An automatic cleaning apparatus

Abstract

The application provides an automatic cleaning device, comprising: a moving platform configured to automatically move on an operation surface; a cleaning module arranged on the moving platform, comprising: a wet cleaning module configured to clean at least a part of the operation surface in a wet cleaning mode; wherein the wet cleaning module comprises: a cleaning head comprising at least two movable areas capable of independent movement, the movable areas being used for independently cleaning the operation surface, and a driving unit used for driving the at least two movable areas capable of independent movement to substantially reciprocate along a target surface, the target surface being a part of the operation surface. The cleaning head of the application can substantially reciprocate, so that repeated cleaning can be performed on the surface to be cleaned, so that multiple cleanings can be achieved in one pass through a certain area in the motion track of the cleaning robot, thereby greatly enhancing the cleaning effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, in particular to an automatic cleaning device. BACKGROUND

[0002] The cleaning robots currently mainly include two kinds of sweeping robots and mopping robots, the functions of the sweeping robots and the mopping robots are relatively single, either only sweeping or only mopping. If the sweeping and the mopping are simultaneously performed, two sets of equipment must be prepared at the same time, and double space is occupied.

[0003] In the prior art, the sweeping robot and the mopping robot are combined, a mop is additionally arranged at the tail end of the robot to realize the integrated sweeping and mopping, but the mopping function in the integrated sweeping only adopts a mop to translate on the ground, with the translation of the mop, the single mopping is performed in the moving track of the cleaning robot, the mopping effect and efficiency are greatly reduced, especially for some environments with more stains and dirty ground, the one-time moving mopping obviously cannot clean the ground completely. SUMMARY

[0004] The present application aims to provide an automatic cleaning device, which can solve the technical problem that the ground cannot be cleaned completely. The specific scheme is as follows:

[0005] According to the specific embodiment of the present application, the present application provides an automatic cleaning device, which comprises:

[0006] A moving platform 100 configured to automatically move on an operation surface;

[0007] A cleaning module 150 arranged on the moving platform 100, comprising:

[0008] A wet cleaning module 400 configured to clean at least a part of the operation surface in a wet cleaning mode; wherein the wet cleaning module 400 comprises:

[0009] A cleaning head 410 comprising at least two movable areas 412 which can independently move, the movable areas 412 being used for independently cleaning the operation surface, and

[0010] A driving unit 420 used for driving the at least two movable areas 412 to substantially reciprocate along a target surface, the target surface being a part of the operation surface.

[0011] Optionally, the driving unit 420 comprises:

[0012] A motor 4211 arranged on one side close to the moving platform 100 and outputting power through a motor output shaft;

[0013] The driving wheel 4212 is connected with the motor output shaft, and the driving wheel 4212 is of an asymmetric structure.

[0014] The first vibrating member 42131 is connected with the driving wheel 4212, and is capable of achieving substantially reciprocating motion under the asymmetric rotation of the driving wheel 4212.

[0015] The second vibrating member 42132 is connected with the driving wheel 4212, and is capable of achieving substantially reciprocating motion under the asymmetric rotation of the driving wheel 4212.

[0016] Optionally, the driving unit 420 further comprises:

[0017] The connecting rod 4214 is connected with the driving wheel 4212 at one end and connected with the first vibrating member 42131 and the second vibrating member 42132 at the other end, so as to extend the first vibrating member 42131 and the second vibrating member 42132 to a preset position.

[0018] Optionally, the first vibrating member 42131 and the second vibrating member 42132 are of an integrated structure.

[0019] Optionally, the connecting rod 4214 comprises:

[0020] The first connecting rod 42141 is connected with the driving wheel 4212 at one end and connected with the first vibrating member 42131 at the other end, so as to drive the first vibrating member 42131 to move independently.

[0021] The second connecting rod 42142 is connected with the driving wheel 4212 at one end and connected with the second vibrating member 42132 at the other end, so as to drive the second vibrating member 42132 to move independently.

[0022] Optionally, the first vibrating member 42131 and the second vibrating member 42132 are of a rod structure, and the extending direction of the rod structure is substantially perpendicular to the connecting rod 4214.

[0023] Optionally, the driving unit 420 further comprises a vibration buffering device 4215 arranged on the connecting rod 4214.

[0024] Optionally, the driving unit 420 further comprises a cleaning substrate 4221, which is capable of achieving substantially reciprocating motion relative to the moving platform 100 under the vibration of the vibrating member 4213.

[0025] Optionally, the cleaning substrate 4221 comprises:

[0026] The first cleaning substrate 422111 and the second cleaning substrate 422112 are arranged front-to-back or left-to-right along the travel direction of the cleaning equipment.

[0027] Optionally, the first cleaning substrate 422111 includes a first mounting notch 4221111, and the first vibrating element 42131 is mounted in the first mounting notch 4221111.

[0028] The second cleaning substrate 422112 includes a second mounting notch 4221112, and the second vibrating element 42132 is mounted in the second mounting notch 4221112;

[0029] The first cleaning substrate 422111 reciprocates relative to the moving platform 100 under the vibration of the first vibrating element 42131; the second cleaning substrate 422112 reciprocates relative to the moving platform 100 under the vibration of the second vibrating element 42132.

[0030] Optionally, the first cleaning substrate 422111 and the second cleaning substrate 422112 may reciprocate synchronously or asynchronously.

[0031] Optionally, the active area 412 includes:

[0032] The first active area 4121 is connected to the first cleaning substrate 422111 and moves substantially back and forth along the target surface under the drive of the first cleaning substrate 422111.

[0033] The second active area 4122 is connected to the second cleaning substrate 422112 and reciprocates substantially along the target surface under the drive of the second cleaning substrate 422112.

