (inclusive). Similarly, the value of Ay / R ranges from 0.5 to 1 (inclusive).

[0793] In another embodiment, R 2 Less than or equal to Ax 2 +Ay 2 Less than or equal to 1.1R 2 .

[0794] In order to ensure that the free end (or the farthest end of the inner side) of the shielding member is as close as possible to the position where the roller brush contacts the ground when the shielding member is in the closed state, or to ensure that the free end (or the farthest end of the inner side) of the shielding member is as close as possible to the roller brush when the shielding member is in the closed state, in one embodiment, referring to FIG60 , the rotation axis of the shielding member 110 (passing through the rotation center A1 and perpendicular to the paper) and the rotation axis of the roller brush (passing through the rotation center A2 and perpendicular to the paper) are offset, thereby making the space more compact. The offset here can be understood as the rotation axis of the shielding member and the rotation axis of the roller brush not overlapping or being non-collinear.

[0795] In one embodiment, the shield has a rotation radius RA that is greater than the rotation radius R of the roller brush. In other words, the height of the shield's rotation center A1 is greater than the height of the roller brush's rotation center A2. This allows the shield to be as close as possible to the point where the roller brush contacts the ground when closed, while also making the roller brush assembly more compact.

[0796] In one embodiment, the value of RA / R ranges from 1.1 to 1.3.

[0797] Taking into account the problem of how to maintain the balance of the roller brush mechanism, in one embodiment, referring to Figure 61, the roller brush drive assembly (for example, including a roller brush motor 1401 and a roller brush reduction box 1402) and the driving mechanism 129 of the shielding member 110 (for example, including a driving motor 1291 and a reduction box 1292) are respectively arranged on both sides of the roller brush (in the length direction), or in other words, the roller brush drive assembly and the driving mechanism of the shielding member are respectively arranged on both sides of the center plane P of the roller brush mechanism.

[0798] In one embodiment, projections of the roller brush motor and the drive motor in the axial direction may not overlap, for example, projections of the roller brush motor and the drive motor on the central plane do not overlap.

[0799] Considering that the driving force required by the roller brush is usually greater than the driving force of the shielding member, the weight (or volume) of the roller brush driving assembly is usually greater than the weight (or volume) of the driving mechanism of the shielding member. Therefore, in order to ensure the stability of the roller brush mechanism, in one embodiment, the roller brush mechanism also includes a balance block 1403, which is arranged on the side of the center plane P close to the shielding member driving mechanism.

[0800] In one embodiment, in order to prevent the roller brush holder 230 from moving out of the floating space, in one embodiment, the roller brush mechanism further includes a floating limiter 231 provided on the roller brush holder 230 to limit the floating of the roller brush holder 230 .

[0801] In one embodiment, the floating limit portion 231 of the roller brush bracket 230, the shielding member driving mechanism (such as the driving motor 1291 and the reduction gear box 1292), the balancing block 1403, the roller brush motor 1401, and the roller brush reduction gear box 1402 are all arranged on the roller brush bracket 230. The roller brush bracket 230 has a center plane P, and the roller brush motor 1401 and the roller brush reduction gear box 1402 are arranged on one side of the center plane; the shielding member driving mechanism (such as the driving motor 1291 and the reduction gear box 1292) and the balancing block 1403 are arranged on the other side of the center plane to keep the roller brush bracket 230 stable.

[0802] In one embodiment, the air inlet end of the air duct 240 (for example, L-shaped) is fixedly connected to the roller brush bracket 230 and floats up and down with the roller brush bracket. The air outlet end of the air duct 240 is fixedly connected to the chassis. Therefore, when the roller brush bracket 230 floats up and down, the air inlet end and the air outlet end of the air duct 240 are in relative motion. For this reason, in one embodiment, the air duct 240 should be made of a flexible material, and the flexible material is rubber.

