A wet cleaning component and an automatic cleaning device

Abstract

The present invention provides a wet cleaning assembly and an automatic cleaning device. The wet cleaning assembly includes: a power mechanism, which includes a motor and a power transmission device. When the motor rotates forward and backward, it is connected to the power transmission device. When the motor rotates forward, the power transmission device simultaneously drives at least two of the cleaning head, water supply mechanism, and water return mechanism in the wet cleaning assembly to move synchronously. The power mechanism of the present invention can drive multiple devices with a single motor, greatly reducing the complexity of the power mechanism, lowering the cost, and improving the reliability of the power mechanism at the same time.

Description

[0001] This disclosure claims priority to a Chinese application with application number 201910932385.8 filed on September 29, 2019, the entire content of which is incorporated herein by reference. Technical Field

[0002] The present invention relates to cleaning equipment, and more particularly, to a wet cleaning assembly and an automatic cleaning device. Background Art

[0003] Currently, cleaning robots mainly include floor-sweeping robots and mopping robots. The functions of floor-sweeping robots and mopping robots are relatively single. If you want to sweep and mop the floor at the same time, you must prepare two sets of equipment at the same time, occupying double the space. There are also combinations of floor-sweeping robots and mopping robots, with a mop added at the end of the robot to achieve integrated sweeping and mopping. However, in this integrated cleaning, the mopping function only uses one mop to move horizontally on the ground, and the mopping effect and efficiency are greatly reduced.

[0004] In addition, in mopping robots, there are many power devices and the drive system is complex, resulting in increased control difficulty, decreased control accuracy, and prone to failures. Summary of the Invention

[0005] In view of the problems in the background art, the present invention provides a power mechanism for a wet cleaning assembly, which can drive multiple devices with a single motor, greatly reducing the complexity of the power mechanism, reducing costs, and improving the reliability of the power mechanism at the same time. The present invention also provides an automatic cleaning device. Through the design of a novel mopping structure, it changes the situation that general cleaning robots can only perform dry cleaning or only wet cleaning, and through a mechanical reciprocating mopping structure, it changes the current situation that general wet cleaning robots can only simply clean the ground, improving the cleaning effect.

[0006] The present invention provides a wet cleaning assembly, including a power mechanism. The power mechanism includes a motor and a power transmission device. When the motor rotates forward and backward, it is connected to the power transmission device. When the motor rotates forward, the power transmission device simultaneously drives at least two of the cleaning head, water supply mechanism, and water return mechanism in the wet cleaning assembly to move synchronously.

[0007] Further, when the motor in the power mechanism rotates backward, the power transmission device drives the lifting mechanism to move.

[0008] Further, when the motor in the power mechanism rotates backward, the lifting mechanism rises away from the surface to be cleaned.

[0009] Further, the water return mechanism includes a water absorption roller and a recovery rod. When the motor rotates forward, the power transmission device simultaneously drives at least two of the cleaning head, water supply mechanism, water absorption roller, and recovery rod in the wet cleaning assembly to move synchronously.

[0010] Further, when the motor rotates forward, the power transmission device simultaneously drives the water supply mechanism, water absorption roller, and recovery rod in the wet cleaning assembly to move synchronously.

[0011] On the other hand, the present invention provides an automatic cleaning device, including a mobile platform, a control system, and a cleaning system, wherein the cleaning system includes the above-mentioned wet cleaning assembly.

[0012] Further, a sensing system is provided on the automatic cleaning device, and the sensing system is used to detect the physical information of the surface to be cleaned.

[0013] Further, the physical information includes: the flatness of the surface to be cleaned, the material of the surface to be cleaned, and whether there is oil stain and dust on the surface to be cleaned.

[0014] Further, the control system adjusts the rotation speed and output power of the motor in the power mechanism according to the physical information of the surface to be cleaned detected by the sensing system.

[0015] Further, the control system adjusts the transmission ratio of the power transmission device in the power mechanism according to the physical information of the surface to be cleaned detected by the sensing system.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. For the power mechanism used in the wet cleaning assembly of the present invention, a single motor can drive multiple devices, greatly reducing the complexity of the power mechanism, lowering the cost, and improving the reliability of the power mechanism at the same time.

[0018] 2. Through the novel design of the mopping structure, the automatic cleaning device of the present invention changes the situation that general cleaning robots can only perform dry cleaning or only wet cleaning, and through the mechanical reciprocating mopping structure, it changes the current situation that general wet cleaning robots can only simply clean the ground, improves the cleaning effect, and further optimizes the structural design of the cleaning robot on this basis. Description of the Drawings

[0019] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0020] Figure 1Oblique view of the automatic cleaning device according to an embodiment of the present invention.

[0021] Figure 2 Schematic diagram of the bottom structure of the automatic cleaning device according to an embodiment of the present invention.

[0022] Figure 3 Oblique view of the wet cleaning assembly according to an embodiment of the present invention.

[0023] Figure 4 Bottom view of the wet cleaning assembly according to an embodiment of the present invention.

[0024] Figure 5 Side view of the wet cleaning assembly according to an embodiment of the present invention.

[0025] Figure 6 Oblique view of the water tank according to an embodiment of the present invention.