[0034] Optionally, an adhesive layer is provided on the side of the active area 412 that is connected to the cleaning substrate 4221, and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.

[0035] Optionally, the cleaning head 410 further includes:

[0036] A fixed area 411 is used to clean at least a portion of the operating surface as the mobile platform 100 moves.

[0037] The flexible connecting part 413 is connected between the fixed area 411, the first active area 4121 and / or the second active area 4122.

[0038] Compared with the prior art, the embodiments of the present invention have the following technical effects:

[0039] The sweeping and mopping integrated cleaning device provided by this invention offers more comprehensive cleaning functions because its automatic cleaning module includes a reciprocating wet cleaning module. Within the wet cleaning module, multiple drive units and vibration zones are added, allowing the cleaning head to reciprocate synchronously or asynchronously across multiple areas. This enables repeated cleaning of the surface, allowing the robot to perform multiple cleaning passes through a single area during its movement, significantly enhancing the cleaning effect, especially noticeable in areas with heavy soiling. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0041] Figure 1 This is a perspective view of an automatic cleaning device according to an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the bottom structure of an automatic cleaning device according to an embodiment of the present invention.

[0043] Figure 3 This is a perspective view of one side drive wheel assembly according to an embodiment of the present invention.

[0044] Figure 4 This is a front view of a one-side drive wheel assembly according to an embodiment of the present invention.

[0045] Figure 5 This is a perspective view of the dustbin according to an embodiment of the present invention.

[0046] Figure 6 This is a perspective view of a fan according to an embodiment of the present invention.

[0047] Figure 7 This is a schematic diagram of the dust box in the open state according to an embodiment of the present invention.

[0048] Figure 8 This is a schematic diagram of the dust box and fan assembly in one embodiment of the present invention.

[0049] Figure 9 This is an exploded view of an automatic cleaning device according to an embodiment of the present invention.

[0050] Figure 10This is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present invention.

[0051] Figure 11 This is a structural diagram of the vibrating component of an automatic cleaning device according to an embodiment of the present invention.

[0052] Figure 12 This is a schematic diagram of a cleaning head drive mechanism based on a crank-slider mechanism, according to another embodiment of the present invention.

[0053] Figure 13 This is a schematic diagram of a cleaning head drive mechanism based on a double crank mechanism, according to another embodiment of the present invention.

[0054] Figure 14 This is a schematic diagram of a cleaning head drive mechanism based on a crank mechanism, according to another embodiment of the present invention.

[0055] Figure 15 This is a structural diagram of a vibration element according to an embodiment of the present invention.

[0056] Figure 16 This is a schematic diagram of a cleaning substrate assembly structure according to an embodiment of the present invention.

[0057] Figure 17 This is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.

[0058] Figure 18 This is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.

[0059] Figure 19 This is a schematic diagram of a cleaning head drive mechanism according to another embodiment of the present invention.

[0060] Figure 20 This is an enlarged schematic diagram of the cleaning head drive mechanism according to another embodiment of the present invention.

[0061] Figure 21 This is a schematic diagram of a cleaning head drive mechanism according to another embodiment of the present invention.

[0062] Figure 22 This is a schematic diagram of the front and rear structures of the active area according to another embodiment of the present invention.

[0063] Figure 23 This is a schematic diagram of the left and right structures of the active area according to another embodiment of the present invention.

[0064] Explanation of reference numerals in the attached figures:

[0065] 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 module 150, dry cleaning module 151, dust box 152, filter 153, suction port 154, air outlet 155, fan 156, energy system 160, human-machine interaction system 170, wet cleaning component 400, cleaning head 410, drive unit 420, drive platform 421, support platform 422, motor 4211, drive wheel 4212, vibrating component 4213, connecting rod 4214, vibration buffer device 4215, pawl 4216, clean water pump pipe 4218, clean water pump 4219, cleaning base plate 4221, elastic disassembly button 4229, assembly area 4224, snap-fit ​​position 4225, first slide groove 4222, second slide groove 4223, first slider 525, second slider 528, rotating end 512 (4227), sliding end 514 (4226), first pivot 516 (624), second pivot 518 (626), drive mechanism 500 (600, 700). Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0067] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0068] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0069] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of the present invention, these are not intended to limit the scope of the invention. These terms are used only to distinguish the parts. For example, first may also be referred to as second, and similarly, second may also be referred to as first, without departing from the scope of the embodiments of the invention.

[0070] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0071] The optional embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0072] Figures 1-2 This is a schematic diagram illustrating the structure of an automatic cleaning device according to an exemplary embodiment, such as... Figures 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 module 150, an energy system 160, and a human-machine interaction system 170. Among them:

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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."

[0077] like Figure 2As 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.

[0078] The location determination device 121 includes, but is not limited to, a camera and a laser rangefinder (LDS).

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 150 to perform cleaning operations based on the environmental information and the environmental map.

[0083] 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.

[0084] The drive system 140 can execute drive commands to manipulate the automatic cleaning equipment to travel across the ground based on specific distance and angle information, such as x, y and θ components. Figure 3 , Figure 4 The 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. The drive system 140 can simultaneously control the left and right wheels. To more accurately control the movement of the machine, the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the moving platform 100. The drive wheel assembly includes a body, a drive wheel, and an elastic element. One end of the body is connected to the frame. The drive wheel is disposed on the body and driven by a drive motor 146. The elastic element is connected between the body and the frame and is configured to provide elastic force between the frame and the body. The drive motor 146 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. The drive wheel assembly 141 can also be connected to a circuit for measuring the drive current and an odometer.

[0085] 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.

[0086] The drive motor 146 provides power for the rotation of the drive wheel assembly 141 and / or the steering assembly 142.