[0803] Considering that cleaning robots usually collide with each other during operation, such as colliding with obstacles (tables, chairs, etc.), the force of the collision may affect the shielding parts. For example, the force of the collision may cause the shielding parts to shift (regardless of whether the shielding parts are in the open or closed state), or even cause the shielding parts to be unable to switch their state, affecting the cleaning effect.

[0804] 62 to 64 , in order to prevent the impact of the collision force on the transmission system, the applicant has set at least one of the following anti-collision measures during the design:

[0805] Measure 1: The fit between the output shaft of the reduction gearbox of the driving motor used to drive the shielding member to move and the gear set of the transmission system is a loose fit, where the loose fit can be understood as: there is a gap or margin space between the two, which allows the two to produce relative movement, such as generating a buffer angle a, which can play a buffering role.

[0806] Since there is a gap between the output shaft of the driving motor or the reduction gearbox and the gear set, when the cleaning robot or the shielding member is hit, the shielding member can rotate slightly around the output shaft 1241 through the gear set (for example, a buffer angle a) to buffer the force of the impact.

[0807] That is, when the output shaft 1241 of the reduction gear box drives the gear 1240, the driving gear 1240 will first rotate a small buffer angle to eliminate the gap between the gear and the output shaft, thereby achieving the purpose of buffering the impact force.

[0808] Measure 2: The roller brush bracket 230 has an anti-collision portion 2302, which protrudes from the shielding member 110, that is, the anti-collision portion 2302 may have a protrusion 2303 protruding from the shielding member 110, so that when encountering a collision, the anti-collision portion 2302 bears the force, while the shielding member is less stressed or free from the force.

[0809] In one embodiment, the two side edges of the roller brush bracket 230 along the axis of the roller brush have anti-collision parts 2302 protruding from the outer surface of the shielding member 110. When the collision plate of the cleaning robot collides and moves backward, the anti-collision part 2302 bears the impact force, thereby preventing the shielding member from being directly subjected to force.

[0810] In view of the fact that the shielding member is relatively long, in order to improve the smoothness of the transmission, in one embodiment, the transmission system adopts a gear rack synchronous transmission system; further, the transmission system adopts a double gear rack synchronous transmission system, wherein the rack 124 can be integrally provided with the shielding member 110 or provided on the shielding member; in one embodiment, referring to Figure 63 and Figure 64, the transmission system includes a gear shaft 1203, a first gear set 1201 and a second gear set 1202, wherein the two gear sets are synchronously driven by the gear shaft, and then the gear set drives the rack on the shielding member to move synchronously, thereby realizing the opening and closing of the shielding member.

[0811] Furthermore, in order to reduce the space occupied by the transmission system, in one embodiment, the two gear sets are asymmetrically arranged. For example, the first gear set 1201 and the second gear set 1202 are asymmetrical relative to the center plane of the roller brush holder.

[0812] It should be noted that each gear set may include a gear 1240 and a rack 124. The gear 1240 and the rack 124 are in transmission connection.

[0813] Of course, in other embodiments, each gear set may also include two gears (eg, a first gear and a second gear), which is not limited in this embodiment.

[0814] To prevent the shield from colliding when opening and closing, the shield motor from stalling, or premature shutdown of the shield motor during the opening and closing process, in one embodiment, referring to Figures 63 and 65, the cleaning robot includes a detection component, which includes a position detection sensor for detecting the opening and closing of the shield. The position detection sensor 130 includes an open position detection sensor 1301 and a closed position detection sensor 1302, which are respectively used to detect the opening and closing states of the shield 110.

[0815] In one embodiment, the in-position detection sensor 130 (including the open state in-position detection sensor 1301 and the closed state in-position detection sensor 1302) adopts a micro switch; the shielding member is provided with a door opening in-position contact 1303 and a door closing in-position contact 1304; when these in-position contacts (including the door opening in-position contact and the door closing in-position contact) trigger the corresponding in-position detection sensor (including the open state in-position detection sensor 1301 and the closed state in-position detection sensor 1302) to generate a corresponding in-position signal, the control...

