A water delivery mechanism and automatic cleaning equipment

Abstract

This invention provides a water delivery mechanism and an automatic cleaning device. The water delivery mechanism includes a water outlet device, which is directly or indirectly connected to the outlet of a water tank. The cleaning liquid flows from the cleaning liquid outlet of the water tank to the water outlet device and is then transported to the surface to be cleaned through the water outlet device. The water delivery mechanism of this invention has a large spray range and uniform spraying, and evenly distributes the cleaning liquid in front of the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. Stains on the wetted surface can be more easily cleaned.

Description

[0001] This disclosure claims priority based on Chinese application No. 201910932385.8, filed on September 29, 2019, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to cleaning equipment, and more specifically, to a water delivery mechanism and an automatic cleaning device. Background Technology

[0003] Currently, cleaning robots mainly include two types: sweeping robots and mopping robots. The functions of sweeping robots and mopping robots are relatively simple. If you want to sweep and mop at the same time, you must prepare two sets of equipment, which takes up twice the space. There are also robots that combine sweeping robots and mopping robots by adding a mop to the tail of the robot to achieve sweeping and mopping in one go. However, the mopping function in this integrated cleaning only uses a mop to move horizontally on the ground, which greatly reduces the mopping effect and efficiency.

[0004] Furthermore, mopping technology has always been a research challenge in the field of cleaning robots. Existing intelligent mopping technologies work by first using a pump to spray cleaning fluid in front of the robot, and then using a scrubbing brush to cover the floor with the cleaning fluid. However, existing floor cleaning robots have a small spray range and uneven spraying of the cleaning fluid. Summary of the Invention

[0005] To address the problems in the background art, the present invention provides a water delivery mechanism with a large spraying range and uniform spraying, resulting in a good cleaning effect on the ground. The present invention also provides an automatic cleaning device, which, through the design of a novel floor cleaning structure, changes the situation where general cleaning robots can only perform dry cleaning or only wet cleaning. Furthermore, through a mechanical reciprocating floor cleaning structure, it changes the status quo where general wet cleaning robots can only perform simple cleaning of the ground, thereby improving the cleaning effect.

[0006] The present invention provides a water delivery mechanism for use in a wet cleaning component of a cleaning equipment. The water delivery mechanism includes a water outlet device, which is directly or indirectly connected to the liquid outlet of a water tank. The cleaning liquid flows from the cleaning liquid outlet of the water tank to the water outlet device and is transported to the surface to be cleaned through the water outlet device.

[0007] Furthermore, the water outlet device is equipped with a distributor, which is used to evenly apply the cleaning solution to the surface to be cleaned.

[0008] Furthermore, the dispenser is a continuous opening or a combination of several discontinuous small openings.

[0009] Furthermore, the dispenser is a nozzle, a drip hole, or an impregnated cloth.

[0010] Furthermore, the water outlet device is provided with a connection port, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connection port.

[0011] Furthermore, it also includes a clean water pump and / or a clean water pump pipe, wherein the clean water pump can be directly connected to the cleaning liquid outlet of the water tank, or it can be connected through the clean water pump pipe.

[0012] The present invention also provides an automatic cleaning device, including a mobile platform and a cleaning system, the cleaning system including a wet cleaning component, the wet cleaning component including the water delivery mechanism described above.

[0013] Furthermore, the water delivery mechanism can be directly connected to the mobile platform, or it can be indirectly connected to the mobile platform through a lifting mechanism.

[0014] Furthermore, the wet cleaning assembly also includes at least one cleaning head, a water return mechanism, and a water tank. The cleaning head is used to clean the surface to be cleaned, the water return mechanism is used to recover the dirty cleaning liquid on the surface to be cleaned, and the water tank is used to store the cleaning liquid.

[0015] Furthermore, the wet cleaning assembly also includes a power mechanism for driving the wet cleaning assembly to move relative to the mobile platform.

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

[0017] 1. The water delivery mechanism of the present invention has a large spraying range and uniform spraying, and evenly distributes the cleaning liquid in front of the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. The stains on the surface to be cleaned after wetting can be cleaned more easily.

[0018] 2. The automatic cleaning equipment of the present invention changes the situation where general cleaning robots can only perform dry cleaning or only wet cleaning through the novel design of the floor wiping structure. Furthermore, through the mechanical reciprocating floor wiping structure, it changes the status quo of general wet cleaning robots that can only perform simple cleaning of the ground, thereby improving the cleaning effect. On this basis, the structural design of the cleaning robot is further optimized. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 This is a perspective view of an automatic cleaning device according to an embodiment of the present invention.

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

[0022] Figure 3 This is a perspective view of a wet cleaning assembly according to an embodiment of the present invention.

