Cleaning robot and hard surface cleaning method

Abstract

This invention provides a cleaning robot and a method for cleaning hard surfaces. The robot includes a robot body and a cleaning module. The cleaning module includes a frame, a detection cleaning unit, a power cleaning unit, and a control unit. The frame is mounted on the robot body. The detection cleaning unit is positioned at a first mounting position on the frame, and its detection components collect parameters characterizing the contact state between a first cleaning component and the surface being cleaned. The power cleaning unit is positioned at a second mounting position on the frame and includes a power unit and a second cleaning component. The power unit is connected to both the first and second cleaning components. The control unit controls the operating state of the power unit based on the characterization parameters, thereby controlling the second and first cleaning components. This invention allows the robot to perform cleaning autonomously even when the robot body is stationary, resulting in better cleaning effect and higher cleaning efficiency per unit area per unit time.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to a cleaning robot and a method for cleaning hard surfaces. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. It can assist or even replace humans in performing dangerous, heavy, and complex tasks. In most cases, it can significantly improve productivity, increase work efficiency, ensure safety, and enhance product quality and consistency.

[0003] With the rapid development of cities, more and more high-rise buildings are rising. As a type of architectural decorative wall that can organically unify architectural aesthetics, architectural function, building energy conservation and building structure, the hard surface building curtain wall is widely used in urban high-rise buildings. At present, the cleaning of building curtain walls mainly relies on manual high-altitude operations.

[0004] Although there are many cleaning robots on the market, most are negative pressure suction type, which uses negative pressure to tightly adhere the cleaning cloth to the wall surface, and then wipes clean by moving the robot. Existing negative pressure suction robots have the following problems:

[0005] 1. Because cleaning is done by moving the robot and wiping, it is impossible to perform cleaning operations when the robot is stationary;

[0006] 2. Because the cleaning cloth itself is static during cleaning, it can only clean a unit area once per unit time, resulting in low cleaning efficiency and poor cleaning effect.

[0007] 3. It is difficult to clean walls with hard stains, and cleaning may damage the wall surface.

[0008] 4. The cleaning cloth lacks an adaptive mechanism, and the contact force is affected by the negative pressure unit;

[0009] 5. Traditional fiber cleaning cloths are easily contaminated with stains during long-term cleaning work, requiring frequent washing, which is not conducive to the cleaning of building curtain walls. Summary of the Invention

[0010] In view of this, according to one aspect of the present invention, a cleaning robot is provided to at least partially solve the above-mentioned technical problems.

[0011] The cleaning robot according to the present invention includes a robot body and a cleaning module, the cleaning module comprising:

[0012] A frame, which is mounted on the robot body and has a first position and a second position;

[0013] A detection cleaning unit is disposed at the first position and includes a detection component and a first cleaning component. The detection component is used to collect characterization parameters that characterize the contact state between the first cleaning component and the surface being cleaned.

[0014] A powered cleaning unit, disposed at the second position, includes a power unit and a second cleaning component, the power unit being connected to both the second and first cleaning components respectively; and

[0015] The control unit is connected to the power unit and the detection component respectively, and is used to control the working state of the power unit according to the characterization parameters, so as to control the second cleaning component and the first cleaning component.

[0016] Alternatively, the detection component includes a triggered element, a moving element, and an elastic element. When the moving element is subjected to a contact force from the surface being cleaned, it moves the trigger element from a first position to a second position, so that the triggered element generates a trigger signal. The elastic element is used to keep the trigger element in the first position when the moving element is not in contact with the surface being cleaned.

[0017] Alternatively, the first cleaning component includes a first base, a first moving wheel, and a first cleaning disc. The first base is floating relative to the frame, the first moving wheel is mounted on the first base, the power unit is connected to the first moving wheel via a transmission component to drive the first moving wheel to move, and the first cleaning disc is mounted on the first moving wheel to move with the first moving wheel.

[0018] Alternatively, the triggered element is disposed on the first base; the moving element passes through the first moving wheel and has a first end and a second end, the triggering element is disposed on the first end, and the second end protrudes outside the first cleaning disc when the triggering element is in the first position.

