Cleaning robot

Abstract

The application discloses a cleaning robot, comprising a machine body, a walking module for supporting the machine body and driving the cleaning robot to move on the ground, a sweeping module arranged on the machine body and used for performing sweeping work on the ground, a mopping module arranged on the machine body and capable of being in a lifting state or a lowering state relative to the machine body, the mopping module being used for performing mopping work on the ground, and a control module electrically connected with the walking module, the sweeping module and the mopping module, the control module being capable of selectively sending a lifting control signal to the mopping module to control the mopping module to switch from the lowering state to the lifting state, the mopping module switching from the lowering state to the lifting state taking a preset time, after the control module sends the lifting control signal to the mopping module, the control module controls the walking module to enable the sweeping module to cover a preset area, and the control module controls the sweeping module to perform sweeping work on the preset area, the preset area being an area passed through by the mopping module within the preset time, so that the sweeping work is performed on the sundries fallen from the mopping module.

Description

Technical Field

[0001] This invention relates to the field of smart home device technology, and in particular to a cleaning robot. Background Technology

[0002] Cleaning robots, also known as automatic cleaning machines, smart vacuum cleaners, robotic vacuum cleaners, etc., are a type of smart home appliance that can automatically clean floors in a room using a certain level of artificial intelligence.

[0003] Traditional cleaning robots have sweeping and mopping modules. The sweeping module is used to sweep the floor to remove trash, while the mopping module is used to mop the floor to further clean it. The combination of sweeping and mopping modules allows the cleaning robot to simulate the functions of manual sweeping and mopping.

[0004] However, during the operation of the cleaning robot, after the mopping module (single mopping mode or sweeping and mopping mode) has been working for a period of time, the mopping module is easily covered with dust, dirt and other debris. If the mopping module is lifted, the vibration generated during the lifting process can easily cause the dust, dirt and other debris on it to fall to the ground, causing secondary pollution to the ground that has already been mopped and affecting the cleaning effect. Summary of the Invention

[0005] Therefore, it is necessary to provide a cleaning robot that can solve the problem of secondary pollution of the ground caused by debris falling during the lifting process of the mopping module, thereby ensuring the cleaning effect of the cleaning robot.

[0006] The technical solution is as follows:

[0007] One embodiment provides a cleaning robot, comprising:

[0008] body;

[0009] The walking module is used to support the body and drive the cleaning robot to move on the ground;

[0010] A sweeping module is mounted on the machine body and is used to perform sweeping work on the floor.

[0011] A mopping module is mounted on the machine body and can be raised or lowered relative to the machine body. The mopping module is used to perform mopping work on the floor.

[0012] The control module is electrically connected to the walking module, the sweeping module and the mopping module. It can selectively send a lifting control signal to the mopping module to control the mopping module to switch from a lowered state to a raised state. The switching time from the lowered state to the raised state of the mopping module is preset.

[0013] After the control module sends the lifting control signal to the mopping module, the control module controls the walking module so that the sweeping module can cover a preset area, and the control module controls the sweeping module to perform sweeping work on the preset area, which is the area traversed by the mopping module within the preset time.

[0014] The aforementioned cleaning robot's control module can switch the mopping module between raised and lowered states. After the control module sends a raised control signal to the mopping module, the mopping module switches from the lowered state to the raised state and remains there for a preset time. The control module then controls the walking module to move and ensures the sweeping module covers the preset area traversed by the mopping module during its raising process, allowing the control module to control the sweeping module to perform sweeping work on the preset area. This configuration allows the control module to control the walking and sweeping modules to clean up debris (such as dust and stains) that falls from the mopping module during its raising process, thus ensuring the cleaning robot's effectiveness.

[0015] The technical solution will be further explained below:

[0016] In one embodiment, with the direction of travel of the machine body as the front, the mopping module is located behind the sweeping module. The control module sends a reversal control signal to the walking module to control the walking module to stop moving and reversing so that the sweeping module covers the preset area. The reversal direction is the opposite direction of the moving direction.

[0017] In one embodiment, the control module controls the walking module to retreat a preset distance or a preset time and then stops retreating.

[0018] In one embodiment, the preset retraction distance is 0.5 to 2 times the length of the fuselage.