[0023] Figure 4 This is a bottom view of a wet cleaning assembly according to an embodiment of the present invention.

[0024] Figure 5 This is a side view of a wet cleaning assembly according to an embodiment of the present invention.

[0025] Figure 6 This is a perspective view of a water tank according to an embodiment of the present invention.

[0026] Figure 7 This is a perspective view of the dust box according to an embodiment of the present invention.

[0027] Figure 8 This is a perspective view of a fan according to an embodiment of the present invention.

[0028] Figure 9 This is a schematic diagram of the dust box in the open state according to an embodiment of the present invention.

[0029] Figure 10 This is a schematic diagram of the dust box and fan assembly in one embodiment of the present invention.

[0030] Figure 11 This is a schematic diagram of a lifting mechanism according to an embodiment of the present invention.

[0031] Figure 12 This is a side view of a lifting mechanism according to an embodiment of the present invention.

[0032] Figure 13 This is a perspective view of one side drive wheel assembly according to an embodiment of the present invention.

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

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

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

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

[0037] Figure 18This is a schematic diagram of the cleaning head according to an embodiment of the present invention.

[0038] Figure 19 This is a schematic diagram of the structure of a water-absorbing roller according to an embodiment of the present invention.

[0039] Figure 20 This is a schematic diagram of the structure of a recycling rod according to an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] Mobile platform 100, rearward section 110, forward section 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 153, suction port 154, air outlet 155, fan 156, energy system 160, human-machine interaction system 170, lighting device 171, wet cleaning assembly 200, cleaning head 210, elastic support structure 211, camshaft 212, slide rail 213. Water delivery mechanism 220. Clean water pump 221. Clean water pump pipe 222. Water outlet device 223. Water return mechanism 230. Water suction roller 231. Recycling rod 232. Sewage pump 233. Sewage pump pipe 234. Elastic water-absorbing material 235. Scraper 236. Recycling trough 237. Recycling blade 238. Recycling 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 connecting end 271. Second connecting end 272. Auxiliary wheel 273. Pressure plate 280. Detailed Implementation

[0042] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] Example 1

[0046] Figure 2-4 As shown, a water delivery 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, i.e., the outlet of the clean water tank 241. The cleaning liquid can flow from the cleaning liquid outlet of the water tank 240 to the water outlet device 223 and be evenly applied to the surface to be cleaned through the water outlet device 223. The water outlet device 223 may have a connection port (not shown in the figure) through which it connects to the cleaning liquid outlet of the water tank 240. The water outlet device 223 is equipped with a distributor, which can be a continuous opening or a combination of several discontinuous small openings, and may have several nozzles. 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 distributor, and is evenly applied to the working surface through the distributor.

[0047] The water delivery mechanism 220 may also include a clean water pump 221 and / or a clean water pump pipe 222. The clean water pump 221 may be directly connected to the cleaning liquid outlet of the water tank 240, or it may be connected through the clean water pump pipe 222.

[0048] The clean water pump 221 can be connected to the connection port of the water outlet device 223 and can be configured to draw the cleaning liquid from the water tank 240 to the water outlet device 223. The clean water pump can be a gear pump, vane pump, plunger pump, etc.

[0049] The water delivery mechanism 220 draws cleaning fluid from the clean water tank 241 via the clean water pump 221 and clean water pump pipe 222, and transports it to the water outlet device 223. The distributor can be a nozzle, drip hole, or soaking cloth, etc., and evenly distributes water in front of the cleaning head 210, thereby wetting the cleaning head 210 and the surface to be cleaned. Stains on the wetted surface can be cleaned more easily.

[0050] The water delivery mechanism 220 can be directly connected to the mobile platform 100, or it can be indirectly connected to the mobile platform 100 through the lifting mechanism 250.

[0051] Example 2

[0052] The automatic cleaning device in this embodiment includes all the structures of the water delivery mechanism 220 in Embodiment 1.

[0053] Figure 1-2 This is a schematic diagram illustrating the structure of an automatic cleaning device according to an exemplary embodiment, such as... Figure 1-2 As shown, the automatic cleaning equipment can be a vacuum cleaning robot, a mopping / brushing robot, a window-climbing robot, etc. This automatic cleaning equipment can include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. Among them:

[0054] The mobile platform 100 can be configured to automatically move along a target direction on an operating surface. The operating surface can be the surface to be cleaned by the automatic cleaning device. In some embodiments, the automatic cleaning device can be a floor-mopping robot, in which case the automatic cleaning device works on the ground, and the ground serves as the operating surface; the automatic cleaning device can also be a window-cleaning robot, in which case the automatic cleaning device works on the outer surface of a building's glass, and the glass serves as the operating surface; the automatic cleaning device can also be a pipe-cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe serves as the operating surface. For purely illustrative purposes, the following description in this application uses a floor-mopping robot as an example.