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: a main body having a front end; A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned; A controller, configured to control the cleaning robot to automatically perform cleaning work on the environmental surface; A dust collection component is provided on the main body to clean the surface of the environment; The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a second baffle located in the rear of the roller brush assembly. The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body; The first baffle and the second baffle each have a free end close to the environmental surface; When the cleaning robot is on a hard floor, the first opening formed by the free end of the first baffle and the hard floor has a first area, and the second opening formed by the free end of the second baffle and the hard floor has a second area, wherein the ratio of the first area to the second area is in the range of 0.7-1.3; the minimum distance between the free end of the first baffle and the hard floor is a first distance, and the minimum distance between the free end of the second baffle and the hard floor is a second distance; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the height difference between the first distance and the second distance is within 3 mm, so that when the first roller brush and the second roller brush rotate in opposite and facing directions, the first airflow flows from the outside of the cavity, from under the first baffle, through the bottom of the first roller brush to the space between the first roller brush and the second roller brush, and the second airflow flows from the outside of the cavity, from under the second baffle, through the bottom of the second roller brush to the space between the first roller brush and the second roller brush.

2. The cleaning robot according to claim 1, characterized in that: When the cleaning robot is on a carpet and the free end of the first baffle and the free end of the second baffle are in contact with the carpet, the first airflow and the second airflow can flow through the interior of the carpet in a concentrated manner.

3. The cleaning robot according to claim 2, characterized in that: The cleaning robot includes a dust suction fan for generating negative pressure; When the cleaning robot is on the carpet and the free end of the first baffle and the free end of the second baffle are in contact with the carpet, the flow rate of the airflow flowing through the inside of the carpet accounts for 70% or more of the flow rate of the airflow flowing out of the dust inlet of the cavity.

4. The cleaning robot according to claim 1, characterized in that: The first distance is greater than or equal to the second distance, and the difference between the first distance and the second distance is within 2 mm.

5. The cleaning robot according to claim 1, characterized in that: The minimum distance between the free end of the first baffle and the lowest point of the first rolling brush is a third distance, wherein the third distance is less than 15 mm, and the first airflow is directed to the bottom of the first rolling brush; The minimum distance between the free end of the second baffle and the lowest point of the second rolling brush is a fourth distance, wherein the fourth distance is less than 15 mm, and the second airflow is directed to the bottom of the second rolling brush.

6. The cleaning robot according to claim 1, characterized in that: The length of the line connecting the free end of the first baffle and the lowest position point of the first roller brush is smaller than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

7. The cleaning robot according to claim 5, characterized in that: The first baffle has at least one midpoint different from the free end of the first baffle, wherein the distance between the midpoint and the lowest position of the first roller brush is greater than the third distance, and the projection of the midpoint on the horizontal plane and the free end point to the lowest position of the first roller brush.

8. The cleaning robot according to claim 1, characterized in that: The first distance is smaller than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

9. The cleaning robot according to claim 6, characterized in that: The free end of the first baffle is spaced apart from the outer contour of the first roller brush by a first horizontal distance, and the first horizontal distance is less than or equal to 5 mm; the free end of the second baffle is spaced apart from the second roller brush by a second horizontal distance, and the second horizontal distance is less than or equal to 5 mm; Alternatively, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is less than or equal to 4 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is less than or equal to 4 mm.

10. The cleaning robot according to claim 1, characterized in that: The cavity has a dust inlet connected to the dust suction fan; The first roller brush rotates along a first direction, and the second roller brush rotates along a second direction, which is opposite to and facing the first direction; The free end of the first baffle is at a first horizontal distance from the first rolling brush, forming a first inlet for airflow, and the first direction obstructs airflow flowing through the first inlet along the space between the outer contour of the first rolling brush and the first baffle toward the dust inlet of the cavity; The free end of the second baffle is at a second horizontal distance from the second roller brush, forming a second opening for airflow to enter, and the second direction hinders the airflow flowing through the second opening along the space between the outer contour of the second roller brush and the first baffle to the dust inlet.