[0019] In one embodiment, the sweeping module can be selectively in a raised or lowered state relative to the body. After receiving a raised control signal from the control module, the sweeping module switches from the lowered state to the raised state. Before the walking module retracts, the control module sends the raised control signal to the sweeping module.

[0020] In one embodiment, before sending a lift control signal to the sweeping module, the control module determines whether the sweeping module is in a lowered state. If the determination result is yes, the control module sends a lift control signal to the sweeping module; if the determination result is no, the control module does not send a lift control signal to the sweeping module.

[0021] In one embodiment, with the direction of travel of the machine body as the front, the mopping module is located in front of the sweeping module, and the control module controls the walking module to continue moving so that the sweeping module covers the preset area.

[0022] In one embodiment, with the direction of travel of the machine body as the forward direction, the control module controls the walking module to turn and move so that the sweeping module covers the preset area.

[0023] In one embodiment, during the movement of the robot body, when the cleaning robot completes cleaning work / switches to sweeping work / overcomes obstacles, the control module sends a lifting control signal to the mopping module. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Furthermore, the accompanying drawings are not drawn to a 1:1 scale, and the relative dimensions of the various components are shown in the drawings only as examples and not necessarily to actual scale.

[0027] Figure 1 This is a schematic diagram of the overall structure of the cleaning robot in one embodiment;

[0028] Figure 2 for Figure 1 A schematic diagram of the mopping module of the cleaning robot in the embodiment, with dust on it;

[0029] Figure 3 for Figure 2 A schematic diagram of the cleaning robot's mopping module being raised in the embodiment;

[0030] Figure 4 for Figure 3A schematic diagram showing the dust falling off after the mopping module of the cleaning robot is lifted in the embodiment;

[0031] Figure 5 for Figure 4 A schematic diagram of the cleaning robot retracting and the sweeping module cleaning up dust in the embodiment;

[0032] Figure 6 for Figure 5 A schematic diagram illustrating the cleaning robot's sweeping module removing dust in the embodiment;

[0033] Figure 7 for Figure 1 The workflow diagram of the cleaning robot in the embodiment, where the mopping module is located behind the sweeping module;

[0034] Figure 8 for Figure 1 The flowchart of the cleaning robot's mopping module being located in front of the sweeping module in the embodiment is shown.

[0035] Attached image annotations:

[0036] 100. Body; 200. Walking module; 300. Sweeping module; 400. Mopping module; 410. Lifting component; 420. Mop assembly; 500. Debris; 600. Floor. Detailed Implementation

[0037] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings:

[0038] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Please refer to Figure 1 One embodiment provides a cleaning robot, including a body 100, a walking module 200, a sweeping module 300, a mopping module 400, and a control module. Wherein:

[0040] like Figure 1 As shown, the walking module 200 is used to support the body 100 and drive the cleaning robot to move on the ground 600.

[0041] Figure 1 In the embodiment shown, the walking module 200 is located on the lower side of the body 100. Under the control of the control module, the walking module 200 can drive the body 100 to perform forward, backward, and turning movements.

[0042] like Figure 1 As shown, the sweeping module 300 is mounted on the body 100 and is used to perform sweeping work on the ground 600.

[0043] When in sweeping mode or sweeping and mopping mode, the control module controls the sweeping module 300 to start working and perform sweeping work on the floor 600 to clean up garbage, stains and other debris 500 on the floor 600.

[0044] like Figure 1 As shown, the mopping module 400 is mounted on the body 100 and can be raised or lowered relative to the body 100. The mopping module 400 is used to perform mopping work on the ground 600.

[0045] When in mopping mode or sweeping and mopping mode, the control module controls the mopping module 400 to start working and perform mopping work on the ground 600 to treat the ground 600.

[0046] It should be noted that:

[0047] The cleaning robot cleans up debris 500 that falls during the lifting of the mopping module 400. The lifting of the mopping module 400 can occur during the movement of the cleaning robot or after the cleaning robot stops moving and the mopping module 400 is lifted in place.

[0048] In one embodiment, please refer to Figure 1 The mopping module 400 includes a lifting component 410 and a mop assembly 420. The lifting component 410 is connected to the body 100 and can be raised and lowered. The mop assembly 420 is mounted on the lifting component 410 so that it can be in a raised or lowered state through the lifting component 410.