[0055] In some embodiments, the mobile platform 100 can be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute predetermined programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be determined autonomously by the automatic cleaning equipment; 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 forward portion 111 and a backward portion 110.

[0056] The sensing system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located in the forward part 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), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), which provide the control system 130 with various position information and motion status information of the machine.

[0057] like Figure 2 As 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. These cliff sensors are used to prevent the automatic cleaning equipment from falling when it reverses, thereby avoiding damage to the automatic cleaning equipment. The aforementioned "front" refers to the side that is in the same direction as the automatic cleaning equipment's travel direction, and the aforementioned "rear" refers to the side that is in the opposite direction to the automatic cleaning equipment's travel direction.

[0058] The location determination device 121 includes, but is not limited to, a camera and a laser rangefinder (LDS).

[0059] The components in the sensing system 120 can operate independently or in combination to achieve the intended function more accurately. The cliff sensor 123 and the ultrasonic sensor identify the surface to be cleaned to determine its physical characteristics, including surface material, cleanliness, etc., and can be combined with cameras, laser rangefinders, etc. for more accurate judgment.

[0060] For example, an 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 carpet material, the control system 130 controls the automatic cleaning equipment to perform carpet cleaning.

[0061] The forward portion 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 travel 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 events (or objects) detected by the buffer 122, such as obstacles or walls, for example, by moving away from the obstacles.

[0062] The control system 130 is mounted on a circuit board within the mobile platform 100. It includes a computing processor, such as a central processing unit or application processor, that communicates with non-transitory memory (e.g., hard disk, flash memory, random access memory). The application processor is configured to receive environmental information sensed by the multiple sensors from the sensing system 120, and, based on obstacle information fed back by the laser rangefinder, utilize a positioning algorithm, such as SLAM, to create a real-time map of the environment in which the automatic cleaning equipment is located. Based on the environmental information and the environmental map, it autonomously determines a driving path and then controls the drive system 140 to perform forward, backward, and / or turning operations based on the autonomously determined driving path. Furthermore, the control system 130 can also determine whether to activate the cleaning module 300 for cleaning operations based on the environmental information and the environmental map.

[0063] Specifically, the control system 130 can combine distance and speed information fed back from the buffer 122, cliff sensor 123, and other sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the sweeper, such as crossing a threshold, stepping on a carpet, being on a cliff, being stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the automatic cleaning equipment work more in line with the user's requirements and providing a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information generated by SLAM, greatly improving the cleaning efficiency of the automatic cleaning equipment.

[0064] The drive system 140 can manipulate the automatic cleaning equipment to travel across the ground based on drive commands with distance and angle information, such as x, y and θ components. Figure 13 , Figure 14The figures show a perspective view and a front view of one side drive wheel assembly 141 in one embodiment of the present invention. As shown, the drive system 140 includes the drive wheel assembly 141, which can simultaneously control the left and right wheels. For more precise control of the machine's movement, the drive wheel assembly 141 preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are positioned opposite each other along a transverse axis defined by the moving platform 100. Each drive wheel assembly is equipped with a drive motor 146, which is 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 drive current and an odometer.

[0065] In order for the automatic cleaning equipment to move more stably or with greater mobility on the ground, the automatic cleaning equipment may include one or more steering components 142. The steering component 142 may be a driven wheel or a drive wheel, and its structure may include, but is not limited to, a swivel wheel. The steering component 142 may be located in front of the drive wheel assembly 141.

[0066] The drive motor 146 provides power for the rotation of the drive wheel assembly 141 and / or the steering assembly 142.

[0067] The drive wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance. The drive wheel may have an offset drop suspension system, which is movably secured, for example, rotatably attached, to the mobile platform 100 of the automatic cleaning equipment, and is maintained in contact with the ground and traction by a certain ground force through an elastic element 143, such as a tension spring or a compression spring, while the cleaning system 150 of the automatic cleaning equipment also contacts the surface to be cleaned with a certain pressure.

[0068] The energy system 160 includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. These rechargeable batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to a charging station via charging electrodes located on the side or bottom of the device. If dust adheres to the exposed charging electrodes, the cumulative effect of charge during charging can cause the plastic casing around the electrodes to melt and deform, or even deform the electrodes themselves, preventing normal charging.

[0069] The human-machine interface system 170 includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine status or function options; and it may also include a mobile client application. For path navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0070] The human-computer interaction system 170 further includes a lighting device 171 disposed on the chassis.

[0071] The lighting device 171 is located behind the water tank. When the automatic cleaning equipment is working, the lighting device 171 is turned on to illuminate the cleaned floor, making it easier for users to check whether the floor is clean.