[0019] Alternatively, the moving member has a positioning boss between the first end and the second end, and the elastic member is disposed between the triggered element and the positioning boss.

[0020] Alternatively, the second cleaning component includes a second base, a second wheel, and a second cleaning disc. The second base is floating relative to the frame. The second wheel is mounted on the second base and connected to the power unit to move under the drive of the power unit. The second cleaning disc is mounted on the second wheel to move with the second wheel.

[0021] Alternatively, both the first cleaning disc and the second cleaning disc include a disc body and a plurality of scrapers. The disc body has a mounting end and a cleaning end, with the cleaning end being further away from the frame than the mounting end. The plurality of scrapers are arranged at intervals along the circumference of the disc body and protrude from the cleaning end.

[0022] Alternatively, the scraper extends radially outward from the center of the disc body.

[0023] According to another aspect of the present invention, a method for cleaning hard surfaces is also provided, which uses a cleaning robot as described above to clean the hard surface, the method comprising the following steps:

[0024] Collect characterization parameters that represent the contact state between the first cleaning component and the surface being cleaned;

[0025] Based on the characterization parameters, the operating state of the power unit is controlled to control the second cleaning component and the first cleaning component.

[0026] Optionally, the step of controlling the operating state of the power unit according to the characterization parameters to control the second cleaning component and the first cleaning component includes:

[0027] The robot body is controlled to be in motion, and while the robot body is in motion, the working state of the power unit is controlled according to the characterization parameters to control the second cleaning component and the first cleaning component to clean the surface to be cleaned; or

[0028] The robot body is kept in a paused state. While the robot body is in a paused state, the working state of the power unit is controlled according to the characterization parameters to control the second cleaning component and the first cleaning component to perform enhanced cleaning on the surface to be cleaned.

[0029] In this invention, the cleaning module collects characterization parameters representing the contact state between the first cleaning component and the surface being cleaned through a detection component. The control unit then controls the operating state of the power unit based on these characterization parameters, thereby controlling the second and first cleaning components. This ensures that the cleaning operation is unaffected by the robot's movement, allowing it to perform cleaning autonomously even when the robot is stationary. Furthermore, during cleaning, the second and first cleaning components move under the drive of the power unit, constituting dynamic cleaning. Compared to static cleaning, this results in a higher cleaning frequency, better cleaning effect, and higher cleaning efficiency per unit time per unit area. Attached Figure Description

[0030] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated in the drawings by way of example and not limitation, wherein:

[0031] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0032] Figure 1 A simplified structural diagram of a cleaning robot according to an exemplary embodiment of the present invention;

[0033] Figure 2 This is an overall structural diagram of the cleaning module of a cleaning robot according to an exemplary embodiment of the present invention;

[0034] Figure 3 A top view of the cleaning module of a cleaning robot according to an exemplary embodiment of the present invention;

[0035] Figure 4 for Figure 2 Structural diagram of the detection and cleaning unit in the middle;

[0036] Figure 5 for Figure 2 Structural diagram of the power cleaning unit in the middle;

[0037] Figure 6 for Figure 2 A partial structural diagram of the rack in the image;

[0038] Figure 7 This is a structural diagram illustrating the connection relationship between the detection and cleaning unit and the frame according to an exemplary embodiment of the present invention.

[0039] Figure 8 This is a structural diagram illustrating the connection relationship between the power cleaning unit and the frame according to an exemplary embodiment of the present invention;

[0040] Figure 9 This is a structural diagram of a first cleaning disc according to an exemplary embodiment of the present invention;

[0041] Figure 10 This is a flowchart of a method for cleaning hard surfaces according to an exemplary embodiment of the present invention.