[0049] The control module is electrically connected to the walking module 200, the sweeping module 300 and the mopping module 400. It can selectively send a lifting control signal to the mopping module 400 to control the mopping module 400 to switch from the lowered state to the raised state. The switching time from the lowered state to the raised state of the mopping module 400 is preset.

[0050] The control module can control the walking module 200, sweeping module 300 and mopping module 400 to perform corresponding actions according to the set program, so as to complete the cleaning work of the floor 600.

[0051] Optionally, the control module can issue corresponding instructions through its built-in program, or it can receive signals from a remote terminal (mobile APP, remote control, etc.) and issue corresponding instructions to the walking module 200, sweeping module 300 and mopping module 400 according to the settings.

[0052] When mopping is needed, the mopping module 400 switches to the lowered state. When mopping is not needed, the mopping module 400 switches to the raised state. The process of switching the mopping module 400 from the lowered state to the raised state is not instantaneous, but takes a certain amount of time. During the raising process, the mopping module 400 will vibrate, causing garbage, stains and other debris 500 to fall off.

[0053] During operation, when the control module sends the lifting control signal to the mopping module 400, the control module controls the walking module 200 so that the sweeping module 300 can cover a preset area, and the control module controls the sweeping module 300 to perform sweeping work on the preset area, which is the area that the mopping module 400 passes through within the preset time.

[0054] This cleaning robot's control module can switch the mopping module 400 between a raised and lowered state. After the control module sends a raised control signal to the mopping module 400, the mopping module 400 switches from the lowered state to the raised state and remains there for a preset time. The control module then controls the walking module 200 to move and the sweeping module 300 to cover the preset area traversed by the mopping module 400 during its raising process, allowing the control module to control the sweeping module 300 to perform sweeping work on the preset area. This configuration allows the control module to control the walking module 200 and the sweeping module 300 to clean up debris 500 (such as dust and stains) that falls from the mopping module 400 during its raising process, thus ensuring the cleaning effect of the robot and preventing secondary pollution of the floor 600.

[0055] In one embodiment, please refer to Figures 2 to 5 With the forward direction of the machine body 100 as the front, the mopping module 400 is located behind the sweeping module 300. The control module sends a reversal control signal to the walking module 200 to control the walking module 200 to stop moving and reversing so that the sweeping module 300 covers the preset area. The reversal direction is the opposite direction of the forward direction.

[0056] like Figures 2 to 5 From the perspective shown, with the right side as the direction of travel of the body 100, the right side is the front, the mopping module 400 is located on the left side of the body 100, and the mopping module 400 is located behind the sweeping module 300.

[0057] like Figure 2 As shown, the mopping module 400 is covered with dust, trash, and other debris 500; Figure 3 As shown, when it is necessary to traverse obstacles or surfaces with varying slopes 600, or when mopping is complete, the mopping module 400 needs to be lifted and retracted; as Figure 4 As shown, during the lifting process, the mopping module 400 drops dust, trash, and other debris 500 onto the ground 600; Figure 5 As shown, the control module sends a reversal control signal to the walking module 200, causing the walking module 200 to stop moving and the body 100 to revert in the opposite direction of the moving direction, so that the sweeping module 300 can cover the preset area traversed by the lifting module during the lifting process; as shown Figure 6 As shown, the sweeping module 300 cleans up the debris 500 that fell off during the lifting process of the mopping module 400, and the cleaning robot continues to move forward.

[0058] It is understandable that:

[0059] Since the mopping module 400 is located behind the sweeping module 300 and the main body 100 moves forward, the dust, debris, and other impurities 500 that fall off the mopping module 400 during its lifting process cannot be cleaned by the sweeping module 300. Therefore, the walking module 200 must drive the main body 100 back, and the sweeping module 300 must be able to cover the preset area passed by the mopping module 400 during its lifting process. Thus, the direction of retraction must be the opposite of the direction of travel, thereby cleaning the secondary polluted floor 600 and ensuring the cleaning effect.

[0060] In one embodiment, the control module controls the walking module 200 to retreat a preset distance or a preset time and then stops retreating.