[0087] 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 module 150 of the automatic cleaning equipment also contacts the surface to be cleaned with a certain pressure.

[0088] 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.

[0089] 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.

[0090] The cleaning module 150 may include a dry cleaning module 151 and / or a wet cleaning module 400.

[0091] like Figures 5-8As shown, the dry cleaning module 151 includes a roller brush, a dustbin, a fan, and an air outlet. The roller brush, which has some interference with the ground, 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 capacity 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 plug-in vacuum cleaners, improved dust removal capacity is more significant for energy-constrained automatic cleaning equipment. This is because improved dust removal capacity 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 module 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 module 150.

[0092] Figure 5 This is a schematic diagram of the dust box 152 in the dry cleaning module. Figure 6 This is a schematic diagram of the structure of the fan 156 in the dry cleaning module. Figure 7 This is a schematic diagram showing the open state of dustbin 152. Figure 8 Schematic diagram of the dust collection box and fan assembly status.

[0093] 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.

[0094] 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.

[0095] The front panel of dustbin 152 can be opened to clean the dustbin 152.

[0096] The filter 153 and the dust box 152 are detachably connected, which facilitates the removal and cleaning of the filter.

[0097] According to one specific embodiment of the present invention, such as Figures 9-11 As shown, the wet cleaning module 400 provided by the present invention is configured to clean at least a portion of the operating surface using a wet cleaning method. The wet cleaning module 400 includes a cleaning head 410 and a driving unit 420. The cleaning head 410 is used to clean at least a portion of the operating surface, and the driving unit 420 is used to drive the cleaning head 410 to reciprocate substantially along a target surface, which is a portion of the operating surface. The cleaning head 410 reciprocates along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the contact surface between the cleaning head 410 and the surface to be cleaned. The reciprocating motion generates high-frequency friction with the surface to be cleaned, thereby removing stains from the surface.

[0098] A higher friction frequency means more friction cycles per unit time. High-frequency reciprocating motion, also known as reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion, such as rotation or friction cleaning. Optionally, a friction frequency close to sound waves will result in a cleaning effect far superior to rotational friction cleaning at dozens of revolutions per minute. On the other hand, the bristles on the cleaning head surface will extend more uniformly in the same direction under the vibration of high-frequency vibration, resulting in a more even overall cleaning effect. This is unlike low-frequency rotation where only downward pressure is applied to increase friction and improve the cleaning effect. Simply applying downward pressure will not cause the bristles to extend in a nearly uniform direction. The effect is that the watermarks on the working surface after high-frequency vibration cleaning are more even, without leaving messy water stains.

[0099] Reciprocating motion can be repeated along one or more directions within the operating surface, or it can be vibration perpendicular to the operating surface; there are no strict limitations on this. Optionally, the reciprocating motion direction of the cleaning module is approximately perpendicular to the machine's travel direction. This is because reciprocating motion parallel to the machine's travel direction can introduce instability into the moving machine itself. The thrust and resistance in the travel direction can easily cause the drive wheels to slip. The impact of slippage is more pronounced when a wet cleaning module is included, as the slippery operating surface increases the likelihood of slippage. Besides affecting the machine's smooth cleaning progress, slippage can also cause inaccurate distance measurement by sensors such as the odometer and gyroscope, resulting in navigation-type automatic cleaning equipment being unable to accurately locate and map. In cases of frequent slippage, the impact on SLAM (Simplified Latitude and Longitude Mapping) cannot be ignored; therefore, slippage should be avoided as much as possible. In addition to slippage, the cleaning head motion component in the machine's travel direction causes the machine to be constantly pushed forward and backward during movement, resulting in an unstable and jerky movement.

[0100] As an optional embodiment of the present invention, such asFigure 9 As shown, the drive unit 420 includes: a drive platform 421 connected to the bottom surface of the mobile platform 100 for providing driving force; and a support platform 422 detachably connected to the drive platform 421 for supporting the cleaning head 410 and being able to be raised and lowered under the drive of the drive platform 421.

[0101] As an optional embodiment of the present invention, a lifting module is provided between the cleaning module 150 and the mobile platform 100, which is used to enable the cleaning module 150 to better contact the surface to be cleaned, or to adopt different cleaning strategies for different materials of the surface to be cleaned.

[0102] Optionally, the dry cleaning module 151 can be connected to the mobile platform 100 via a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can more easily overcome the obstacle via the lifting module.

[0103] Optionally, the wet cleaning module 400 can be connected to the mobile platform 100 via an active lifting module. When the wet cleaning module 400 is not working temporarily, or when there is a surface that cannot be cleaned using the wet cleaning module 400, the wet cleaning module 400 can be lifted by the active lifting module to separate it from the surface, thereby changing the cleaning method.

[0104] like Figures 10-11 As shown, the drive platform 421 includes: a motor 4211, which is disposed on the side of the drive platform 421 near the moving platform 100 and outputs power through the motor output shaft; a drive wheel 4212, which is connected to the motor output shaft and has an asymmetrical structure; and a vibrating element 4213, which is disposed on the side of the drive platform 421 opposite to the motor 4211 and connected to the drive wheel 4212, and achieves reciprocating motion under the asymmetrical rotation of the drive wheel 4212.

[0105] The drive platform 421 may further include a gear mechanism. The gear mechanism can connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the drive wheel 4212 to rotate, or it can indirectly drive the drive wheel 4212 to rotate through the gear mechanism. Those skilled in the art will understand that the gear mechanism can be a single gear or a gear set composed of multiple gears.