[0026] Figure 7 Oblique view of the dust box according to an embodiment of the present invention.

[0027] Figure 8 Oblique view of the fan according to an embodiment of the present invention.

[0028] Figure 9 Schematic diagram of the open state of the dust box according to an embodiment of the present invention.

[0029] Figure 10 Schematic diagram of the combined state of the dust box and the fan according to an embodiment of the present invention.

[0030] Figure 11 Schematic diagram of the lifting mechanism according to an embodiment of the present invention.

[0031] Figure 12 Side view of the lifting mechanism according to an embodiment of the present invention.

[0032] Figure 13 Oblique view of the one-side drive wheel assembly according to an embodiment of the present invention.

[0033] Figure 14 Front view of the one-side drive wheel assembly according to an embodiment of the present invention.

[0034] Figure 15 Partial cross-sectional view of the water level detection device in the water tank according to an embodiment of the present invention.

[0035] Figure 16 Overall assembly schematic diagram of the wet cleaning assembly (including the water tank) according to an embodiment of the present invention.

[0036] Figure 17Bottom view of the wet cleaning assembly (excluding the cleaning head) according to an embodiment of the present invention.

[0037] Figure 18 Schematic structural view of the cleaning head according to an embodiment of the present invention.

[0038] Figure 19 Schematic structural view of the water absorption roller according to an embodiment of the present invention.

[0039] Figure 20 Schematic structural view of the recovery rod according to an embodiment of the present invention.

[0040] Explanation of reference numerals in the drawings:

[0041] Mobile platform 100, rear part 110, front part 111, sensing system 120, position determination device 121, buffer 122, cliff sensor 123, control system 130, drive system 140, drive wheel assembly 141, steering assembly 142, elastic element 143, drive motor 146, cleaning system 150, dry cleaning assembly 151, dust box 152, filter screen 153, dust suction port 154, air outlet 155, blower 156, energy system 160, human-computer interaction system 170, lighting device 171, wet cleaning assembly 200, cleaning head 210, elastic support structure 211, camshaft 212, slideway 213, water supply mechanism 220, water pump 221, water pump pipe 222, water outlet device 223, water return mechanism 230, water absorption roller 231, recovery rod 232, sewage pump 233, sewage pump pipe 234, elastic water absorption material 235, scraping strip 236, recovery tank 237, recovery blade 238, recovery bin 239, water tank 240, clean water tank 241, sewage tank 242, water level detection device 243, air outlet 244, lifting mechanism 250, power mechanism 260, power transmission device 261, motor 262, lifting platform base 270, first connection end 271, second connection end 272, auxiliary wheel 273, pressing plate 280. Detailed implementation manners

[0042] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0043] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0044] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Embodiment 1

[0046] A wet cleaning assembly includes a power mechanism 260. The power mechanism 260 includes a motor 262 and a power transmission device 261. When the motor 262 rotates forward and backward, it is connected to the power transmission device 261. When the motor 262 rotates forward, the power transmission device 261 simultaneously drives at least two of the cleaning head 210, the water supply mechanism 220, and the water return mechanism 230 in the wet cleaning assembly 200 to move synchronously.

[0047] The power mechanism 260 transmits the power of a single motor 262 to the cleaning head 210, the water supply mechanism 220, the water return mechanism 230, the water tank 240, and the lifting mechanism 250 simultaneously through the power transmission device 261. The energy system 160 provides power and energy for the power mechanism 260 and is overall controlled by the control system 130. The power transmission device 261 can be a gear transmission, a chain transmission, a belt transmission, or a worm and worm gear, etc.

[0048] Specifically, as Figure 4 , 5 and Figure 16As shown, the motor 262 is connected to the cleaning head 210, the water absorption roller 231, the recovery rod 232, the clean water pump 221, and the sewage pump 233 through a power transmission device 261. When the wet cleaning assembly 200 is started, the motor 262 starts to work and rotates forward. The clean water pump 221 sucks clean water from the clean water tank 241 and sprays the clean water in front of the cleaning head 210 through the water outlet device 223. The cleaning head 210 cleans the surface to be cleaned through reciprocating motion. The generated sewage is adsorbed by the water absorption roller 231, recovered through the recovery rod 232, and sucked out by the sewage pump 233 and sent to the sewage tank. When the motor 262 rotates in reverse, the cleaning head 210, the water absorption roller 231, the recovery rod 232, the clean water pump 221, and the sewage pump 233 do not work, and the lifting mechanism 250 starts to work, and the cleaning system 150 disengages from the surface to be cleaned.

[0049] Embodiment 2

[0050] The automatic cleaning device in this embodiment includes all the structures of the wet cleaning assembly in Embodiment 1.