[0072] The lighting device 171 can also be used as an alarm light. When the water level in the cleaning liquid tank is insufficient or the water level in the recovery liquid tank is too high, the lighting device 171 will flash or change color to sound an alarm. When the ambient light intensity is lower than a preset value, the lighting device 171 will automatically turn on, and when the ambient light intensity is higher than a preset value, the lighting device 171 will automatically turn off.

[0073] 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.

[0074] To more clearly describe the behavior of the automatic cleaning equipment, the following directional definitions are made: The automatic cleaning equipment can travel on the ground through various combinations of movement relative to the following three mutually perpendicular axes defined by the moving platform 100: the lateral axis x, the front-to-back axis y, and the central vertical axis z. The forward drive direction along the front-to-back axis y is labeled "forward," and the backward drive direction along the front-to-back axis y is labeled "backward." The lateral axis x essentially extends along an axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning equipment. The automatic cleaning equipment can rotate about the x-axis. When the forward portion of the automatic cleaning equipment tilts upward and the backward portion tilts downward, it is called "tilting up," and when the forward portion tilts downward and the backward portion tilts upward, it is called "tilting down." Additionally, the automatic cleaning equipment can rotate about the z-axis. In the forward direction of the automatic cleaning equipment, when the automatic cleaning equipment tilts to the right of the y-axis, it is called "turning right," and when the automatic cleaning equipment tilts to the left of the y-axis, it is called "turning left."

[0075] The cleaning system 150 may include a dry cleaning component 151 and / or a wet cleaning component 200.

[0076] Figure 3-5The wet cleaning component 200 in the cleaning system 150 includes at least one cleaning head 210, and includes a water supply mechanism 220, a water return mechanism 230, a water tank 240, a lifting mechanism 250, and a power mechanism 260.

[0077] The cleaning head 210 reciprocates along the surface to be cleaned. The contact surface between the cleaning head 210 and the surface to be cleaned is provided with a cleaning cloth or cleaning plate. Through the reciprocating motion, high-frequency friction is generated with the surface to be cleaned, thereby removing stains from the surface to be cleaned.

[0078] In this embodiment, as Figure 17 and Figure 18 As shown, the cleaning head 210 can be made of a material with a certain degree of elasticity, with shaft holes at both ends, and is respectively fitted onto the camshaft 212 and the slide rail 213 to achieve reciprocating motion. The cleaning head 210 and the wet cleaning assembly 200 are supported by an elastic support structure 211, such as a spring or leaf spring. When the cleaning head 210 is working, it is always in contact with the surface to be cleaned. During automatic and / or autonomous cruising of the automatic cleaning equipment, 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 allow the distance between the cleaning head 210 and the wet cleaning assembly 200 to be passively adjusted according to the operating surface.

[0079] The water tank 240 includes a clean water tank 241 and a wastewater tank 242. The clean water tank 241 is configured to store cleaning fluid, and the wastewater tank 242 is configured to store recycled fluid. The clean water tank 241 and the wastewater tank 242 are independent and each has an opening to facilitate liquid filling or cleaning. A filter screen is provided at the inlet of the clean water tank 241.

[0080] The clean water tank 241 has an irregular shape and at least one side is connected to the bottom of the water tank 240. Specifically, the clean water tank 241 is composed of a vertical part and a horizontal part, and the whole is in the shape of an "L". The sewage tank 242 is located on the upper side of the horizontal part of the clean water tank 241.

[0081] The volume of the clean water tank 241 is greater than the volume of the sewage tank 242.

[0082] The inlet of the clean water tank 241 and the outlet of the wastewater tank 242 are symmetrically designed, and a hidden vent 244 is provided in the middle of the water tank 240.

[0083] like Figure 15As shown, the clean water tank 241 and the wastewater tank 242 are also equipped with a water level detection device 243. The water level monitoring device can detect the water level in the clean water tank 241 and the wastewater tank 242. When the water level in the clean water tank 241 is insufficient or the water level in the wastewater tank 242 is too high, the user is reminded to intervene manually through the display screen and / or indicator light and / or speaker and / or mobile client program of the human-computer interaction system 170.

[0084] The water level detection device 243 used in this embodiment is a hollow float design with a magnet inside. A Hall sensor is located at the bottom of the water tank opposite the magnet. When the water level in the tank is high, the water level detection device is raised by the float, increasing the distance between the magnet and the Hall sensor. When the water level in the tank is low, the water level detection device is lowered by the float, decreasing the distance between the magnet and the Hall sensor. The Hall sensor senses the distance between itself and the magnet to determine the water level.