[0042] Explanation of the labels in the diagram:

[0043] 100. Cleaning module; 110. Frame; 111. First mounting position; 112. Second mounting position; 120. Detection cleaning unit; 1210. Detection component; 1211. Triggered element; 1212. Triggering element; 1213. Moving component; 12131. First end; 12132. Second end; 12133. Positioning boss; 1214. Elastic element; 1220. First cleaning component; 1221. First base; 1222. First moving wheel; 1223. First cleaning disc; 1224. Fixing block; 1225. Bearing; 12231. Disc body; 2232, Scraper; 122321, Extension; 130, Powered Cleaning Unit; 1310, Power Unit; 1320, Second Cleaning Component; 1321, Second Base; 1322, Second Moving Wheel; 1323, Second Cleaning Disc; 140, Control Unit; 150, Transmission Component; 160, First Floating Mounting Structure; 161, First Slide Rod; 1611, First Limiting Head; 162, First Elastic Element; 170, Second Floating Mounting Structure; 171, Second Slide Rod; 1711, Second Limiting Head; 172, Second Elastic Element; 200, Robot Body. Detailed Implementation

[0044] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described 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. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0045] The cleaning robot of this invention is mainly used for cleaning hard surfaces, such as glass surfaces of buildings, metal surfaces, wooden surfaces, etc.

[0046] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0047] like Figure 1 , Figure 2 and Figure 3As shown, the cleaning robot according to the present invention includes a robot body 200 and a cleaning module 100. The robot body 200 may be connected to a driving member, and under the action of the driving member, the robot body 200 can move on a hard surface; or, the robot body 200 is mounted on a walking mechanism, and under the action of the walking mechanism, the robot body 200 can move on a hard surface. Here, the cleaning module 100 may be one, two, or even more than two. Each cleaning module 100 includes a frame 110, a detection cleaning unit 120, a power cleaning unit 130, and a control unit 140. The frame 110 is used to mount the detection cleaning unit 120 and the power cleaning unit 130 on the robot body 200. To facilitate the mounting of the detection cleaning unit 120 and the power cleaning unit 130, the frame 110 has a first mounting position 111 and a second mounting position 112. It should be understood that there is a gap between the first mounting position 111 and the second mounting position 112, the size of which is preferably such that the detection cleaning unit 120 and the power cleaning unit 130 do not interfere with each other. The detection cleaning unit 120 is mounted on the first mounting position 111, including... The system includes a detection component 1210 and a first cleaning component 1220. The detection component 1210 is used to collect characterization parameters that characterize the contact state between the first cleaning component 1220 and the surface being cleaned. A power cleaning unit 130 is disposed at the second installation position 112 and includes a power unit 1310 and a second cleaning component 1320. The power unit 1310 is connected to the second cleaning component 1320 and the first cleaning component 1220, respectively. A control unit 140 is connected to the power unit 1310 and the detection component 1210, respectively, and is used to control the working state of the power unit 1310 according to the characterization parameters collected by the detection component 1210, so as to control the second cleaning component 1320 and the first cleaning component 1220.

[0048] The cleaning robot described above, with cleaning module 100 collecting characterization parameters representing the contact state between first cleaning component 1220 and the surface to be cleaned via detection component 1210, and controlling the working state of power unit 1310 based on the characterization parameters via control unit 140, thereby controlling second cleaning component 1320 and first cleaning component 1220, so that the cleaning work is not affected by the movement of robot body 200, and can perform cleaning actions autonomously even when robot body 200 is stationary; and during the cleaning work, second cleaning component 1320 and first cleaning component 1220 move under the drive of power unit 1310, which is dynamic cleaning, and compared with static cleaning, the cleaning frequency of unit area per unit time is higher, the cleaning effect is better, and the cleaning efficiency is higher.