[0051] Figure 1-2 It is a schematic structural diagram of an automatic cleaning device shown according to an exemplary embodiment. As Figure 1-2 shown, the automatic cleaning device can be a vacuum floor cleaning robot, a mopping / scrubbing robot, a window climbing robot, etc. The automatic cleaning device can include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. Among them:

[0052] The mobile platform 100 can be configured to automatically move along the target direction on the operation surface. The operation surface can be the surface to be cleaned by the automatic cleaning device. In some embodiments, if the automatic cleaning device is a mopping robot, the automatic cleaning device works on the ground, and the ground is the operation surface; if the automatic cleaning device is a window cleaning robot, the automatic cleaning device works on the outer surface of the glass of the building, and the glass is the operation surface; if the automatic cleaning device is a pipeline cleaning robot, the automatic cleaning device works on the inner surface of the pipeline, and the inner surface of the pipeline is the operation surface. Purely for the need of demonstration, the following description in this application takes the mopping robot as an example for illustration.

[0053] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operation decisions according to unexpected environmental inputs, but can execute a pre-set program or run according to a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined by the autonomous cleaning device itself; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a front portion 111 and a rear portion 110.

[0054] The sensing system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located in the front portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and sensing devices such as an ultrasonic sensor (not shown in the figure), an infrared sensor (not shown in the figure), a magnetometer (not shown in the figure), an accelerometer (not shown in the figure), a gyroscope (not shown in the figure), an odometer (not shown in the figure), etc., which provide various position information and motion state information of the machine to the control system 130.

[0055] As Figure 2 shown, cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front of and behind the drive wheel assembly 141. The cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, so as to avoid damage to the automatic cleaning device. The aforementioned "front" refers to the side that is the same as the traveling direction of the automatic cleaning device, and the aforementioned "rear" refers to the side that is opposite to the traveling direction of the automatic cleaning device.

[0056] The position determination device 121 includes, but is not limited to, a camera and a laser distance measurement device (LDS).

[0057] Each component in the sensing system 120 can operate independently or jointly to more accurately achieve the target function. The cliff sensor 123 and the ultrasonic sensor are used to identify the surface to be cleaned to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with a camera, a laser distance measurement device, etc. for more accurate determination.

[0058] For example, the ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

[0059] The front part 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the drive wheel assembly 141 propels the automatic cleaning device to move on the ground, the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device via a sensor system, such as an infrared sensor. The automatic cleaning device can control the drive wheel assembly 141 to respond to the event (or object) detected by the buffer 122, such as an obstacle or a wall, for example, moving away from the obstacle.

[0060] The control system 130 is disposed on a circuit board within the mobile platform 100 and includes a computing processor, such as a central processing unit or an application processor, communicating with a non-transitory memory, such as a hard disk, a flash memory, or a random access memory. The application processor is configured to receive the environmental information sensed by the plurality of sensors transmitted from the sensing system 120, use a positioning algorithm, such as SLAM, based on the obstacle information fed back by the laser ranging device, etc., to draw an instant map of the environment where the automatic cleaning device is located, and autonomously determine the driving path according to the environmental information and the environmental map. Then, according to the autonomously determined driving path, the control system controls the drive system 140 to perform operations such as moving forward, backward, and / or turning. Further, the control system 130 can also determine whether to activate the cleaning module 300 to perform a cleaning operation according to the environmental information and the environmental map.

[0061] Specifically, the control system 130 can comprehensively judge the current working state of the floor sweeper by combining the distance information and speed information fed back by sensing devices such as the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers, such as crossing a threshold, getting on a carpet, being at a cliff, being stuck above or below, having a full dust bin, being picked up, etc. It will also give specific next-action strategies for different situations, making the operation of the automatic cleaning device more in line with the requirements of the owner and providing a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the instant map information drawn by SLAM, greatly improving the cleaning efficiency of the automatic cleaning device.

[0062] The drive system 140 can manipulate the automatic cleaning device to move across the ground based on a drive command having distance and angle information, such as x, y, and θ components. Figure 13 、 Figure 14The perspective view and front view of one side drive wheel assembly 141 in an embodiment of the present invention are shown as follows. As shown in the figure, the drive system 140 includes a drive wheel assembly 141. The drive wheel assembly 141 can control the left wheel and the right wheel simultaneously. In order to more precisely control the movement of the machine, it is preferred that the drive wheel assembly 141 includes a left drive wheel assembly and a right drive wheel assembly respectively. The left and right drive wheel assemblies are opposed along the transverse axis defined by the mobile platform 100. The drive wheel assemblies are respectively provided with drive motors 146. The drive motors 146 are located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located within the cross-sectional projection of the drive wheel assembly. The drive wheel assembly 141 can also be connected to a circuit for measuring the drive current and an odometer.

[0063] In order for the automatic cleaning device to move more stably or have stronger moving ability on the ground, the automatic cleaning device can include one or more steering components 142. The steering component 142 can be a driven wheel or a drive wheel, and its structural form includes but is not limited to a caster wheel. The steering component 142 can be located in front of the drive wheel assembly 141.

[0064] The drive motor 146 provides power for the rotation of the drive wheel assembly 141 and / or the steering component 142.

[0065] The drive wheel assembly 141 can be detachably connected to the mobile platform 100, which is convenient for disassembly, assembly and maintenance. The drive wheel can have a biased drop-down suspension system and is fastened in a movable manner, for example, rotatably attached, to the mobile platform 100 of the automatic cleaning device, and maintains contact with the ground and traction with a certain landing force through an elastic element 143, such as a tension spring or a compression spring. At the same time, the cleaning system 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.