[0085] The water level detection device 243 can adopt other schemes that can detect water level, such as resistive or capacitive types.

[0086] The water level detection components in the clean water tank 241 and the wastewater tank 242 may have the same or different structures.

[0087] like Figures 19-20 As shown, the water return mechanism 230 includes a water suction roller 231 and a recovery rod 232.

[0088] The absorbent roller 231 can be connected to the moving platform 100 via a shaft, or indirectly rotatably connected to the moving platform 100 via a lifting mechanism 250. The absorbent roller drive device, i.e., the power mechanism 260, can be directly connected to the absorbent roller 231, or indirectly connected via a power transmission device 261. The power mechanism 260 can drive the roller 510 to rotate relative to the moving platform 100. When the return water mechanism 230 is working, the absorbent roller 231 can be attached to the operating surface. The absorbent roller 231 rotates synchronously during the cleaning process of the cleaning head 210, and the turbid cleaning liquid after the cleaning head 210 is cleaned is absorbed by the elastic absorbent material 235 on the absorbent roller 231.

[0089] like Figure 19 As shown, the outer surface of the absorbent roller 231 is covered with a layer of elastic absorbent material 235, which can absorb the residual dirty cleaning liquid on the operating surface. The elastic absorbent material 235 can be absorbent fabric, absorbent sponge, etc.

[0090] The power mechanism 260 can drive the water-absorbing roller 231 to move against the target direction or to move along the target direction. Moving against the target direction can mean that the linear velocity V of the portion of the water-absorbing roller 231 in contact with the operating surface points towards the target direction, where the target direction can be the front of the moving platform 100. Moving along the target direction can mean that the linear velocity V of the portion of the water-absorbing roller 231 in contact with the operating surface points in the opposite direction to the target direction, where the opposite direction can be the rear of the moving platform 100.

[0091] like Figure 20 As shown, the recovery rod 232 can be directly connected to the mobile platform 100, or 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 may include a scraper 236.

[0092] The scraper 236 can be directly or indirectly connected to the mobile platform 100. The scraper 236 can press the water-absorbing roller 231 and squeeze out the dirty cleaning liquid absorbed by the water-absorbing roller 231 through pressure. When the water-absorbing roller 231 rotates, the direction of the water-absorbing roller 231 passing through the scraper 236 is from top to bottom.

[0093] When the water return mechanism 230 is working, the power mechanism 260 can drive the suction roller 231 to move against the target direction (that is, the part of the suction roller 231 in contact with the working surface moves in the opposite direction to the target direction). At this time, the scraper 236 can be located behind the suction roller 231, and the suction roller 231 absorbs the dirty cleaning liquid on the working surface. Then, the suction roller 231 scrapes over the scraper 236, and the scraper 236 squeezes out the dirty cleaning liquid absorbed by the elastic absorbent material 235 through pressure. As mentioned above, the power mechanism 260 can also drive the suction roller 231 to move in the target direction (that is, the part of the suction roller 231 in contact with the working surface moves in the same direction as the target direction). At this time, the scraper 236 can be positioned in front of the absorbent roller 231, which absorbs the dirty cleaning liquid on the operating surface; then, due to the rotation of the absorbent roller 231, the absorbent roller 231 passes from top to bottom through the scraper 236, so that the scraper 236 squeezes out the dirty cleaning liquid absorbed by the elastic absorbent material 235 through pressure.

[0094] The recovery rod 232 may also include a recovery trough 237, which can be directly connected to the mobile platform 100 or indirectly connected to the mobile platform via a lifting mechanism 250. The recovery trough 237 is connected to the scraper 236 and is located on the side of the scraper 236 away from the suction roller 231. The scraper 236 is indirectly connected to the mobile platform 100 via the recovery trough 237. When the scraper 236 squeezes out the contaminated cleaning liquid absorbed by the suction roller 231, the contaminated cleaning liquid flows into the recovery trough 237.

[0095] The recycling rod 232 may also include a wastewater tank 242, which may be directly or indirectly connected to the recycling tank 237 and may be configured to receive the contaminated cleaning fluid in the recycling tank 237, which may enter the wastewater tank 242.

[0096] The recycling tank 237 may include a recycling bin 239 (not shown in the figure), and the wastewater tank 242 may be connected to the recycling tank 237 through the recycling bin 239. The turbid cleaning liquid in the recycling tank 237 may enter the wastewater tank 242 through the recycling bin 239.

[0097] The recovery rod 232 may also include recovery blades 238. Recovery blades 238 can reside in a recovery tank 237 and can be pivotally connected to the moving platform 100 via the recovery tank 237, or via a lifting mechanism 250 and the recovery tank 237. The recovery blades 238 can transport the contaminated cleaning fluid from the recovery tank 237 to the recovery chamber 239 through rotational motion. Recovery blades 238 can be worm gear brushes, spiral brushes, etc.