[0049] like Figure 4As shown, in one embodiment of the present invention, the detection component 1210 includes a triggered element 1211, a triggering element 1212, a moving element 1213, and an elastic element 1214. When the moving element 1213 is subjected to the contact force of the surface being cleaned, it drives the triggering element 1212 to move from a first position to a second position, so that the triggered element 1211 generates a trigger signal. The elastic element 1214 is used to keep the triggering element 1212 in the first position when the moving element 1213 is not in contact with the surface being cleaned. The elastic element 1214 can be a spring or other elastic structural component such as a bellows. Here, when the trigger element 1212 is in the first position, there is a certain gap between the trigger element 1212 and the triggered 1211. This gap is insufficient for the trigger element 1212 to affect the triggered 1211, so the triggered 1211 will not generate a trigger signal. When the moving part 1213 is subjected to the contact force of the surface being cleaned, it will move away from the surface being cleaned. The trigger element 1212 follows the moving part 1213 and generates relative movement with respect to the triggered 1211, thereby changing the gap between the trigger element 1212 and the triggered 1211. When the trigger element 1212 and the triggered 1211 approach to a certain distance, the trigger element 1212 will affect the triggered 1211, causing the triggered 1211 to generate a corresponding trigger signal.

[0050] In this invention, the detection component 1210 is not limited to the structure described above, which includes the triggered element 1211, the triggering element 1212, the moving element 1213, and the elastic element 1214. In embodiments not shown, the detection component 1210 can also be a structure combining an imaging element and an image processing module. The imaging element captures a photograph of the contact state between the first cleaning component 1220 and the surface being cleaned, and the image processing module processes the photograph captured by the imaging element to analyze the contact state between the first cleaning component 1220 and the surface being cleaned. Alternatively, the imaging element can also capture a photograph of the surface being cleaned, and the image processing module processes the photograph captured by the imaging element to analyze the degree of surface contamination on the surface being cleaned.

[0051] See also Figure 2 , Figure 4 , Figure 6 and Figure 7In one embodiment of the present invention, the first cleaning component 1220 includes a first base 1221, a first moving wheel 1222, and a first cleaning disc 1223. The first base 1221 is floating relative to the frame 110. The first moving wheel 1222 is disposed on the first base 1221. The power device 1310 is connected to the first moving wheel 1222 via a transmission member 150 to drive the first moving wheel 1222 to move. The first cleaning disc 1223 is disposed on the first moving wheel 1222 so that it can move with the first moving wheel 1222. It should be understood that the movement of the first moving wheel 1222 can be rotational or rolling. Here, the first moving wheel 1222 can be mounted on the first base 1221 by means of a fixing block 1224 and a bearing 1225. The first base 1221 is fastened to the fixing block 1224, the fixing block 1224 is tightly connected to the bearing 1225, and the bearing 1225 is tightly connected to the first moving wheel 1222. The displacement of the bearing 1225 is limited by a limiting part. Here, the first base 1221 can be floated on the frame 110 by means of a first floating mounting structure 160. The first floating mounting structure 160 includes a first slide rod 161 and a first elastic element 162. The first slide rod 161 passes through the first base 1221 and is connected to the frame 110. The first elastic element 162 is sleeved on the first slide rod 161. The end of the first slide rod 161 away from the frame 110 has a first limiting head 1611. The first limiting head 1611 is used to limit the first base 1221 relative to the frame 110 in an initial position. Under the action of the first elastic element 162, the first cleaning disc 1223 can be pressed tightly against the surface to be cleaned, maintaining a certain cleaning pressure, and can automatically adapt to the undulations of the surface to be cleaned within a certain range. By floating the first base 1221 on the frame 110, the first cleaning component 1220 can adaptively adjust the height between the surface to be cleaned and the bottom of the robot body (also known as the robot chassis) within a certain range, so that the contact force between the first cleaning component 1220 and the surface to be cleaned is not affected by the adsorption pressure, and the first elastic element 162 can restore the first cleaning disc 1223 to its initial state when it is not subjected to external force. It should be understood that the first elastic element 162 can be a spring or other elastic structural components such as bellows.

[0052] Furthermore, in the case where the detection component 1210 has a structure including a triggered element 1211, a triggering element 1212, a moving element 1213, and an elastic element 1214, the triggered element 1211 is disposed on the first base 1221, the moving element 1213 passes through the first moving wheel 1222 and has a first end 12131 and a second end 12132, the triggering element 1212 is disposed on the first end 12131, and the second end 12132 protrudes outside the first cleaning disc 1223 when the triggering element 1212 is in the first position. Here, the first moving wheel 1222 is fastened to the first cleaning disc 1223, the moving element 1213 is clearance-fitted with the first cleaning disc 1223, and the moving element 1213 can move relative to the first cleaning disc 1223 in the axial direction. In this way, the arrangement of the detection component 1210 is not affected by the first cleaning component 1220, and the working area of ​​the first cleaning component 1220 is not affected by the detection component 1210, effectively resolving the contradiction in the spatial layout between the detection component 1210 and the first cleaning component 1220.