[0066] The energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit. The charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are then connected to the single-chip microcomputer control circuit. The main machine is connected to the charging pile through charging electrodes arranged on the side or below the fuselage for charging. If dust adheres to the exposed charging electrodes, due to the charge accumulation effect during the charging process, the plastic body around the electrodes will melt and deform, and even the electrodes themselves will deform, making it impossible to continue normal charging.

[0067] The human-machine interaction system 170 includes buttons on the main machine panel for users to select functions. It may also include a display screen and / or indicator lights and / or a speaker, which show the current state of the machine or function options to the user. It may also include a mobile phone client program. For a path-navigation type cleaning device, the mobile phone client can show the map of the environment where the device is located and the position of the machine to the user, and can provide more abundant and user-friendly function items.

[0068] The human-machine interaction system 170 further includes a lighting device 171 provided on the chassis.

[0069] The lighting device 171 is arranged behind the water tank. When the automatic cleaning device is working, the lighting device 171 lights up to illuminate the cleaned ground, facilitating the user to check whether the ground is clean.

[0070] The lighting device 171 can also be used as an alarm light. When the water level in the cleaning liquid tank in the water tank is insufficient or the water level in the recovered liquid tank is too high, the lighting device 171 flashes or changes color to give an alarm. When the ambient light intensity is lower than the preset value, the lighting device 171 automatically turns on, and when the ambient light intensity is higher than the preset value, the lighting device 171 automatically turns off.

[0071] The lighting device 171 is an LED light. The lighting device 171 can be multiple indicator lights along the edge of the mobile platform or an indicator light strip along the edge of the mobile platform.

[0072] To more clearly describe the behavior of the automatic cleaning device, the following direction definitions are made: The automatic cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, the front-back axis y, and the central vertical axis z. The forward driving direction along the front-back axis y is marked as "forward", and the backward driving direction along the front-back axis y is marked as "backward". The lateral axis x substantially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly 141. Among them, the automatic cleaning device can rotate around the x-axis. When the front part of the automatic cleaning device tilts upward and the rear part tilts downward, it is "upward pitch", and when the front part of the automatic cleaning device tilts downward and the rear part tilts upward, it is "downward pitch". In addition, the automatic cleaning device can rotate around the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device tilts to the right side of the Y-axis, it is "right turn", and when the automatic cleaning device tilts to the left side of the y-axis, it is "left turn".

[0073] The cleaning system 150 may include a dry cleaning component 151 and / or a wet cleaning component 200.

[0074] Figure 3-5For the wet cleaning assembly 200 in the cleaning system 150, it includes at least one cleaning head 210, and comprises a water supply mechanism 220, a water return mechanism 230, a water tank 240, a lifting mechanism 250, and a power mechanism 260. The power mechanism 260 is in the structural form of the embodiment.

[0075] The cleaning head 210 makes a reciprocating motion along the surface to be cleaned. A cleaning cloth or a cleaning plate is provided on the contact surface between the cleaning head 210 and the surface to be cleaned. High-frequency friction is generated with the surface to be cleaned through the reciprocating motion, thereby removing stains on the surface to be cleaned.

[0076] In this embodiment, as Figure 17 and Figure 18 shown, the cleaning head 210 can be made of a material with certain elasticity, and shaft holes are provided at both ends and sleeved on the camshaft 212 and the slideway 213 respectively, so as to realize the reciprocating motion. An elastic support structure 211, such as a reed or a spring, etc., supports between the cleaning head 210 and the wet cleaning assembly 200. When the cleaning head 210 is working, the cleaning head 210 always contacts the surface to be cleaned. During the automatic and / or autonomous cruising of the automatic cleaning device, the distance between the surface to be cleaned and the wet cleaning assembly 200 is not always constant. The elasticity of the cleaning head 210 itself and the elastic support structure 211 enable the distance between the cleaning head 210 and the wet cleaning assembly 200 to be passively adjusted along with the operation surface.

[0077] The water tank 240 includes a clean water tank 241 and a sewage tank 242. The clean water tank 241 is configured to store the cleaning liquid, and the sewage tank 242 is configured to store the recycled liquid. The clean water tank 241 and the sewage tank 242 are independent of each other and are respectively provided with openings for facilitating liquid injection or cleaning. A filter screen is provided at the inlet of the clean water tank 241.

[0078] The overall shape of the clean water tank 241 is a special-shaped structure and at least one side is in contact with the bottom surface of the water tank 240. Specifically, the clean water tank 241 is composed of a vertical part and a horizontal part, and the overall shape is an "L" type structure. The sewage tank 242 is located above the horizontal part of the clean water tank 241.

[0079] The volume of the clean water tank 241 is larger than the volume of the sewage tank 242.

[0080] The liquid inlet of the clean water tank 241 and the liquid outlet of the sewage tank 242 are symmetrically designed, and a hidden air outlet 244 is provided in the middle of the water tank 240.