[0098] The recovery rod 232 may also include a recovery drive device, namely a wastewater pump 233. The wastewater pump 233 can be connected to the wastewater tank 242 and can be configured to draw the contaminated cleaning fluid from the recovery chamber 239 into the wastewater tank 242. The wastewater pump 233 can be a gear pump, vane pump, plunger pump, etc. When the recovery rod 232 is operating, the wastewater pump 233 provides power to the recovery rod 232. Under the action of the wastewater pump 233, the contaminated cleaning fluid flows from the recovery chamber 239 of the recovery tank 237 to the wastewater tank 242.

[0099] The recovery rod 232 may also include a blade drive device, i.e., 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 moving platform 100. The power mechanism 260 may be directly connected to the recovery blade 238 or indirectly connected to the recovery blade 238 via a power transmission device 261.

[0100] When the water return mechanism 230 is working, the power mechanism 260 drives the suction roller 231 to rotate, and the suction roller 231 absorbs the dirty cleaning liquid on the operating surface; then, the suction roller 231 passes from top to bottom through the scraper 236, and the scraper 236 squeezes out the dirty cleaning liquid absorbed by the elastic absorbent material 235 through pressure, and the dirty 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 dirty cleaning liquid in the recovery tank 237 is transported to the recovery chamber 239; finally, the sewage pump 233 draws the dirty cleaning liquid in the recovery chamber 239 into the sewage tank 242.

[0101] The recovery rod 232 may also include a filter screen. The filter screen may be located at the recovery chamber 239, connected to the recovery, and may be configured to filter impurities in the contaminated cleaning fluid. When the wastewater pump 233 draws the contaminated cleaning fluid from the recovery chamber 239, the contaminated cleaning fluid first passes through the filter screen to remove impurities before entering the wastewater tank 242.

[0102] In the wet cleaning assembly 200, the power / flow rate of the clean water pump 221 and the wastewater pump 233 can be adjusted. The wastewater pump 233 has a greater suction capacity than the clean water pump 221 has a greater discharge capacity, ensuring that the dirty cleaning liquid can be 100% recovered. Even if the recovery pipeline is partially blocked, the efficiency can still be guaranteed.

[0103] Furthermore, the cleaning head 210, the absorbent roller 231, and the recovery rod 232 are all mounted on the wet cleaning assembly 200 via a pressure plate 280. The pressure plate 280 can be simultaneously located at both ends of the cleaning head 210, the absorbent roller 231, and the recovery rod 232, or it can be located at only one end. The pressure plate 280 allows users to easily disassemble, clean, and replace the cleaning head 210, the absorbent roller 231, and the recovery rod 232, while also facilitating subsequent maintenance and repair.

[0104] The power of the cleaning head 210, clean water pump 221, and sewage pump 233 can all be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment. Generally, users can control the cleaning intensity of the cleaning head 210 and the water volume of the pump through the human-machine interaction system 170.

[0105] Figure 16 This is a schematic diagram of the overall assembly effect of the wet cleaning component 200 in this embodiment.

[0106] The power mechanism 260 transmits power from the single motor 262 to the cleaning head 210, water delivery mechanism 220, water return mechanism 230, water tank 240, and lifting mechanism 250 simultaneously via the power transmission device 261. The energy system 160 provides power and energy to the power mechanism 260, and the overall system is controlled by the control system 130. The power transmission device 261 can be a gear drive, chain drive, belt drive, or worm gear, etc.

[0107] The power mechanism 260 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 262 in the power mechanism 260 rotates in the forward direction, and in the reverse output mode, the motor 262 in the power mechanism 260 rotates in the reverse direction. In the forward output mode of the power mechanism 260, a single motor 262 can drive at least two of the following devices in the wet cleaning assembly 200—the cleaning head 210, the water supply mechanism 220, and the water return mechanism 230—to move synchronously through the power transmission device 261.

[0108] Specifically, such as Figure 4 , 5 and Figure 16 As shown, motor 262 is connected to cleaning head 210, suction roller 231, recovery rod 232, clean water pump 221, and wastewater pump 233 via power transmission device 261. When the wet cleaning assembly 200 is started, motor 262 starts working and begins to rotate forward. Clean water pump 221 draws clean water from clean water tank 241 and sprays it onto cleaning head 210 through water outlet device 223. Cleaning head 210 cleans the surface to be cleaned through reciprocating motion. Wastewater generated is absorbed by suction roller 231, recovered by recovery rod 232, and drawn out by wastewater pump 233 and sent to wastewater tank. When motor 262 reverses, cleaning head 210, suction roller 231, recovery rod 232, clean water pump 221, and wastewater pump 233 stop working, lifting mechanism 250 starts working, and cleaning system 150 detaches from the surface to be cleaned.