[0053] Based on the above-described structure, the detection and cleaning unit 120 is configured such that when the cleaning module 100 approaches the surface to be cleaned, the second end 12132 protrudes outside the first cleaning disc 1223 and contacts the surface to be cleaned first, prior to other parts of the cleaning module 100. Thus, the second end 12132 contacts the surface to be cleaned first. As the cleaning module 100 moves further toward the surface to be cleaned, the moving part 1213 is subjected to the contact force of the surface to be cleaned and moves relative to the first cleaning disc 1223 in a direction away from the surface to be cleaned. The movement of the moving part 1213 compresses the elastic part 1214, converting mechanical displacement into elastic force. The trigger element 1212 moves with the movement of the moving part 1213 and gradually approaches the triggered element 1211. When the distance between the trigger element 1212 and the triggered element 1211 reaches the trigger condition, the triggered element 1211 is successfully triggered and a trigger signal is emitted.

[0054] In this invention, the trigger signal emitted by the trigger 1211 can be used to control the operation of the cleaning module 100. For example, when the trigger 1211 emits a trigger signal that approaches the surface to be cleaned, it can be used as a judgment signal to detect that the cleaning module 100 or the robot body 200 equipped with the cleaning module 100 is approaching the surface to be cleaned or has reached the required working position. At this time, the power unit 1310 can be controlled to start operating through the corresponding trigger signal. When the trigger 1211 emits a trigger signal that moves away from the surface to be cleaned, it can be used as a judgment signal to detect that the cleaning module 100 or the robot body 200 equipped with the cleaning module 100 is moving away from the surface to be cleaned or has no longer met the required working position. At this time, the power unit 1310 can be controlled to stop operating through the corresponding trigger signal or the robot body 200 can be controlled to stop moving through the corresponding trigger signal. Of course, the trigger signal can also be used to detect whether the cleaning module 100 is in effective contact with the surface being cleaned; it can also be used to detect whether the cleaning module 100 or the robot body 200 equipped with the cleaning module 100 has detached from the surface being cleaned; it can also be used for boundary detection of the surface being cleaned. Specifically, the logical judgment of the boundary detection of the surface being cleaned (this boundary can be regarded as the boundary of the unobstructed frame) is as follows: when the cleaning module 100 moves to the boundary of the surface being cleaned under the action of the robot body 200, the robot body 200 is stationary relative to the surface being cleaned. The moving part 1213 will generate a reset action under the action of the elastic part 1214 after exceeding the boundary. At this time, the trigger 1211 sends a trigger signal to reach the boundary, and the robot body 200 can make a return / backward action according to the corresponding trigger signal.

[0055] To facilitate the installation of the elastic element 1214, the moving element 1213 has a positioning boss 12133 between its first end 12131 and second end 12132, and the elastic element 1214 is disposed between the triggered element 1211 and the positioning boss 12133. Thus, when the robot body 200 drives the detection and cleaning unit 120 to move away from the surface being cleaned, and the moving element 1213 is no longer subjected to the force of the surface being cleaned, the elastic element 1214 can restore the moving element 1213 to its initial state, that is, restore the trigger element 1212 to its first position, thereby keeping the trigger element 1212 in the first position.