[0081] As Figure 15As shown, a water level detection device 243 is also provided in the clean water tank 241 and the sewage tank 242. The water level monitoring device can detect the water level conditions in the clean water tank 241 and the sewage tank 242. When the water volume in the clean water tank 241 is insufficient or the water volume in the sewage tank 242 is too high, the user is reminded to intervene manually through the display screen and / or indicator light and / or horn and / or mobile phone client program, etc. of the human-computer interaction system 170.

[0082] In this embodiment, the water level detection device 243 adopted is a hollow float design, with a magnet inside, and a Hall sensor is provided at the position opposite the magnet at the bottom of the water tank. When the water volume in the water tank is high, the water level detection device is driven by the float to rise, and the distance between the magnet and the Hall sensor becomes longer. When the water volume in the water tank is low, the water level detection device is driven by the float to lower, and the distance between the magnet and the Hall sensor becomes shorter. The Hall sensor senses the distance between it and the magnet, thereby judging the water level.

[0083] The water level detection device 243 can adopt other schemes such as resistive or capacitive that can detect the water level.

[0084] The structures of the water level detection components in the clean water tank 241 and the sewage tank 242 can be the same or different.

[0085] The water supply mechanism 220 includes a water outlet device 223. The water outlet device 223 can be directly or indirectly connected to the cleaning liquid outlet of the water tank 240, that is, the liquid outlet of the clean water tank 241. Among them, the cleaning liquid can flow from the cleaning liquid outlet of the water tank 240 to the water outlet device 223 and can be evenly applied on the surface to be cleaned through the water outlet device 223. A connection port (not shown in the figure) can be provided on the water outlet device 223, and the water outlet device 223 is connected to the cleaning liquid outlet of the water tank 240 through the connection port. A distribution port is provided on the water outlet device 223. The distribution port can be a continuous opening or can be composed of several discontinuous small openings, and several nozzles can be provided at the distribution port. The cleaning liquid flows from the cleaning liquid outlet of the water tank 240 and the connection port of the water outlet device 223 to the distribution port and is evenly applied on the operation surface through the distribution port.

[0086] The water supply mechanism 220 can also include a clean water pump 221 and / or a clean water pump pipe 222. The clean water pump 221 can be directly connected to the cleaning liquid outlet of the water tank 240 or can be connected through the clean water pump pipe 222.

[0087] The clean water pump 221 can be connected to the connection port of the water outlet device 223 and can be configured to extract the cleaning liquid from the water tank 240 to the water outlet device 223. The clean water pump can be a gear pump, a vane pump, a piston pump, etc.

[0088] The water supply mechanism pumps out the cleaning liquid in the clean water tank 241 through the clean water pump 221 and the clean water pump pipe 222, and transports it to the water outlet device 223. The water outlet device 223 can be a nozzle, a drip hole, a soaking cloth, etc., and evenly distributes the water in front of the cleaning head 210, thereby wetting the cleaning head 210 and the surface to be cleaned. The stains on the wetted surface to be cleaned can be more easily cleaned up.

[0089] As Figure 19-20 shown, the water return mechanism 230 includes a water absorption roller 231 and a recovery rod 232.

[0090] The water absorption roller 231 can be connected to the mobile platform 100 through a shaft, or can be indirectly rotatably connected to the mobile platform 100 through a lifting mechanism 250. The water absorption roller driving device, that is, the power mechanism 260, can be directly connected to the water absorption roller 231, or can be indirectly connected through a power transmission device 261. The power mechanism 260 can drive the roller 510 to rotate relative to the mobile platform 100. When the water return mechanism 230 works, the water absorption roller 231 can be attached to the operation surface. The water absorption roller 231 rotates synchronously during the cleaning process of the cleaning head 210, and adsorbs the dirty cleaning liquid after the cleaning head 210 cleans by the elastic water absorption material 235 on the water absorption roller 231.

[0091] As Figure 19 shown, a layer of elastic water absorption material 235 is coated on the outer surface of the water absorption roller 231. The elastic water absorption material 235 can absorb the dirty cleaning liquid remaining on the operation surface. The elastic water absorption material 235 can be a water absorption fabric, or a water absorption sponge, etc.

[0092] The power mechanism 260 can drive the water absorption roller 231 to move against the target direction, or can drive the water absorption roller 231 to move along the target direction. Moving against the target direction can be that the linear velocity V of the contact part of the water absorption roller 231 and the operation surface points to the target direction, where the target direction can be the front of the mobile platform 100; moving along the target direction can be that the linear velocity V of the contact part of the water absorption roller 231 and the operation surface points to the opposite direction of the target direction, where the opposite direction of the target direction can be the rear of the mobile platform 100.

[0093] As Figure 20 shown, the recovery rod 232 can be directly connected to the mobile platform 100, or can be indirectly connected to the mobile platform 100 through the lifting mechanism 250. The recovery rod 232 can be configured to recover the dirty cleaning liquid absorbed by the water absorption roller 231. The recovery rod 232 can include a scraping strip 236.

[0094] The squeegee strip 236 can be directly or indirectly connected to the mobile platform 100. The squeegee strip 236 can press against the water-absorbing roller 231 to squeeze out the contaminated cleaning liquid absorbed by the water-absorbing roller 231 through pressure. When the water-absorbing roller 231 rotates, the direction in which the water-absorbing roller 231 passes through the squeegee strip 236 is from top to bottom.