[0109] like Figure 3 , 4 As shown in Figures 5, 11, and 12, the lifting mechanism 250 is disposed between the mobile platform 100 and the wet cleaning component 200 and is connected to the motor 262. Both ends of the lifting mechanism 250 are fixed on the mobile platform 100, and the lower part of the lifting mechanism 250 is installed on the wet cleaning component 200. The lifting mechanism 250 dynamically adjusts the distance between the wet cleaning component 200 and the mobile platform 100 through pulley blocks, traction ropes, etc.

[0110] In this embodiment, the lifting mechanism 250 is connected to the motor 262 via a rack 251. When the motor 262 reverses, it pulls the rack downwards, causing the lifting mechanism 250 to lift the wet cleaning component 200 upwards. When the motor 262 is operating normally, the rack 251 disengages from the gear of the motor 262 after completing its stroke, and the lifting mechanism 250 returns the wet cleaning component 200 to its working position.

[0111] The wet cleaning assembly 200 includes a lifting platform base 270, which is connected to a lifting mechanism 250 and configured to move up and down relative to the mobile platform 100 under the action of the lifting mechanism 250.

[0112] The lifting platform base 270 includes a first connecting end 271 and a second connecting end 272. The first connecting end 271 is located near the front of the mobile platform 100; the second connecting end 272 is located near the rear of the mobile platform 100. At least one auxiliary wheel 273 is provided on the lower surface of the lifting platform base 270. The auxiliary wheel 273 is located on the side of the lifting platform base 270 near the second connecting end 272, and the auxiliary wheel 273 can be configured to assist the lifting platform base 270 in moving on the operating surface.

[0113] When the lifting platform base 270 moves downward relative to the moving platform 100, the auxiliary wheel 273 first contacts the operating surface and can roll on the operating surface, assisting the lifting platform base 270 in moving on the operating surface and preventing dry friction between the lifting platform base 270 and the operating surface during the movement of the moving platform 100. There can be one or multiple auxiliary wheels 273. Figure 3 Two auxiliary wheels 273 are shown, but of course, there can be one, three, or any number of auxiliary wheels 273.

[0114] 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 ensures that the friction between the wet cleaning components and the surface to be cleaned is small, thereby reducing the overall power consumption of the automatic cleaning equipment.

[0115] For example, when a user instructs the automatic cleaning device via the human-machine interface system 170 that only the dry cleaning component needs cleaning, the lifting mechanism 250 shortens the distance between the wet cleaning component 200 and the moving platform 100, at which point the wet cleaning component 200 rises and detaches from the surface to be cleaned. The distance between the wet cleaning component 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 instance, the automatic cleaning device can use the physical information of the surface to be cleaned detected by the sensing system 120. For example, when the sensing system 120 detects that the automatic cleaning device is moving on a carpet surface, the lifting mechanism 250 pulls up the wet cleaning component 200 to detach it from the carpet surface, preventing the carpet from getting wet. Simultaneously, the cleaning head 210, clean water pump 221, and wastewater pump 233 all stop working. When the sensing system 120 detects that the automatic cleaning device has detached from the carpet surface and returned to a tile or wood floor, the lifting mechanism 250 lowers the wet cleaning component 200, and all components of the wet cleaning component 200 continue to operate normally.

[0116] like Figure 7-9 As shown, the dry cleaning component 151 includes a roller brush, a dustbin, a fan, and an air outlet. The roller brush, which interferes with the ground to a certain extent, sweeps up debris from the ground and carries it to the suction port between the roller brush and the dustbin. The debris is then drawn into the dustbin by the suction generated by the fan and passing through the dustbin. The dust removal capability of a sweeper can be characterized by its dustpickup efficiency (DPU). DPU is affected by the roller brush structure and material, the airflow utilization rate of the air duct formed by the suction port, dustbin, fan, air outlet, and connecting components, and the type and power of the fan, making it a complex system design problem. Compared to ordinary plugged-in vacuum cleaners, improved dust removal capability is more significant for energy-constrained automatic cleaning equipment. This is because improved dust removal capability directly and effectively reduces energy requirements. In other words, a machine that could clean 80 square meters on a single charge can now clean 180 square meters or even more on a single charge. Furthermore, the reduced number of charging cycles significantly increases battery life, leading to more frequent battery replacements. More intuitively and importantly, the improved dust removal capability is the most noticeable and crucial aspect of the user experience, allowing users to directly conclude whether the sweeping / wiping is effective. The dry cleaning component may also include a side brush 152 with a rotating shaft at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning system 150.