11. The cleaning robot according to claim 1, characterized in that: The hardness of the materials of the first baffle and the second baffle is greater than or equal to 80HA.

12. The cleaning robot according to claim 4, characterized in that: The first baffle is movable to adjust the distance between the free end of the first baffle and the hard ground, so that the first baffle has a closed state and an open state; Wherein, when the first baffle is in the closed state, the free end of the first baffle is at the first distance from the hard ground; When the first baffle is in the open state, the distance between the free end of the first baffle and the hard ground is greater than the first distance.

13. The cleaning robot according to claim 12, characterized in that: The dust collection assembly includes a shell, which includes a first roller brush support portion that at least partially covers the first roller brush. The first baffle is movably disposed on the first roller brush support portion to shield the first roller brush.

14. The cleaning robot according to claim 13, characterized in that: The shell also includes a second roller brush bracket portion that at least partially covers the second roller brush, and the second baffle is a part of the second roller brush bracket portion to shield the second roller brush; the first roller brush bracket portion and the second roller brush bracket portion are arranged to form the cavity for accommodating the roller brush assembly.

15. The cleaning robot according to claim 14, characterized in that: When the first baffle is in the open state, the difference between the first airflow and the second airflow is Δ1; when the first baffle is in the closed state, the difference between the first airflow and the second airflow is Δ2; wherein Δ2 is smaller than Δ1.

16. The cleaning robot according to claim 14, characterized in that: When the first baffle is in a closed state, the vacuum degree at a certain position of the cavity is greater than the vacuum degree at the same position of the cavity when the first baffle is in an open state.

17. The cleaning robot according to claim 16, characterized in that: When the first baffle is in a closed state, the dust inlet of the cavity has a first vacuum degree, and when the first baffle is in an open state, the dust inlet of the cavity has a second vacuum degree, wherein the first vacuum degree is greater than the second vacuum degree.

18. The cleaning robot according to claim 12, characterized in that: The second baffle is movable to adjust the distance between the free end of the second baffle and the hard ground, so that the second baffle has a closed state and an open state; When the second baffle is in the closed state, the distance between the free end of the second baffle and the hard ground is the second distance; When the second baffle is in the open state, the distance between the free end of the second baffle and the hard ground is greater than the second distance.

19. The cleaning robot according to claim 1, characterized in that The dust collection assembly includes a housing, the housing including a roller brush bracket for at least partially covering and supporting the roller brush assembly, the roller brush bracket being configured to float up and down relative to a horizontal plane; The roller brush assembly is arranged on the roller brush bracket, and the roller brush assembly floats as the roller brush bracket floats.

20. The cleaning robot according to claim 19, characterized in that The shell includes a roller brush cover, which is arranged on the side of the shell close to the roller brush assembly facing the environmental surface. The roller brush cover has a connecting part connected to the roller brush bracket, and the connecting part includes two; along the direction parallel to the rotation axis, the two connecting parts are respectively arranged on both sides of the first baffle.

21. The cleaning robot according to claim 19, characterized in that The first baffle is configured to float in an up-down direction.

22. The cleaning robot according to claim 21, characterized in that The first baffle is configured to float synchronously with the roller brush support.

23. The cleaning robot according to claim 22, characterized in that: The first baffle is arranged on the roller brush bracket.

24. The cleaning robot according to claim 22 or 23, characterized in that: The dust suction assembly includes a baffle driving assembly for driving the first baffle and a roller brush driving assembly for driving the roller brush assembly to rotate. The baffle driving assembly and the roller brush driving assembly are both arranged on the roller brush bracket, so that the baffle driving assembly and the roller brush driving assembly float with the floating of the roller brush bracket.

25. The cleaning robot according to claim 13, characterized in that A rib is provided between the first baffle and the first roller brush support portion, and the rib is used to guide the baffle to move along the first roller brush support portion.

26. The cleaning robot according to claim 25, characterized in that Along the length direction of the roller brush assembly, a sealing strip is provided between the first baffle and the first roller brush bracket.