[0095] When the water return mechanism 230 is operating, the power mechanism 260 can drive the water-absorbing roller 231 to move against the target direction (that is, the moving direction of the part of the water-absorbing roller 231 in contact with the working surface is opposite to the target direction). At this time, the squeegee strip 236 can be located behind the water-absorbing roller 231, and the water-absorbing roller 231 absorbs the contaminated cleaning liquid on the working surface; then, the water-absorbing roller 231 scrapes past the squeegee strip 236, and the squeegee strip 236 squeezes out the contaminated cleaning liquid absorbed by the elastic water-absorbing material 235 through pressure. As mentioned above, the power mechanism 260 can also drive the water-absorbing roller 231 to move along the target direction (that is, the moving direction of the part of the water-absorbing roller 231 in contact with the working surface is the same as the target direction). At this time, the squeegee strip 236 can be located in front of the water-absorbing roller 231, and the water-absorbing roller 231 absorbs the contaminated cleaning liquid on the working surface; then, due to the rotation of the water-absorbing roller 231, the water-absorbing roller 231 passes through the squeegee strip 236 from top to bottom so that the squeegee strip 236 squeezes out the contaminated cleaning liquid absorbed by the elastic water-absorbing material 235 through pressure.

[0096] The recovery rod 232 can further include a recovery groove 237. The recovery groove 237 can be directly connected to the mobile platform 100 or indirectly connected to the mobile platform through the lifting mechanism 250. The recovery groove 237 is connected to the squeegee strip 236 and is located on the side of the squeegee strip 236 away from the water-absorbing roller 231. The squeegee strip 236 is indirectly connected to the mobile platform 100 through the recovery groove 237. When the squeegee strip 236 squeezes out the contaminated cleaning liquid absorbed by the water-absorbing roller 231, the contaminated cleaning liquid flows into the recovery groove 237.

[0097] The recovery rod 232 can further include a sewage tank 242. The sewage tank 242 can be directly or indirectly connected to the recovery groove 237 and can be configured to receive the contaminated cleaning liquid in the recovery groove 237, and the contaminated cleaning liquid in the recovery groove 237 can enter the sewage tank 242.

[0098] The recovery groove 237 can include a recovery bin 239 (not shown in the figure). The sewage tank 242 can be connected to the recovery groove 237 through the recovery bin 239, and the contaminated cleaning liquid in the recovery groove 237 can enter the sewage tank 242 through the recovery bin 239.

[0099] The recovery rod 232 may further include a recovery blade 238. The recovery blade 238 may be in the recovery tank 237. The recovery blade 238 may be pivotally connected to the mobile platform 100 through the recovery tank 237, or may be pivotally connected to the mobile platform 100 through the lifting mechanism 250 and the recovery tank 237. The recovery blade 238 may transport the contaminated cleaning liquid in the recovery tank 237 to the recovery bin 239 through rotational movement. The recovery blade 238 may be a worm blade brush, a spiral blade brush, or the like.

[0100] The recovery rod 232 may further include a recovery driving device, namely a sewage pump 233. The sewage pump 233 may be connected to the sewage tank 242 and may be configured to pump the contaminated cleaning liquid at the recovery bin 239 into the sewage tank 242. The sewage pump 233 may be a gear pump, a vane pump, a piston pump, or the like. When the recovery rod 232 operates, the sewage pump 233 may provide power for the recovery rod 232. Under the action of the sewage pump 233, the contaminated cleaning liquid flows from the recovery bin 239 of the recovery tank 237 into the sewage tank 242.

[0101] The recovery rod 232 may further include a blade driving device, namely a power mechanism 260. The power mechanism 260 may be directly or indirectly connected to the recovery blade 238 and may be configured to drive the recovery blade 238 to rotate relative to the mobile platform 100. The power mechanism 260 may be directly connected to the recovery blade 238 or may be indirectly connected to the recovery blade 238 through a power transmission device 261.

[0102] When the water recovery mechanism 230 operates, the power mechanism 260 drives the water absorption roller 231 to rotate, and the water absorption roller 231 absorbs the contaminated cleaning liquid on the operation surface; then, the water absorption roller 231 passes through the scraping strip 236 from top to bottom, and the scraping strip 236 squeezes out the contaminated cleaning liquid absorbed by the elastic water absorption material 235 through pressure, and the contaminated cleaning liquid flows into the recovery tank 237; the power mechanism 260 drives the recovery blade 238 to rotate, and through the rotation of the recovery blade 238, the contaminated cleaning liquid in the recovery tank 237 is transported to the recovery bin 239; finally, the sewage pump 233 pumps the contaminated cleaning liquid at the recovery bin 239 into the sewage tank 242.

[0103] The recovery rod 232 may further include a filter screen. The filter screen may be located at the recovery bin 239, connected to the recovery, and may be configured to filter impurities in the contaminated cleaning liquid. When the sewage pump 233 pumps the contaminated cleaning liquid at the recovery bin 239, the contaminated cleaning liquid first passes through the filter screen to filter out the impurities and then enters the sewage tank 242.