[0061] When it is necessary to revert to a preset area for secondary cleaning, the purpose of reverting should be to ensure that the sweeping module 300 covers the preset area. Therefore, two methods can be selected:

[0062] The first method: ensure that the sweeping module 300 covers a preset area by retracting a preset distance. The preset distance can be determined based on factors such as the forward speed of the cleaning robot and the time taken for the mopping module 400 to lift, so that the cleaning robot retracts a preset distance relative to the preset area.

[0063] The second method: Ensure the sweeping module 300 covers a preset area by using a preset reversal time. The preset time can be determined based on factors such as the cleaning robot's reversing speed, the time taken for the mopping module 400 to lift, and the cleaning robot's forward movement speed. The preset area is determined based on the time taken for the mopping module 400 to lift and the cleaning robot's forward movement speed, and then the preset reversal time is determined based on the cleaning robot's reversing speed and the preset area.

[0064] In one embodiment, the preset retraction distance is 0.5 times the length of the fuselage 100 to 2 times the length of the fuselage 100.

[0065] In this embodiment, the preset retraction distance is set based on the preset area traversed by the mopping module 400 during its lifting process and the length parameters of the body 100, thereby reducing the amount of control calculations during retraction and lowering the control difficulty.

[0066] In one embodiment, the sweeping module 300 can be selectively in a raised or lowered state relative to the body 100. After receiving a raised control signal sent by the control module, the sweeping module 300 switches from the lowered state to the raised state. Before the walking module 200 retracts, the control module sends the raised control signal to the sweeping module 300.

[0067] In this embodiment, the mopping module 400 is located behind the sweeping module 300. Not only can the mopping module 400 be in a raised or lowered state relative to the body 100, but the sweeping module 300 can also be in a raised or lowered state relative to the body 100.

[0068] Before the walking module 200 retracts, the control module sends a lifting control signal to the sweeping module 300 to switch the sweeping module 300 to the lifting state so that after it stops retracting, the sweeping module 300 can start cleaning the secondary polluted floor 600.

[0069] In one embodiment, please refer to Figure 7 Before sending a lifting control signal to the sweeping module 300, the control module determines whether the sweeping module 300 is in a lowered state. If the determination result is yes, the control module sends a lifting control signal to the sweeping module 300. If the determination result is no, the control module does not send a lifting control signal to the sweeping module 300.

[0070] It is understandable that:

[0071] When the cleaning robot is in sweeping mode, the mopping module 400 is not working. Therefore, there is no problem of the mopping module 400 lifting and dropping debris 500, causing secondary pollution to the ground 600.

[0072] When the cleaning robot is in sweeping and mopping mode, before reversing, it not only raises the mopping module 400, but also raises the sweeping module 300 so that after reversing, the sweeping module 300 can clean up the debris 500 that the mopping module 400 has dropped onto the ground 600.

[0073] When the cleaning robot is in single mopping mode, before reversing, ensure that the mopping module 400 is fully raised. After reversing into position, the sweeping module 300 will perform a secondary cleaning of the debris 500 that the mopping module 400 has dropped onto the ground 600.

[0074] As can be seen from the three working modes of the cleaning robot, before reversing, it is necessary to ensure that the sweeping module 300 is in the raised state. However, the sweeping module 300 may already be in the raised state before reversing. In this case, the control module does not need to send a raising control signal. Therefore, it is necessary to first determine whether the sweeping module 300 is in the lowered state. If so, the control module sends a raising control signal to the sweeping module 300; otherwise, there is no need to send a raising control signal.

[0075] In another embodiment, please refer to Figure 8 With the direction of travel of the machine body 100 as the front, the mopping module 400 is located in front of the sweeping module 300, and the control module controls the walking module 200 to continue moving so that the sweeping module 300 covers the preset area.

[0076] Unlike the aforementioned implementation, in this implementation, the mopping module 400 is located in front of the sweeping module 300. In this case, the control module only needs to control the walking module 200 to continue moving so that the sweeping module 300 behind can clean up the debris 500 dropped by the mopping module 400 in front, thus ensuring the cleaning effect.

[0077] It should be noted that:

[0078] In this implementation method, the cleaning robot also has three working modes;

[0079] When the cleaning robot is in single-sweeping mode, there is no issue of the mopping module 400 lifting and dropping debris 500.