[0117] Figure 7 This is a schematic diagram of the dust box 152 in the dry cleaning assembly. Figure 8 This is a schematic diagram of the structure of the fan 156 in the dry cleaning assembly. Figure 9 This is a schematic diagram showing the open state of dustbin 152. Figure 10 Schematic diagram of the dust collection box and fan assembly status.

[0118] The roller brush, which has some interference with the ground, sweeps up the garbage on the ground and rolls it to the front of the suction port 154 between the roller brush and the dust box 152. Then, the suction gas generated by the fan 156 and passing through the dust box 152 is sucked into the dust box 152. The garbage is isolated by the filter screen 153 inside the dust box 152 on the side near the suction port 154. The filter screen 153 completely isolates the suction port from the air outlet. The filtered air enters the fan 156 through the air outlet 155.

[0119] Typically, the suction port 154 of the dust box 152 is located at the front of the machine, the air outlet 155 is located on the side of the dust box 152, and the suction port of the fan 156 is connected to the air outlet of the dust box.

[0120] The front panel of dustbin 152 can be opened to clean the dustbin 152.

[0121] The end of the filter 153 furthest from the air outlet is higher than the end closest to the air outlet; the end of the filter 153 closest to the front panel is higher than the end furthest from the front panel; the filter 153 and the dust box 152 are detachably connected, which facilitates the removal and cleaning of the filter.

[0122] The cleaning intensity / efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment. For example, the automatic cleaning equipment can dynamically adjust based on the physical information of the surface to be cleaned detected by the sensing system 120. For example, the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit this information to the control system 130 of the automatic cleaning equipment. Accordingly, the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the speed of the motor 262 and the transmission ratio of the power transmission device 261 according to the working environment, thereby adjusting the preset reciprocating cycle of the cleaning head 210.

[0123] For example, when the automatic cleaning equipment operates on a flat surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning equipment operates on a less flat surface, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than uneven surfaces, therefore cleaning uneven surfaces requires the cleaning head 210 to reciprocate more frequently (i.e., at a higher frequency) and use a larger volume of water.

[0124] For example, when the automatic cleaning device is working on a desktop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because, compared to the ground, desktops have less dust and oil, and the materials that make up the desktop are easier to clean. Therefore, the cleaning head 210 needs to perform fewer reciprocating movements, and the water pump needs to provide a relatively small amount of water to clean the desktop.

[0125] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0126] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic cleaning device, characterized in that, Includes a mobile platform (100) and a cleaning system (150). The cleaning system (150) includes a wet cleaning assembly (200), which includes at least one cleaning head (210), a water supply mechanism (220), a water return mechanism (230), a water tank (240), a lifting mechanism (250), and a power mechanism (260). The cleaning head (210) is used to clean the surface to be cleaned, the water return mechanism (230) is used to recover the dirty cleaning liquid on the surface to be cleaned, and the water tank (240) is used to store the cleaning liquid. The power mechanism (260) includes a motor (262). When the single motor (262) rotates in the forward direction, the motor drives the power transmission device (261) to... At least two of the following devices in the wet cleaning assembly (200): the cleaning head (210), the water delivery mechanism (220), and the water return mechanism (230), move synchronously. When the motor rotates in the opposite direction, the cleaning head, the clean water pump, and the sewage pump do not work, and the lifting mechanism (250) drives the wet cleaning assembly (200) to lift upward. The water delivery mechanism includes a water outlet device (223), which is directly or indirectly connected to the outlet of the water tank (240). The cleaning liquid flows from the cleaning liquid outlet of the water tank (240) to the water outlet device (223) and is transported to the surface to be cleaned through the water outlet device (223).

2. The automatic cleaning device according to claim 1, characterized in that, The water delivery mechanism (220) It can be directly connected to the mobile platform (100) or indirectly connected to the mobile platform (100) through the lifting mechanism (250).

3. An automatic cleaning device according to claim 1, characterized in that, The water outlet device (223) is equipped with a distributor, which is used to evenly apply the cleaning liquid to the surface to be cleaned.

4. An automatic cleaning device according to claim 3, characterized in that, The dispenser is either a continuous opening or a combination of several discontinuous small openings.

5. An automatic cleaning device according to claim 3, characterized in that, The dispenser is a nozzle, a drip hole, or an impregnated cloth.

6. An automatic cleaning device according to claim 1, characterized in that, The water outlet device (223) is provided with a connection port, and the water outlet device (223) is connected to the cleaning liquid outlet of the water tank (240) through the connection port.

7. An automatic cleaning device according to claim 1, characterized in that, It also includes a clean water pump (221) and / or a clean water pump pipe (222), wherein 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).

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