[0104] In the wet cleaning assembly 200, the power / flow rate of the clean water pump 221 and the sewage pump 233 can be adjusted. The water absorption capacity of the sewage pump 233 is greater than the water discharge capacity of the clean water pump 221, ensuring that 100% of the dirty cleaning liquid can be recovered. Even when there is partial blockage in the recovery pipeline, the efficiency can still be guaranteed.

[0105] Furthermore, the cleaning head 210, the water absorption roller 231, and the recovery rod 232 are all installed on the wet cleaning assembly 200 through the pressing plate 280. The pressing plate 280 can be set at both ends of the cleaning head 210, the water absorption roller 231, and the recovery rod 232, or only at one end. Through the pressing plate 280, users can conveniently disassemble, clean, and replace the cleaning head 210, the water absorption roller 231, and the recovery rod 232, which is also beneficial for later maintenance, servicing, and repair.

[0106] The power of the cleaning head 210, the clean water pump 221, and the sewage pump 233 can all be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. Generally, users can control the cleaning intensity of the cleaning head 210 and the water volume of the water pump through the human-machine interaction system 170.

[0107] Figure 16 This is a schematic diagram of the overall assembly effect of the wet cleaning assembly 200 in this embodiment.

[0108] As Figure 3 、 4 、5, 11, and 12 show, the lifting mechanism 250 is arranged between the mobile platform 100 and the wet cleaning assembly 200 and is connected to the motor 262. Both ends of the lifting mechanism 250 are fixedly installed on the machine mobile platform 100, and the lower part of the lifting mechanism 250 is installed on the wet cleaning assembly 200. The lifting mechanism 250 dynamically adjusts the distance between the wet cleaning assembly 200 and the machine mobile platform 100 through a pulley group, a traction rope, etc.

[0109] In this embodiment, the lifting mechanism 250 is connected to the motor 262 through the rack 251. When the motor 262 rotates in reverse, it drives the rack to pull downward, and the lifting mechanism 250 drives the wet cleaning assembly 200 to lift upward. When the motor 262 operates normally, the rack 251 disengages from the gear of the motor 262 after completing the stroke, and the lifting mechanism 250 drives the wet cleaning assembly 200 back to the working position.

[0110] The wet cleaning assembly 200 includes a lifting table base 270. The lifting table base 270 is connected to the lifting mechanism 250 and is configured to move up and down relative to the mobile platform 100 under the action of the lifting mechanism 250.

[0111] The lift base 270 includes: a first connection end 271 and a second connection end 272. The first connection end 271 is close to the front of the mobile platform 100; the second connection end 272 is close to the rear of the mobile platform 100. At least one auxiliary wheel 273 is provided on the lower surface of the lift base 270. The auxiliary wheel 273 is provided on one side of the lift base 270 close to the second connection end 272. The auxiliary wheel 273 can be configured to assist the lift base 270 to move on the operation surface.

[0112] Wherein, when the lift base 270 moves downward relative to the mobile platform 100, the auxiliary wheel 273 first contacts the operation surface and can roll on the operation surface to assist the lift base 270 to move on the operation surface, preventing dry friction between the lift base 270 and the operation surface during the movement of the mobile platform 100. The auxiliary wheel 273 can be one or multiple. As Figure 3 shown in the figure, there are 2 auxiliary wheels 273. Of course, the number of auxiliary wheels 273 can also be any number such as 1, 3, etc.

[0113] The auxiliary wheel 273 provides a better working space for the cleaning head 210, increases the effective contact area between each cleaning unit of the cleaning head 210 and the surface to be cleaned, and at the same time ensures that the friction when the wet cleaning assembly contacts the surface to be cleaned is small, reducing the overall power consumption of the automatic cleaning device.

[0114] For example, when the user instructs the automatic cleaning device through the human-machine interaction system 170 to only require the dry cleaning assembly to clean, the lifting mechanism 250 shortens the distance between the wet cleaning assembly 200 and the mobile platform 100. At this time, the wet cleaning assembly 200 rises and disengages from the surface to be cleaned. The distance between the wet cleaning assembly 200 and the surface to be cleaned can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device can detect the physical information of the surface to be cleaned according to the perception system 120 installed. For example, when the perception system 120 detects that the automatic cleaning device is traveling on a carpet surface, the lifting mechanism 250 lifts the wet cleaning assembly 200 so that the wet cleaning assembly 200 disengages from the carpet surface to avoid wetting the carpet. At the same time, the cleaning head 210, the water pump 221, the sewage pump 233, etc. all pause working. When the perception system 120 detects that the automatic cleaning device leaves the carpet surface and returns to the floor such as floor tiles, the lifting mechanism 250 lowers the wet cleaning assembly 200, and each component of the wet cleaning assembly 200 continues to work normally.