[0080] When the cleaning robot is in sweeping and mopping mode, the mopping module 400 lifts up and drops debris 500. Since the sweeping module 300 is behind the mopping module 400 and is in the sweeping state, the control module only needs to control the walking module 200 to continue moving to cover the preset area passed by the mopping module 400 during the lifting process to complete the cleaning of the dropped debris 500.

[0081] When the cleaning robot is in single mopping mode, the mopping module 400 lifts up and drops debris 500. Since the sweeping module 300 is not performing sweeping work, on the one hand, the walking module 200 needs to drive the body 100 to continue moving to cover the preset area passed by the mopping module 400 during the lifting process. On the other hand, the sweeping module 300 needs to switch to the lowered state to clean up the debris 500 that fell in the preset area.

[0082] In another embodiment, with the direction of travel of the body 100 as the forward direction, the control module controls the walking module 200 to turn and move so that the sweeping module 300 covers the preset area.

[0083] In this embodiment, the preset area that the mopping module 400 passes through during the lifting process cannot be covered simply by moving forward or backward. Therefore, the control module needs to control the walking module 200 to turn so that the sweeping module 300 can cover the preset area, thereby performing secondary cleaning on the preset area that the mopping module 400 passes through.

[0084] In one embodiment, during the movement of the robot body 100, when the cleaning robot completes cleaning work / switches to sweeping work / overcomes obstacles, the control module sends a lifting control signal to the mopping module 400.

[0085] When the cleaning robot finishes cleaning, switches to sweeping, or overcomes obstacles, the control module needs to retract the mopping module 400. Therefore, a lift control signal needs to be sent to the mopping module 400 to lift it.

[0086] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0087] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0088] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0089] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0090] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0091] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, include: body; The walking module is used to support the body and drive the cleaning robot to move on the ground; A sweeping module is mounted on the machine body and is used to perform sweeping work on the floor. A mopping module is mounted on the machine body and can be raised or lowered relative to the machine body. The mopping module is used to perform mopping work on the floor. The control module is electrically connected to the walking module, the sweeping module and the mopping module. It can selectively send a lifting control signal to the mopping module to control the mopping module to switch from a lowered state to a raised state. The switching time from the lowered state to the raised state of the mopping module is preset. After the control module sends the lifting control signal to the mopping module, the control module controls the walking module so that the sweeping module can cover a preset area, and the control module controls the sweeping module to perform sweeping work on the preset area, which is the area traversed by the mopping module within the preset time.

2. The cleaning robot according to claim 1, characterized in that, With the direction of travel of the machine body as the front, the mopping module is located behind the sweeping module. The control module sends a reversal control signal to the walking module to control the walking module to stop moving and reversing so that the sweeping module covers the preset area, wherein the reversal direction is the opposite of the direction of travel.

3. The cleaning robot according to claim 2, characterized in that, The control module controls the walking module to retreat a preset distance or a preset time and then stops the retreat.

4. The cleaning robot according to claim 3, characterized in that, The preset retraction distance is 0.5 to 2 times the length of the fuselage.

5. The cleaning robot according to claim 2, characterized in that, The sweeping module can be selectively in a raised or lowered state relative to the body. After receiving a raised control signal from the control module, the sweeping module switches from the lowered state to the raised state. Before the walking module moves back, the control module sends the raised control signal to the sweeping module.

6. The cleaning robot according to claim 5, characterized in that, Before sending a lift control signal to the sweeping module, the control module determines whether the sweeping module is in a lowered state. If the determination result is yes, the control module sends a lift control signal to the sweeping module; if the determination result is no, the control module does not send a lift control signal to the sweeping module.

7. The cleaning robot according to claim 1, characterized in that, With the direction of travel of the machine body as the front, the mopping module is located in front of the sweeping module, and the control module controls the walking module to continue moving so that the sweeping module covers the preset area.

8. The cleaning robot according to claim 1, characterized in that, With the direction of travel of the machine body as the forward direction, the control module controls the walking module to turn and move so that the sweeping module covers the preset area.

9. The cleaning robot according to any one of claims 1-8, characterized in that, During the movement of the robot body, when the cleaning robot completes cleaning work / switches to sweeping work / overcomes obstacles, the control module sends a lifting control signal to the mopping module.

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