27. The cleaning robot according to claim 1, characterized in that The dust collection assembly includes a roller brush motor for driving the roller brush assembly to rotate and a drive motor for driving the first baffle to move, wherein the roller brush motor and the drive motor are arranged at both ends of the roller brush assembly.

28. The cleaning robot according to claim 27, characterized in that: The cleaning robot includes a lifting mechanism for driving the dust collection component to lift, and the lifting mechanism includes the drive motor. The drive motor is also configured to drive the dust collection component to move up and down.

29. The cleaning robot according to claim 12, characterized in that: The first baffle is rotatable to adjust the height of the free end of the first baffle relative to the ambient surface, and the rotation axis of the first baffle does not overlap with the rotation axis of at least one of the first roller brush and the second roller brush.

30. The cleaning robot according to claim 13, characterized in that The dust collection assembly includes a drive system for driving the movement of the first baffle and a transmission system for transmitting the driving force of the drive system to the first baffle; the drive system includes a drive motor, and the transmission system includes a gear set, and there is a gap between the output shaft of the drive motor and the gear set.

31. The cleaning robot according to claim 12, characterized in that: The dust suction component has an anti-collision part. Along the front end direction of the main body, the anti-collision part has at least a part located in front of the first baffle, and the part located in front of the first baffle has no connection relationship with the first baffle, so as to contact the obstacle when the cleaning robot collides with the obstacle.

32. The cleaning robot according to claim 31, characterized in that The dust collection assembly includes a shell having a first roller brush support portion that at least partially covers the first roller brush. The anti-collision portion includes a protrusion that is arranged on the outer side wall of the first roller brush support portion and protrudes from the first baffle.

33. The cleaning robot according to claim 12, characterized in that The cleaning robot includes a floor type detection device for detecting the floor type; The controller is configured to control the first baffle to open when the detection device detects that the ground type is hard ground; When it is detected that the ground type is soft ground, the first baffle is controlled to be closed.

34. The cleaning robot according to claim 33, characterized in that The cleaning robot includes an environment detection device for detecting the type of foreign matter; When the cleaning robot performs cleaning work on a soft ground, the controller is at least configured to control the first baffle to switch from a closed state to an open state when the environment detection device identifies that the type of foreign matter is garbage with a size that meets preset conditions.

35. The cleaning robot according to claim 33 or 34, characterized in that: The cleaning robot has a deep cleaning mode and a regular cleaning mode, wherein in the deep cleaning mode, the cleaning robot has a first cleaning parameter, and in the regular cleaning mode, the cleaning robot has a second cleaning parameter, the first cleaning parameter is different from the second cleaning parameter, wherein the cleaning parameter includes at least one of the following parameters: a state of a first baffle, a moving speed, and a fan power; When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to switch between two cleaning modes to alternately perform the cleaning operations.

36. The cleaning robot according to claim 35, characterized in that In the deep cleaning mode, the first baffle is in a closed state; in the normal cleaning mode, the first baffle is in an open state.

37. The cleaning robot according to claim 35, characterized in that The controller is configured to control the cleaning robot to alternately perform the deep cleaning mode and the regular cleaning mode according to natural days, wherein the cleaning modes of the cleaning robot are different in two adjacent natural days; Alternatively, the controller is configured to control the cleaning robot to alternately perform the deep cleaning mode and the regular cleaning mode according to a number of times, wherein the cleaning robot completes a traversal of the environmental surface as one time, and the cleaning mode of the cleaning robot is different in two adjacent times.

38. The cleaning robot according to claim 35, characterized in that When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to first clean the soft floor in a deep cleaning mode, and then perform at least one edge cleaning on the soft floor. During the first edge cleaning, the cleaning robot is in a normal cleaning mode.

39. The cleaning robot according to claim 12, characterized in that The outer side wall of the first baffle is defined by a guide surface, which is inclined toward the first roller brush and is arranged at an acute angle to the horizontal plane; when the first baffle is in a closed state, the guide surface is at least partially closer to the environmental surface relative to the roller brush bracket.