[0106] The motor 4211 transmits power simultaneously to the cleaning head 410, drive platform 421, support platform 422, water delivery mechanism, water tank, etc., via a power transmission device. The energy system 160 provides power and energy to the motor 4211 and is controlled as a whole by the control system 130. The power transmission device can be a gear drive, chain drive, belt drive, or worm gear, etc.

[0107] The motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction, and in the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode, the motor 4211 can simultaneously drive the drive platform vibrating element 4213 in the wet cleaning component 400 to reciprocate and the water delivery mechanism to move synchronously through the power transmission device. In the reverse output mode, the motor 4211 drives the drive platform 421 to lift and lower through the power transmission device.

[0108] Furthermore, the drive platform 421 also includes a connecting rod 4214 extending along the edge of the drive platform 421, connecting the drive wheel 4212 and the vibrating element 4213, so that the vibrating element 4213 extends to a preset position, wherein the extension direction of the vibrating element 4213 is perpendicular to the connecting rod 4214, so that the reciprocating motion direction of the vibrating element 4213 is approximately perpendicular to the machine travel direction.

[0109] The motor 4211 is connected to the drive wheel 4212, the vibrating element 4213, the connecting rod 4214, and the vibration damping device 4215 via a power transmission device. The vibrating element 4213 and the connecting rod 4214 form an approximately L-shaped structure, as shown below. Figure 15As shown, the vibrating element 4213 reciprocates under the drive of the connecting rod 4214. The vibration damping device 4215 dampens the vibration and reduces shaking caused by the drive wheel 4212, ensuring smooth vibration of the vibrating element 4213 within the range of motion provided by the support platform 422. Optionally, the vibration damping device 4215 is made of a soft material, preferably a rubber structure, and is sleeved on the connecting rod 4214. On the other hand, the vibration damping device 4215 also protects the vibrating element 4213 from damage caused by collisions with the drive platform 421, thus also affecting the reciprocating motion of the vibrating element 4213. The moving and fixed parts of the drive platform 421 restrict movement in the machine's traveling direction through a less elastic connection, while in the direction roughly perpendicular to the traveling direction, i.e., the vibration direction of the vibrating element 4213, they are connected and allow movement in a flexible manner. These two movement restrictions result in the movement of the vibrating element 4213 not being a precise reciprocating motion, but rather a basically reciprocating motion. When the wet cleaning assembly 400 is started, the motor 4211 starts working and begins to rotate forward. The motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the drive platform 421 via the drive wheel 4212. At the same time, the vibration buffer device 4215 drives the vibrating element 4213 to reciprocate along the surface of the drive platform 421. The vibrating element 4213 carries the cleaning substrate 4221 to reciprocate along the surface of the support platform 422. The cleaning substrate 4221 carries the moving area 412 to reciprocate along the surface to be cleaned. At this time, the water pump causes clean water to flow from the clean water tank and sprays the clean water onto the cleaning head 410 through the water outlet device 4217. The cleaning head 410 then cleans the surface to be cleaned through reciprocating motion.

[0110] 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 motor speed and the transmission ratio of the power transmission device according to the working environment, thereby adjusting the preset reciprocating cycle of the cleaning head 410.

[0111] 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 410 to reciprocate more frequently (i.e., at a higher frequency) and use a larger volume of water.

[0112] 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 410 needs to perform fewer reciprocating movements, and the water pump needs to provide a relatively small amount of water to clean the desktop.

[0113] As an optional embodiment of the present invention, the support platform 422 includes: a cleaning substrate 4221, which is freely movably disposed on the support platform 422, and the cleaning substrate 4221 performs substantially reciprocating motion under the vibration of the vibrating member 4213. Optionally, as... Figure 16As shown, the cleaning substrate 4221 includes an assembly notch 42211, disposed at a position in contact with the vibrating element 4213. When the support platform 422 is connected to the drive platform 421, the vibrating element 4213 is assembled into the assembly notch 42211, allowing the cleaning substrate 4221 to reciprocate substantially synchronously with the vibrating element 4213. The cleaning substrate 4221 includes four first limiting positions 42212 in the cleaning equipment travel direction. These four first limiting positions 42212 are flexibly connected to the cleaning substrate 4221, but have a small elastic scaling space, thus limiting the movement of the cleaning substrate 4221 relative to the support platform 422 in the cleaning equipment travel direction. The cleaning substrate 4221 also includes two second limiting positions 42213 in a direction perpendicular to the cleaning equipment travel direction. These two second limiting positions 42213 limit the range of reciprocating movement of the cleaning substrate 4221 in the direction perpendicular to the cleaning equipment travel direction. Furthermore, a water outlet 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221, allowing water from the water outlet device 4217 to flow through the outlet to the cleaning head 410. Due to the influence of the limiting position and vibration buffer device, the movement of the cleaning substrate 4221 is essentially reciprocating. The cleaning substrate 4221 is located as part of the support platform 422, and local vibration can achieve a higher vibration frequency, such as reaching the sound wave frequency range. The moving and fixed parts of the drive platform 421 are restricted in the machine travel direction by a less flexible connection, while in the direction approximately perpendicular to the travel direction, i.e., the vibration direction of the vibrating element 4213, they are flexibly connected and allow movement.

[0114] Figure 12 Another cleaning head drive mechanism 500 based on a crank-slider mechanism according to several embodiments of this application is shown. The drive mechanism 500 can be applied to a drive platform 421. The drive mechanism 500 includes a drive wheel 4212, a vibrator 4213, a cleaning base plate 4221, a slide 4222 (first slide), and a slide 4223 (second slide).