[0056] like Figure 5As shown, the second cleaning component 1320 includes a second base 1321, a second motion wheel 1322, and a second cleaning disc 1323. The second base 1321 is floating relative to the frame 110. The second motion wheel 1322 is mounted on the second base 1321 and connected to a power unit 1310 to move under the drive of the power unit 1310. The second cleaning disc 1323 is mounted on the second motion wheel 1322 to move with the second motion wheel 1322. It should be understood that the movement of the second motion wheel 1322 can be either rotational or rolling. By floating the second base 1321 on the frame 110, the second cleaning component 1320 can adaptively adjust the height between the surface to be cleaned and the bottom of the robot body (also known as the robot chassis) within a certain range, thus ensuring that the contact strength between the second cleaning component 1320 and the surface to be cleaned is not affected by the suction pressure.

[0057] See also Figure 5 , Figure 6 and Figure 8 The second base 1321 can be floatingly mounted on the frame 110 via the second floating mounting structure 170. The second floating mounting structure 170 includes a second slide rod 171 and a second elastic element 172. The second slide rod 171 passes through the second base 1321 and connects to the frame 110. The second elastic element 172 is sleeved on the second slide rod 171. The end of the second slide rod 171 away from the frame 110 has a second limiting head 1711, which is used to limit the second base 1321 relative to the frame 110 in an initial position. Under the action of the second elastic element 172, the second cleaning disc 1323 can be pressed tightly against the surface to be cleaned, maintaining a certain cleaning pressure, thereby automatically adapting to the undulations of the surface to be cleaned within a certain range. Furthermore, the second elastic element 172 can restore the second cleaning disc 1323 to its initial state when it is not subjected to external force. It should be understood that the second elastic element 172 can be a spring or other elastic structural components such as a bellows.

[0058] like Figure 9 As shown, in one embodiment of the present invention, the first cleaning disc 1223 includes a disc body 12231 and a plurality of scrapers 12232. The disc body 12231 has an mounting end and a cleaning end, with the cleaning end being further away from the frame 110 than the mounting end. The plurality of scrapers 12232 are arranged at intervals along the circumference of the disc body 12231 and protrude from the cleaning end. During cleaning, there is relative movement between the scrapers 12232 and the surface being cleaned. This relative movement has a relatively high unit speed, which will scrape away hard stains. After the hard stains are scraped away, they will be thrown out by the inertia generated by the high-speed movement of the disc body 12231. This action can ensure that hard stains do not adhere to the cleaning module 100, thereby ensuring that hard stains do not scratch the surface being cleaned.

[0059] In this embodiment of the invention, the scraper 12232 can be made of non-woven fiber material (such as viscose fiber, polyester, etc.). The non-woven fiber material scraper 12232 can effectively reduce the problem of frequent cleaning cloth replacements, and is more suitable for long-term, uninterrupted operation and high-altitude, large-area glass curtain wall operations. Furthermore, since the scraper 12232 is made of non-woven fiber material, there is no phenomenon of hard stains becoming embedded between the material fibers during cleaning, fundamentally solving the possibility of hard stains moving with the cleaning module, thereby preventing hard contaminants from scratching the cleaning surface as the cleaning module 100 moves.

[0060] See also Figure 3 and Figure 9 The scraper 12232 extends radially outward from the center of the disc 12231, so that when the disc 12231 moves, the scraper 12232 moves with the disc 12231 to generate relative movement with the surface being cleaned, thereby scraping away hard stains. Here, the scraper 12232 has an extension 122321 extending outside the disc 12231, which increases the contact area with the surface being cleaned, thereby improving cleaning efficiency and cleaning effect. In an embodiment not shown, the end of the scraper 12232 away from the center of the disc 12231 may not extend outside the disc 12231, for example, it may be built into the disc 12231 or flush with the outer edge of the disc 12231.

[0061] In this embodiment of the invention, the second cleaning disc 1323 may have the same structure as the first cleaning disc 1223. It should be understood that, based on the interval between the first mounting position 111 and the second mounting position 112, the second cleaning disc 1323 and the first cleaning disc 1223 will not interfere with each other during cleaning.

[0062] In this embodiment of the invention, the unit cleaning frequency / speed / number of cleaning cycles of the second cleaning disc 1323 and the first cleaning disc 1223 can be controlled by the control unit 140 to control the power unit 1310. In one embodiment of the invention, the power unit 1310 is an electric motor, the transmission component 150 is a belt drive, and the control unit 140 can control the output power of the power unit based on the degree of surface contamination of the surface being cleaned. It should be understood that the transmission component 150 is not limited to belt drive, but can also be other transmission structures, such as gear drive, chain drive, etc.