40. The cleaning robot according to claim 39, characterized in that The cleaning robot includes an environment detection device for detecting obstacles in the environment; when the environment detection device identifies an obstacle whose size meets a preset condition, the controller controls the first baffle to close.

41. The cleaning robot according to claim 1, characterized in that The cleaning robot includes a fan, and the power of the fan is greater than or equal to 60W.

42. A cleaning system, characterized in that It comprises a cleaning robot as described in any one of claims 1-41, and a base station for the cleaning robot to dock, and the base station is also used to maintain the cleaning robot.

43. The cleaning system of claim 42, wherein: The cleaning robot includes a dust collection box, and the base station includes a dust collection fan for performing dust collection maintenance operations; when the base station performs dust collection maintenance on the dust collection box, at least one of the first baffle and the second baffle is in an open state.

44. The cleaning system of claim 43, wherein: A filter device is provided in the dust collection box. When the base station performs dust collection maintenance on the filter device, the first baffle and the second baffle are in a closed state at least part of the time.

45. The cleaning system of claim 43, wherein: The base station includes an air inlet channel communicating with the outside and at least one gap at the bottom of the cavity.

46. ​​A cleaning robot, characterized in that: The cleaning robot comprises: a main body having a front end; A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned; A controller, configured to control the cleaning robot to automatically perform cleaning work on the environmental surface; A dust collection component is provided on the main body to clean the surface of the environment; The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a a second baffle located at the rear side of the roller brush assembly; The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body; The first baffle and the second baffle each have a free end close to the environmental surface; When the cleaning robot is on a carpet and the length of the carpet's pile is greater than a preset length, the free end of the first baffle and the free end of the second baffle contact the carpet, so that the first airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet; the ratio of the first airflow to the second airflow is greater than or equal to 0.7 and less than or equal to 1.

3.

47. The cleaning robot according to claim 46, characterized in that The pile length of the carpet is greater than or equal to 5 mm and less than or equal to 15 mm.

48. The cleaning robot according to claim 46, characterized in that The first baffle is movable to adjust the distance between the free end of the first baffle and the hard ground, so that the first baffle has a closed state and an open state; When the first baffle is in a closed state, the free end of the first baffle is at a first distance from the hard ground; When the first baffle is in the open state, the free end of the first baffle is at a second distance from the hard ground, wherein the second distance is greater than the first distance.

49. The cleaning robot according to claim 48, characterized in that When the cleaning robot is on a carpet with a thickness greater than a certain thickness, the free end of the second baffle contacts the carpet, and when the first baffle is in a closed state, the free end of the first baffle contacts the carpet, so that the first airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the inside of the carpet to the dust inlet; the ratio of the first airflow to the second airflow is greater than or equal to 0.7 and less than or equal to 1.

3.

50. The cleaning robot according to claim 49, characterized in that The dust collection assembly includes a shell, which includes a first roller brush support portion that at least partially covers the first roller brush. The first baffle is movably disposed on the first roller brush support portion to shield the first roller brush. The shell also includes a second roller brush bracket portion that at least partially covers the second roller brush, and the second baffle is a part of the second roller brush bracket portion to shield the second roller brush; the first baffle, the first roller brush bracket portion and the second roller brush bracket portion are arranged to form the cavity for accommodating the roller brush assembly.

51. The cleaning robot according to claim 50, characterized in that When the cleaning robot is on a soft surface, the first baffle is in an open state, and the difference between the first airflow and the second airflow is Δ1; when the first baffle is in a closed state, the difference between the first airflow and the second airflow is Δ2; wherein Δ2 is less than Δ1; Alternatively, when the first baffle is in a closed state, the airflow in the beating area where the first roller brush beats the environmental surface has a first flow velocity; when the first baffle is in an open state, the airflow in the beating area has a second flow velocity, and the first flow velocity is greater than the second flow velocity.