[0115] Slides 4222 and 4223 are formed on the support platform 422. The cleaning substrate 4221 has sliders 525 (first slider) and 528 (second slider) at its two ends. Sliders 525 and 528 are protrusions at both ends of the cleaning substrate 4221. Slider 525 is inserted into slide 4222 and can slide along slide 4222; slider 4223 is inserted into slide 4223 and can slide along slide 4223. In some embodiments, slide 4222 and slide 4223 are on the same straight line. In some embodiments, slide 4222 and slide 4223 are not on the same straight line. In some embodiments, slide 4222 and slide 4223 extend in the same direction. In some embodiments, the extending direction of slide 4222 and slide 4223 is the same as the extending direction of the cleaning substrate 4221. In some embodiments, the extending direction of slide 4222 and slide 4223 is different from the extending direction of the cleaning substrate 4221. In some embodiments, the extension directions of slide 4222 and slide 4223 are different. For example, Figure 12 As shown, the extension direction of the slide 4222 is the same as the extension direction of the cleaning substrate 4221, while the extension direction of the slide 4223 is at a certain angle to the extension direction of the slide 4222.

[0116] The vibrating element 4213 includes a rotating end 512 and a sliding end 514. The rotating end 512 is connected to the drive wheel 4212 via a first pivot 516, and the sliding end 514 is connected to the cleaning substrate 4221 via a second pivot 518.

[0117] The rotation center of the drive wheel 4212 is point O, and the rotation center of the first pivot 516 is point A. Point O and point A do not coincide, and the distance between them is a preset distance d.

[0118] When the drive wheel 4212 rotates, point A rotates in a circular motion. Correspondingly, the rotating end 512 follows point A in a circular rotation; the sliding end 514 drives the cleaning substrate 4221 to slide via the second pivot 518. Correspondingly, the slider 525 of the cleaning substrate 4221 reciprocates linearly along the groove 4222; the slider 528 reciprocates linearly along the groove 4223. Figure 4 In this embodiment, the moving platform 210 moves at a speed of V0, and its direction of movement is the target direction. According to some embodiments, when the slides 4223 and 4222 are approximately perpendicular to the direction of the moving platform 210's speed V0, the overall displacement of the cleaning substrate 4221 is generally perpendicular to the target direction. According to other embodiments, when either slide 4223 or 4222 forms an angle other than 90 degrees with the target direction, the overall displacement of the cleaning substrate 4221 simultaneously includes components perpendicular to and parallel to the target direction.

[0119] Furthermore, a vibration damping device 4215 is provided on the connecting rod 4214 to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning equipment.

[0120] Figure 13 Another cleaning head drive mechanism 600 based on a double crank mechanism according to several embodiments of this application is shown. The drive mechanism 600 can be applied to a drive platform 421. The drive mechanism 600 includes a drive wheel 4212 (first drive wheel), a drive wheel 4212' (second drive wheel), and a cleaning substrate 4221.

[0121] The cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 via a pivot 624 (first pivot); the second end is connected to the drive wheel 4212' via a pivot 626 (second pivot). The rotation center of the drive wheel 4212 is point O, and the pivot center of the pivot 624 is point A. Points O and A do not coincide, and the distance between them is a preset distance d. The rotation center of the drive wheel 236 is point O', and the pivot center of the pivot 626 is point A'. Points O' and A' do not coincide, and the distance between them is a preset distance d. In some embodiments, points A, A', O, and O' are located on the same plane. Therefore, the drive wheel 4212, drive wheel 4212', and cleaning substrate 4221 can form a double-crankshaft mechanism (or a parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling rod, and the drive wheels 4212 and 4212' act as two cranks.

[0122] Furthermore, a vibration damping device 4215 is provided on the connecting rod 4214 to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning equipment.

[0123] Figure 14 A crank-slider mechanism-based drive mechanism 700 according to several embodiments of this application is shown. The drive mechanism 700 can be applied to a drive platform 421. The drive mechanism 700 includes a drive wheel 4212, a cleaning plate 4221, and a groove 4222.

[0124] A groove 4222 is formed on the support platform 422. The cleaning substrate 4221 includes a rotating end 4227 and a sliding end 4226. The rotating end 4227 is connected to the drive wheel 4212 via a pivot 4228. The rotation center of the drive wheel 4212 is point O, and the pivot center of the rotating end pivot 4228 is point A. Points O and A do not coincide, and the distance between them is a preset distance d. The sliding end 4226 includes a slider 4225. The slider 4225 is a protrusion on the sliding end 4226. The slider 4225 is inserted into the groove 4222 and can slide along the groove 4222. Therefore, the drive wheel 4221, the cleaning substrate 4221, the slider 4225, and the groove 4222 constitute a crank-slider mechanism.

[0125] When the drive wheel 4212 rotates, point A makes a circular rotational motion. Correspondingly, the rotating end 4227 of the cleaning substrate 4221 follows point A in making a circular rotational motion; while the slider 4225 slides in the groove 4222, making a reciprocating linear motion. As a result, the cleaning substrate 4221 begins to reciprocate. According to some embodiments, the groove 4222 is approximately perpendicular to the target direction of the moving platform's speed; therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular rotational motion of the rotating end 4227 includes both components perpendicular to and parallel to the target direction.

[0126] exist Figure 14 In this process, the moving platform moves at a speed of V0 and moves in the target direction; while the chute 4222 is approximately perpendicular to the target direction. At this time, the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning equipment and a movement component perpendicular to the target direction of the automatic cleaning equipment.

[0127] Furthermore, the support platform 422 also includes: a resilient release button 4229, disposed on at least one side of the support platform 422, for detachably connecting the support platform 422 to the drive platform 421 via a latch 4216, thereby mechanically fixing the support platform 422 detachably to the drive platform 421, relative to the drive platform and the automatic cleaning device itself. At least one assembly area 4224 is disposed on the support platform 422 for assembling the cleaning head 410. The assembly area 4224 may be formed of an adhesive material with an adhesive layer.