[0063] According to another aspect of the present invention, a method for cleaning hard surfaces is also provided, which employs a cleaning robot as described above to clean the hard surface, such as... Figure 10 As shown, the method includes the following steps:

[0064] S10, Collect characterization parameters that characterize the contact state between the first cleaning component 1220 and the surface being cleaned;

[0065] S20, according to the characterization parameters, control the working state of the power unit 1310 to control the second cleaning component 1320 and the first cleaning component 1220.

[0066] In one possible implementation, the step of controlling the operating state of the power unit 1310 according to the characterization parameters to control the second cleaning component 1320 and the first cleaning component 1220 includes:

[0067] The robot body 200 is controlled to be in motion. When the robot body 200 is in motion, the working state of the power unit 1310 is controlled according to the characterization parameters to control the second cleaning component 1320 and the first cleaning component 1220 to clean the surface to be cleaned.

[0068] In one possible implementation, the step of controlling the operating state of the power unit 1310 according to the characterization parameters to control the second cleaning component 1320 and the first cleaning component 1220 includes:

[0069] The robot body 200 is controlled to be in a paused state. When the robot body 200 is in a paused state, the working state of the power unit 1310 is controlled according to the characterization parameters to control the second cleaning component 1320 and the first cleaning component 1220 to perform enhanced cleaning on the surface to be cleaned.

[0070] In summary, the present invention has the following advantages:

[0071] 1. The cleaning module achieves better cleaning effect and higher cleaning efficiency per unit area within 100 unit time.

[0072] 2. By controlling the robot body 200 to stay in a certain area, the area that needs to be cleaned in particular can be cleaned more thoroughly.

[0073] 3. The use of non-woven fiber material scraper 12232 effectively reduces the problem of frequent replacement of cleaning cloths, and the non-woven fiber material cleaning cloth is conducive to long-term uninterrupted operation and high-altitude large-area glass curtain wall operation.

[0074] 4. It can effectively clean hard stains stuck to the wall and can clean the wall surface with hard stains without damaging it.

[0075] 5. It can adapt to the height of the surface to be cleaned and the robot chassis within a certain range, and the contact force of the cleaning module 100 is not affected by the adsorption pressure.

[0076] 6. The arrangement of the detection component 1210 is not affected by the cleaning unit, and the working area of ​​the cleaning unit is not affected by the detection component 1210, which effectively solves the contradiction between the spatial layout of the detection component 1210 and the cleaning unit (here referring to the first cleaning component 1220).

[0077] 7. Compared with existing static passive cleaning robots, fewer cleaning cycles are required for the same work area, and the cleaning effect is better and the work efficiency is higher.

[0078] 8. The entire cleaning module 100 can be divided into 3 smaller modules (i.e., frame 110, detection cleaning unit 120, and power cleaning unit 130), which is beneficial for replacing different module units according to different working conditions.

[0079] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0080] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," and "above" are used herein to describe the spatial positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that spatial relative terms include not only the orientation of the component as depicted in the figures but also different orientations during use or operation. For example, if the components in the figures are inverted as a whole, "above" or "above other components or features" will include cases where the component is "below" or "under" other components or features. Thus, the exemplary term "above" can include both "above" and "below." Furthermore, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document intends to include all such cases.