52. The cleaning robot according to claim 46 or 48, characterized in that: The dust collection assembly includes a housing, the housing including a roller brush bracket for at least partially covering and supporting the roller brush assembly, the roller brush bracket being configured to float up and down relative to a horizontal plane; The roller brush assembly is arranged on the roller brush bracket, and the roller brush assembly floats as the roller brush bracket floats.

53. The cleaning robot according to claim 52, characterized in that The first baffle is arranged on the roller brush bracket, so that the first baffle floats as the roller brush bracket floats.

54. The cleaning robot according to claim 46, characterized in that When the cleaning robot is on a hard ground, the minimum distance between the free end of the first baffle and the hard ground is a first distance, and the minimum distance between the free end of the second baffle and the hard ground is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm.

55. The cleaning robot according to claim 54, characterized in that A height difference between the first distance and the second distance is within 3 mm.

56. A cleaning robot, characterized in that: The cleaning robot comprises: a main body having a front end; A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned; A controller, configured to control the cleaning robot to automatically perform cleaning work on the environmental surface; A dust collection component is provided on the main body to clean the surface of the environment; The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a second baffle located in the rear of the roller brush assembly. The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body; The first baffle and the second baffle each have a free end close to the environmental surface; When the cleaning robot is on a hard floor, the first opening formed by the free end of the first baffle and the hard floor has a first area, and the second opening formed by the free end of the second baffle and the hard floor has a second area, wherein the ratio of the first area to the second area is in the range of 0.7-1.3; the minimum distance between the free end of the first baffle and the hard floor is a first distance, and the free end of the second baffle is a second distance from the hard floor; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the difference between the first distance and the second distance is within 3 mm, so that the first roller brush slaps the environmental surface to form a first slapping area, and when the second roller brush slaps the environmental surface to form a second slapping area, the first airflow flows from the outside of the cavity through the first slapping area to the dust inlet of the cavity, and the second airflow flows from the outside of the cavity through the second slapping area to the dust inlet; the dust inlet can be connected to a dust suction fan that generates negative pressure.

57. The cleaning robot according to claim 56, characterized in that The free end of the first baffle is at a third distance from the lowest point of the first roller brush, wherein the third distance is less than or equal to 12 mm, and the first airflow is directed to the first beating area; The free end of the second baffle is at a fourth distance from the lowest point of the second roller brush, wherein the fourth distance is less than or equal to 12 mm, and the second airflow is directed to the second beating area.

58. A cleaning robot, characterized in that: The cleaning robot comprises: a main body having a front end; A moving component, disposed on the main body, supports and drives the cleaning robot to move on the environmental surface of the area to be cleaned; A control component controls the cleaning robot to automatically perform cleaning work on the environmental surface; A dust collection component is provided on the main body to clean the surface of the environment; The dust collection assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first baffle located in front of the roller brush assembly, and a second baffle located behind the roller brush assembly. The roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front to back, wherein the first roller brush is close to the front end of the main body; The first baffle and the second baffle each have a free end close to the environmental surface, When the cleaning robot is on a hard floor, the free end of the first baffle is at a first distance from the hard floor, and the free end of the second baffle is at a second distance from the hard floor; the first distance is less than 5 mm, and the second preset distance is less than 5 mm.

59. The cleaning robot according to claim 58, characterized in that A height difference between the first distance and the second distance is within 3 mm.

60. The cleaning robot according to claim 58 or 59, characterized in that: A first opening formed by the free end of the first baffle and the hard ground has a first area, and a second opening formed by the free end of the second baffle and the hard ground has a second area, wherein a ratio of the first area to the second area is in the range of 0.7-1.

3.

61. The cleaning robot according to claim 58, characterized in that The first rolling brush has a first direction, the second rolling brush has a second direction opposite to the first direction, and the first direction rotates counterclockwise through the bottom of the first rolling brush; The second direction passes through the bottom of the second roller brush in a clockwise direction.

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