[0128] As an optional embodiment of the present invention, such as Figure 9 As shown, the cleaning head 410 includes a movable region 412 connected to the cleaning substrate 4221, which reciprocates substantially along the cleaning surface under the drive of the cleaning substrate 4221. The movable region 412 is located approximately at the center of the cleaning head 410.

[0129] Optionally, an adhesive layer is provided on the side of the active area 412 that is connected to the cleaning substrate 4221, and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.

[0130] Optionally, the cleaning head 410 further includes a fixing area 411 connected to the bottom of the support platform 422 via the at least one mounting area 4224, wherein the fixing area 411 cleans at least a portion of the operating surface as the support platform 422 moves.

[0131] Furthermore, the cleaning head 410 also includes a flexible connecting portion 413, disposed between the fixed area 411 and the movable area 412, for connecting the fixed area 411 and the movable area 412. The cleaning head 410 also includes a sliding buckle 414, extending along the edge of the cleaning head 410, and detachably mounted at the snap-fit ​​position 4225 of the support platform 422.

[0132] In this embodiment, as Figure 9 As shown, the cleaning head 410 can be made of a material with a certain degree of elasticity. The cleaning head 410 is fixed to the surface of the support platform 422 by an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is working, the cleaning head 410 is always in contact with the surface to be cleaned.

[0133] The water delivery mechanism includes a water outlet device 4217, which can be directly or indirectly connected to the cleaning liquid outlet of a water tank (not shown), i.e., the outlet of the clean water tank. The cleaning liquid flows from the cleaning liquid outlet of the water tank to the water outlet device 4217 and is evenly applied to the surface to be cleaned. The water outlet device may be equipped with a connector (not shown), which connects it to the cleaning liquid outlet of the water tank. The water outlet device has a distribution port, which can be a continuous opening or a combination of several discontinuous small openings. Several nozzles may be provided at the distribution port. The cleaning liquid flows from the cleaning liquid outlet of the water tank and the connector of the water outlet device to the distribution port, and is evenly applied to the working surface through the distribution port.

[0134] The water delivery mechanism may also include a clean water pump 4219 and / or a clean water pump pipe 4218. The clean water pump 4219 may be directly connected to the cleaning liquid outlet of the water tank, or it may be connected through the clean water pump pipe 4218.

[0135] The clean water pump 4219 can be connected to the connector of the water outlet device and can be configured to draw the cleaning fluid from the water tank to the water outlet device. The clean water pump can be a gear pump, vane pump, plunger pump, peristaltic pump, etc.

[0136] The water delivery mechanism draws cleaning solution from the water tank via a water pump 4219 and a water pump pipe 4218, and delivers it to a water outlet device 4217. The water outlet device 4217 can be a nozzle, drip hole, or a damp cloth, etc., and evenly distributes water onto the cleaning head, thereby wetting the cleaning head and the surface to be cleaned. Stains on the wetted surface are more easily cleaned. In the wet cleaning assembly 400, the power / flow rate of the water pump is adjustable.

[0137] Furthermore, such as Figure 17 As shown, the motor 4211 drives the water pump 4219 to peristalse through the gear set 42193. The peristalsis of the water pump 4219 enables clean water to enter from the inlet 42191, flow out from the outlet 42192, and then be transported to the water outlet device 4217 through the water pump pipe 4218. The water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.

[0138] Furthermore, such as Figure 18 As shown, motor 4211 drives cable gear 42196 to rotate via gear set 42193. Cable gear 42196 has cable 42194 wound around it, and cable 42194 is wound around drive platform 421. Cable gear 42196 pulls cable 42194 to raise and lower, thereby realizing the raising and lowering of drive platform 421. Cable gear 42196 and cable 42194 are the core components of the lifting module.

[0139] Clutches 42195 are provided on gear set 42193 and cable gear 42196. Clutch 42195 includes a spring and a plate-like component. By controlling the engagement and disengagement of clutch 42195, motor 4211 controls the three motion modules. Rotation in one direction drives the vibration of the vibrating component and simultaneously supplies water to the water pump 4219. Rotation in the opposite direction drives the lifting module to rise and fall via cable 42194. Optionally, the gear set can be designed to control different combinations of the three motion modules, such as rotating in one direction to supply water to the water pump and controlling lifting and vibration in the opposite direction. Optionally, two motors can also be used to control the three motion modules, but using an additional motor increases cost.

[0140] The sweeping and mopping integrated cleaning device provided by this invention offers more comprehensive cleaning functions because its automatic cleaning module includes both dry and wet cleaning modules. Furthermore, the wet cleaning module incorporates a drive unit and a vibration zone, enabling the cleaning head to reciprocate and repeatedly clean the surface. This allows the robot to perform multiple cleaning passes through a given area in a single movement, significantly enhancing the cleaning effect, especially noticeable in areas with heavy soiling.

[0141] In conjunction with surface medium sensors and other sensors capable of detecting the surface type to be cleaned, the lifting module can perform cleaning operations on the wet cleaning module according to different surfaces. For example, the wet cleaning module can be raised on carpet surfaces and lowered on floor / tile surfaces for cleaning, thereby achieving a more comprehensive cleaning effect. Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant details can be found in the method section.