[0081] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0082] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0083] The present invention has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, those skilled in the art will understand that the present invention is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of the present invention, all of which fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A cleaning robot comprising a robot body (200) and a cleaning module (100), characterized in that, The cleaning module (100) includes: A frame (110) is mounted on the robot body (200) and has a first mounting position (111) and a second mounting position (112). A detection cleaning unit (120) is disposed at the first installation position (111) and includes a detection component (1210) and a first cleaning component (1220). The detection component (1210) is used to collect characterization parameters that characterize the contact state between the first cleaning component (1220) and the surface being cleaned. The detection component (1210) includes a trigger (1211), a trigger element (1212), and a moving part (1213). A power cleaning unit (130) is disposed at the second mounting position (112) and includes a power unit (1310) and a second cleaning component (1320). The power unit (1310) is connected to the second cleaning component (1320) and the first cleaning component (1220) respectively. The control unit (140) is connected to the power unit (1310) and the detection component (1210) respectively, and is used to control the working state of the power unit (1310) according to the characterization parameters, so as to control the second cleaning component (1320) and the first cleaning component (1220). The first cleaning component (1220) includes a first base (1221), a first motion wheel (1222), and a first cleaning disc (1223). The first base (1221) is floating relative to the frame (110). The triggered element (1211) is disposed on the first base (1221). The moving element (1213) passes through the first motion wheel (1222) and has a first end (12131) and a second end (12132). The triggering element (1212) is disposed on the first end (12131). When the triggering element (1212) is in the first position, the second end (12132) protrudes outside the first cleaning disc (1223).

2. The cleaning robot according to claim 1, wherein, The detection component (1210) further includes an elastic element (1214). When the moving element (1213) is subjected to the contact force of the surface being cleaned, it drives the trigger element (1212) to move from the first position to a second position, so that the triggered element (1211) generates a trigger signal. The elastic element (1214) is used to keep the trigger element (1212) in the first position when the moving element (1213) does not contact the surface being cleaned.

3. The cleaning robot according to claim 2, wherein, The first moving wheel (1222) is mounted on the first base (1221). The power device (1310) is connected to the first moving wheel (1222) via a transmission component (150) to drive the first moving wheel (1222) to move. The first cleaning disc (1223) is mounted on the first moving wheel (1222) so that it can move with the first moving wheel (1222).

4. The cleaning robot according to claim 3, wherein, The moving part (1213) has a positioning boss (12133) between the first end (12131) and the second end (12132), and the elastic part (1214) is disposed between the triggered part (1211) and the positioning boss (12133).

5. The cleaning robot according to claim 3, wherein, The second cleaning component (1320) includes a second base (1321), a second motion wheel (1322), and a second cleaning disc (1323). The second base (1321) is floating relative to the frame (110). The second motion wheel (1322) is mounted on the second base (1321) and connected to the power unit (1310) to move under the drive of the power unit (1310). The second cleaning disc (1323) is mounted on the second motion wheel (1322) to move with the second motion wheel (1322).

6. The cleaning robot according to claim 5, wherein, Both the first cleaning tray (1223) and the second cleaning tray (1323) include a tray body (12231) and a plurality of scrapers (12232). The tray body (12231) has an installation end and a cleaning end. The cleaning end is further away from the frame (110) than the installation end. The plurality of scrapers (12232) are arranged circumferentially along the tray body (12231) and protrude from the cleaning end.

7. The cleaning robot according to claim 6, wherein, The scraper (12232) extends radially outward from the center of the disc (12231).

8. A method of cleaning a hard surface, characterized by, The cleaning robot described in claim 1 is used to clean hard surfaces, and the method includes the following steps: Collect characterization parameters that characterize the contact state between the first cleaning component (1220) and the surface being cleaned; Based on the characterization parameters, the operating state of the power unit (1310) is controlled to control the second cleaning component (1320) and the first cleaning component (1220).

9. The hard surface cleaning method of claim 8, wherein, The step of controlling the operating state of the power unit (1310) according to the characterization parameters to control the second cleaning component (1320) and the first cleaning component (1220) includes: The robot body (200) is controlled to be in motion. While the robot body (200) is in motion, the operating state of the power unit (1310) is controlled according to the characterization parameters to control the second cleaning component (1320) and the first cleaning component (1220) to clean the surface to be cleaned; or The robot body (200) is kept in a paused state. When the robot body (200) is in a paused state, the working state of the power unit (1310) is controlled according to the characterization parameters to control the second cleaning component (1320) and the first cleaning component (1220) to perform enhanced cleaning on the surface to be cleaned.

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