[0115] Such as Figure 7-9As shown, the dry cleaning component 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box. The dust removal ability of the sweeper can be characterized by the garbage cleaning efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the roller brush structure and material, the wind utilization rate of the air duct formed by the dust suction port, dust box, fan, air outlet and the connecting parts between the four, and the type and power of the fan. It is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal ability is more meaningful for automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is, a machine that can clean 80 square meters of ground on a single charge can evolve to clean 180 square meters or even more on a single charge. In addition, the life of the battery will be greatly increased by reducing the number of charging times, so that the frequency of battery replacement by users will also increase. More intuitively and importantly, the improvement of dust removal ability is the most obvious and important user experience, and the user will directly draw conclusions on whether the sweeping / wiping is clean. The dry cleaning component may also include a side brush 152 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris into the roller brush area of ​​the cleaning system 150.

[0116] Figure 7 is a schematic diagram of the structure of the dust box 152 in the dry cleaning assembly, Figure 8 is a schematic diagram of the structure of the fan 156 in the dry cleaning component, Figure 9 is a schematic diagram of the dust box 152 in an open state, Figure 10 Schematic diagram of dust box and fan assembly status.

[0117] The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port 154 between the roller brush and the dust box 152, and then the suction gas generated by the fan 156 structure and passing through the dust box 152 is sucked into the dust box 152. The garbage is isolated by the filter 153 inside the dust box 152 near the dust suction port 154. The filter 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.

[0118] Typically, the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located on the side of the dust box 152, and the air suction port of the fan 156 is connected to the air outlet of the dust box.

[0119] The front panel of the dust box 152 can be opened to clean the garbage in the dust box 152.

[0120] One end of the filter screen 153 away from the air outlet is higher than the end close to the air outlet; one end of the filter screen 153 close to the front panel is higher than the end away from the front panel; the filter screen 153 and the box body of the dust box 152 are detachably connected, which is convenient for filter screen disassembly and cleaning.

[0121] The cleaning intensity / efficiency of the automatic cleaning device can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device can be dynamically adjusted according to the physical information of the surface to be cleaned detected by the perception system 120 installed. For example, the perception system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil stain and dust, and other information, and transmit this information to the control system 130 of the automatic cleaning device. Accordingly, the control system 130 can command the automatic cleaning device to automatically and dynamically adjust the rotation speed of the motor 262 and the transmission ratio of the power transmission device 261 according to the working environment of the automatic cleaning device, thereby adjusting the preset reciprocating period of the reciprocating movement of the cleaning head 210.

[0122] For example, when the automatic cleaning device works on a flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device works on an uneven ground, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared with an uneven ground, the flat ground is easier to clean. Therefore, cleaning an uneven ground requires a faster reciprocating movement (i.e., higher frequency) of the cleaning head 210 and a larger water volume.

[0123] For another example, when the automatic cleaning device works on a desktop, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 works on the ground, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared with the ground, the desktop has less dust and oil stain, and the material constituting the desktop is also easier to clean. Therefore, the cleaning head 210 needs to make fewer reciprocating movements, and the water pump provides relatively less water volume to clean the desktop clean.

[0124] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0125] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A wet cleaning assembly, comprising a water tank (240) and a power mechanism (260), characterized in that, The power mechanism (260) includes a motor (262) and a power transmission device (261). When the motor (262) rotates forward and backward, it is connected to the power transmission device (261). When the motor (262) rotates forward, the power transmission device (261) simultaneously drives at least two of the cleaning head (210), water supply mechanism (220), and water return mechanism (230) in the wet cleaning assembly (200) to move synchronously. When the motor (262) in the power mechanism (260) rotates backward, the power transmission device (261) drives the lifting mechanism (250) to move.

2. The wet cleaning assembly according to claim 1, wherein, When the motor (262) in the power mechanism (260) rotates backward, the lifting mechanism (250) rises and moves away from the surface to be cleaned.

3. The wet cleaning assembly according to claim 1, wherein, The water return mechanism (230) includes a water absorption roller (231) and a recovery rod (232). When the motor (262) rotates forward, the power transmission device simultaneously drives at least two of the cleaning head (210), water supply mechanism (220), water absorption roller (231), and recovery rod (232) in the wet cleaning assembly (200) to move synchronously.

4. The wet cleaning assembly according to claim 3, wherein When the motor (262) rotates forward, the power transmission device simultaneously drives the water supply mechanism (220), water absorption roller (231), and recovery rod (232) in the wet cleaning assembly (200) to move synchronously.

5. An automatic cleaning device, comprising a mobile platform (100), a control system (130) and a cleaning system (150), characterized in that, The cleaning system (150) includes the wet cleaning assembly (200) according to any one of claims 1-4.

6. An automatic cleaning device according to claim 5, characterized in that, A sensing system (120) is provided on the automatic cleaning device, and the sensing system (120) is used to detect the physical information of the surface to be cleaned.

7. An automatic cleaning device according to claim 6, wherein The physical information includes: the flatness of the surface to be cleaned, the material of the surface to be cleaned, and whether there is oil stain and dust on the surface to be cleaned.

8. An automatic cleaning device according to claim 6, characterized in that, The control system (130) adjusts the rotation speed and output power of the motor (262) in the power mechanism (260) according to the physical information of the surface to be cleaned detected by the sensing system (120).

9. An automatic cleaning device according to claim 6, characterized in that, The control system (130) adjusts the transmission ratio of the power transmission device (261) in the power mechanism (260) according to the physical information of the surface to be cleaned detected by the sensing system (120).

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