[0142] According to another embodiment of the present invention, the present invention provides an automatic cleaning device. The same technical features have the same technical effects, as described above, and will not be repeated here. The automatic cleaning device specifically includes:

[0143] A mobile platform 100 is configured to move automatically on an operating surface; a cleaning module 150 is disposed on the mobile platform 100, the cleaning module 150 including: a wet cleaning module 400 configured to clean at least a portion of the operating surface using a wet cleaning method; wherein, the wet cleaning module 400 includes: a cleaning head 410 including at least two independently movable active areas 412, for example, including 2-5 independent active areas, the active areas 412 being used to independently clean the operating surface; and a driving unit 420 for driving the at least two independently movable active areas 412 to reciprocate substantially along a target surface, the target surface being a portion of the operating surface.

[0144] Furthermore, such as Figure 19 As shown, the drive unit 420 includes: at least one motor 4211, for example, two motors, disposed near the side of the mobile platform 100, and outputting power through the output shaft of the motor 4211; and a drive wheel 4212 connected to the output shaft of the motor, moving synchronously under the rotation of the motor, wherein the drive wheel 4212 has an asymmetrical structure.

[0145] The drive unit 420 includes: a first vibrating element 42131 connected to the drive wheel 4212, which achieves substantially reciprocating motion under the asymmetrical rotation of the drive wheel 4212; and a second vibrating element 42132 connected to the drive wheel 4212, which also achieves substantially reciprocating motion under the asymmetrical rotation of the drive wheel 4212.

[0146] Furthermore, such as Figure 19 and 20As shown, the drive unit 420 further includes a connecting rod 4214, one end of which is connected to the drive wheel 4212, and the other end of which is connected to the first vibrating element 42131 and the second vibrating element 42132, allowing the first vibrating element 42131 and the second vibrating element 42132 to extend to a preset position. Optionally, the first vibrating element 42131 and the second vibrating element 42132 are an integral structure, for example, the first vibrating element 42131 is an extension of the second vibrating element 42132, wherein the first vibrating element 42131 and the second vibrating element 42132 can be a straight structure or a curved structure, and there is no limitation thereto. The connecting rod 4214 is positioned between the first vibrating element 42131 and the second vibrating element 42132. When the motor 4211 drives the asymmetric drive wheel to rotate, the connecting rod 4214 drives the first vibrating element 42131 and the second vibrating element 42132 to perform a swaying motion, causing the ends of the first vibrating element 42131 and the second vibrating element 42132 to move in opposite directions, thereby driving the first cleaning substrate 422111 and the second cleaning substrate 422112 to reciprocate asynchronously. Optionally, the first vibrating element 42131 and the second vibrating element 42132 are rod-shaped structures, and their extension direction is basically perpendicular to the connecting rod 4214. By setting multiple vibrating elements, the vibrating area and vibration area of ​​the mop can be increased, reducing the impact of resistance on cleaning, improving cleaning efficiency, and enhancing the cleaning effect.

[0147] As another alternative implementation method, such as Figure 21 As shown, the connecting rod 4214 includes: a first connecting rod 42141, one end of which is connected to the drive wheel 4212, and the other end of which is connected to the first vibrating element 42131, the first connecting rod 42141 driving the first vibrating element 42131 to move independently; and a second connecting rod 42142, one end of which is connected to the drive wheel 4212, and the other end of which is connected to the second vibrating element 42132, the second connecting rod 42142 driving the second vibrating element 42132 to move independently. The first vibrating element 42131 and the second vibrating element 42132 can move synchronously or asynchronously.

[0148] Optionally, the drive unit 420 further includes a vibration damping device 4215, disposed on the connecting rod 4214. This device is used to reduce vibration in a specific direction; in this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.

[0149] Optional, such as Figure 22 and 23As shown, the cleaning substrate 4221 includes a first cleaning substrate 422111 and a second cleaning substrate 422112. The first cleaning substrate 422111 and the second cleaning substrate 422112 are arranged front-to-back or left-to-right along the traveling direction of the cleaning equipment. The shape and structure of the first cleaning substrate 422111 and the second cleaning substrate 422112 are not limited. In particular, the first cleaning substrate 422111 and the second cleaning substrate 422112 have the same shape, which can ensure that under the same force during synchronous or asynchronous movement, the vibration pace is consistent, the wear is consistent, and the stability of the cleaning equipment is better guaranteed.

[0150] Optionally, the first cleaning substrate 422111 includes a first mounting notch 4221111, and the first vibrating element 42131 is mounted in the first mounting notch 4221111; the second cleaning substrate 422112 includes a second mounting notch 4221112, and the second vibrating element 42132 is mounted in the second mounting notch 4221112; wherein, the first cleaning substrate 422111 performs a substantially reciprocating motion relative to the moving platform 100 under the vibration of the first vibrating element 42131; and the second cleaning substrate 422112 performs a substantially reciprocating motion relative to the moving platform 100 under the vibration of the second vibrating element 42132.

[0151] Optionally, the first cleaning substrate 422111 and the second cleaning substrate 422112 may reciprocate synchronously or asynchronously. Synchronous motion means that the vibration directions of the first cleaning substrate 422111 and the second cleaning substrate 422112 are the same, while asynchronous motion means that the vibration directions of the first cleaning substrate 422111 and the second cleaning substrate 422112 are exactly opposite. The opposite vibration directions of asynchronous motion can cancel out the vibration forces of the first cleaning substrate 422111 and the second cleaning substrate 422112, thereby reducing the lateral swaying of the cleaning equipment during vibratory mopping and ensuring the stability of the cleaning equipment.

[0152] Optionally, the active area 412 includes: a first active area 4121, which is connected to the first cleaning substrate 422111 and reciprocates substantially along the target surface under the drive of the first cleaning substrate 422111; and a second active area 4122, which is connected to the second cleaning substrate 422112 and reciprocates substantially along the target surface under the drive of the second cleaning substrate 422112.

[0153] Optionally, an adhesive layer is provided on the side of the active area 412 that connects to the cleaning substrate 4221, and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer. Correspondingly, the first active area 4121 is connected to the first cleaning substrate 422111 through the adhesive layer, and the second active area 4122 is connected to the second cleaning substrate 422112 through the adhesive layer.

[0154] Optionally, the cleaning head 410 further includes: a fixed region 411, which cleans at least a portion of the operating surface as the moving platform 100 moves; and a flexible connecting portion 413, connected between the fixed region 411, the first movable region 4121, and / or the second movable region 4122. The flexible connecting portion 413 connects any pair of the fixed region 411, the first movable region 4121, and the second movable region 4122, allowing the first movable region 4121 and the second movable region 4122 to move freely relative to each other or relative to the fixed region 411.

[0155] In the wet cleaning module, by adding multiple drive units and multiple vibration areas, the multiple moving areas of the cleaning head can reciprocate, thereby repeatedly cleaning the surface to be cleaned. This allows the cleaning robot to perform multiple cleanings in one pass through a certain area during its movement trajectory, thus greatly enhancing the cleaning effect, especially for areas with more stains, where the cleaning effect is obvious.

[0156] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. An automatic cleaning device, characterized in that, include: The mobile platform (100) is configured to move automatically on the operating surface; A cleaning module (150), disposed on the mobile platform (100), includes: A wet cleaning module (400) is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein the wet cleaning module (400) includes: The cleaning head (410) includes at least two independently movable active areas (412), said active areas (412) for independently cleaning the operating surface, and, A drive unit (420) is used to drive the at least two independently movable active areas (412) to reciprocate substantially along a target surface, the target surface being part of the operating surface, and the at least two independently movable active areas (412) being arranged one in front of the other. The drive unit (420) further includes a cleaning substrate (4221), which includes a first cleaning substrate (422111) and a second cleaning substrate (422112), wherein the first cleaning substrate (422111) and the second cleaning substrate (422112) are arranged back and forth along the traveling direction of the cleaning device; the drive unit (420) further includes a motor (4211), a connecting rod (4214), a first vibrating element (42131), and a second vibrating element (42132), wherein the first vibrating element (42131) and the second vibrating element (42132) are arranged back and forth along the traveling direction of the cleaning device; the drive unit (420) further includes a motor (4211), a connecting rod (4214), a first vibrating element (42131), and a second vibrating element (42132), wherein the first vibrating element (42131) and the second vibrating element (42132) are arranged back and forth along the traveling direction of the cleaning device; Two vibrating elements (42132) drive the first cleaning substrate (422111) and the second cleaning substrate (422112) to move asynchronously respectively; the first vibrating element (42131) and the second vibrating element (42132) are an integral structure; the connecting rod (4214) is connected to the middle position of the first vibrating element (42131) and the second vibrating element (42132). When the motor (4211) drives the asymmetric drive wheel to rotate, the connecting rod (4214) drives the first vibrating element (42131) and the second vibrating element (42132) to swing.

2. The automatic cleaning equipment according to claim 1, characterized in that, The drive unit (420) includes: The motor (4211) is located on the side close to the mobile platform (100) and outputs power through the motor output shaft; The drive wheel (4212) is connected to the output shaft of the motor, and the drive wheel (4212) has an asymmetrical structure; The first vibrating element (42131) is connected to the drive wheel (4212) and achieves essentially reciprocating motion under the asymmetrical rotation of the drive wheel (4212); The second vibrating element (42132) is connected to the drive wheel (4212) and achieves essentially reciprocating motion under the asymmetrical rotation of the drive wheel (4212).

3. The automatic cleaning equipment according to claim 2, characterized in that, One end of the connecting rod (4214) is connected to the drive wheel (4212), and the other end is connected to the first vibrating element (42131) and the second vibrating element (42132), so that the first vibrating element (42131) and the second vibrating element (42132) extend to a preset position.

4. The automatic cleaning equipment according to claim 3, characterized in that, The first vibrating element (42131) and the second vibrating element (42132) are rod-shaped structures, and their extension direction is basically perpendicular to the connecting rod (4214).

5. The automatic cleaning equipment according to claim 3, characterized in that, The cleaning substrate (4221) reciprocates relative to the moving platform (100) under the vibration of the vibrating element (4213).

6. The automatic cleaning equipment according to claim 1, characterized in that, The first cleaning substrate (422111) includes a first mounting notch (4221111), and the first vibrating element (42131) is mounted in the first mounting notch (4221111). The second cleaning substrate (422112) includes a second assembly notch (4221112), and the second vibrator (42132) is assembled in the second assembly notch (4221112). The first cleaning substrate (422111) reciprocates relative to the moving platform (100) under the vibration of the first vibrating element (42131); the second cleaning substrate (422112) reciprocates relative to the moving platform (100) under the vibration of the second vibrating element (42132).

7. The automatic cleaning equipment according to claim 6, characterized in that, The activity area (412) includes: The first active area (4121) is connected to the first cleaning substrate (422111) and reciprocates substantially along the target surface under the drive of the first cleaning substrate (422111). The second active area (4122) is connected to the second cleaning substrate (422112) and reciprocates substantially along the target surface under the drive of the second cleaning substrate (422112).

8. The automatic cleaning equipment according to claim 7, characterized in that, An adhesive layer is provided on the side of the active area (412) that is connected to the cleaning substrate (4221), and the active area (412) and the cleaning substrate (4221) are connected through the adhesive layer.

9. The automatic cleaning equipment according to claim 8, characterized in that, The cleaning head (410) also includes: A fixed area (411) cleans at least a portion of the operating surface as the mobile platform (100) moves; A flexible connecting part (413) is connected between the fixed area (411), the first active area (4121) and / or the second active area (4122).

Images