Cleaning robot and cleaning system

Abstract

The present disclosure relates to a cleaning robot and a cleaning system, comprising: a robot body, a first signal receiver, a second signal receiver and a controller; the first signal receiver is configured to detect a charging guide signal emitted by a charging device towards the left side of the robot body, the second signal receiver is configured to detect the charging guide signal emitted by the charging device towards the right side of the robot body, the detection area of the first signal receiver is a first signal receiving area, the detection area of the second signal receiver is a second signal receiving area, the first signal receiving area and the second signal receiving area partially overlap in the front of the robot body; the controller is electrically connected to the first signal receiver and the second signal receiver, and determines the relative position of the cleaning robot and the charging device according to the signals received by the first signal receiver and the second signal receiver. The cleaning robot and the cleaning system can reduce the probability of the cleaning robot colliding with the charging device.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent robots, and particularly relates to a cleaning robot and a cleaning system. BACKGROUND

[0002] At present, there are two types of schemes for cleaning robots on the market to find a charging base: one is a laser radar scheme, and the other is an infrared alignment scheme. The former has high requirements for algorithms and is difficult to implement, and is only suitable for cleaning robots with laser radars; while the latter has wide applicability and can be applied to models with different navigation schemes such as random, inertial navigation and vision, but has high requirements for light fields and has the risk of colliding with the charging base.

[0003] Usually, a signal receiving lamp is used on the cleaning robot to search for the position of the charging base. Since the detection field of view of the signal receiving lamp of the current cleaning robot is limited, there is a large detection blind area near the cleaning robot, and the cleaning robot usually relies on a random moving strategy or a specific search for the charging base moving strategy to search for the charging base. It may happen that the charging base is in the detection blind area, causing the cleaning robot to be unable to receive the charging guide signal, at which time the cleaning robot cannot determine the position of the charging base, and it is easy to cause the cleaning robot to collide with the charging base. SUMMARY

[0004] The purpose of the present disclosure is to provide a cleaning robot and a cleaning system, which can reduce the probability of the cleaning robot colliding with the charging device.

[0005] The first aspect of the present disclosure discloses a cleaning robot, comprising: a robot body, a first signal receiver, a second signal receiver and a controller arranged on the robot body.

[0006] The first signal receiver is configured to detect a charging guide signal emitted by a charging device towards the left side of the robot body, and the second signal receiver is configured to detect the charging guide signal emitted by the charging device towards the right side of the robot body, wherein the detection area of the first signal receiver is a first signal receiving area, the detection area of the second signal receiver is a second signal receiving area, and the first signal receiving area and the second signal receiving area partially overlap in the front of the robot body.

[0007] The controller is electrically connected to the first signal receiver and the second signal receiver, and determines the relative position of the cleaning robot and the charging device according to the signals received by the first signal receiver and the signals received by the second signal receiver.

[0008] In an exemplary embodiment of the present disclosure, a detection blind area is formed between the first signal receiving area and the second signal receiving area, and the detection blind area is located in front of the robot body;

[0009] The cleaning robot further comprises a middle signal receiver arranged on the robot body, the middle signal receiver being electrically connected to the controller, the middle signal receiver being located between the first signal receiver and the second signal receiver, and the middle signal receiver being configured to detect the charging guide signal emitted by the charging device in front of the robot body, wherein a detection area of the middle signal receiver is a third signal receiving area, the third signal receiving area covering at least part of the detection blind area, and the controller further determines the relative position of the cleaning robot and the charging device according to the signal received by the middle signal receiver.

[0010] In an exemplary embodiment of the present disclosure, the signal strength received by the first signal receiver is a first intensity value, the signal strength received by the second signal receiver is a second intensity value, the middle signal receiver comprises a first signal receiving lamp and a second signal receiving lamp, the signal strength received by the first signal receiving lamp is a third intensity value, and the signal strength received by the second signal receiving lamp is a fourth intensity value;

[0011] When the cleaning robot is docked with the charging device, the cleaning robot adjusts the pose so that the sum of the first intensity value and the third intensity value is equal to the sum of the second intensity value and the fourth intensity value, so that the cleaning robot and the charging device are centered relative to each other.

[0012] In an exemplary embodiment of the present disclosure, the signal strength received by the first signal receiver is a first intensity value, the signal strength received by the second signal receiver is a second intensity value, the middle signal receiver comprises a third signal receiving lamp, and the signal strength received by the third signal receiving lamp is a fifth intensity value;

[0013] When the cleaning robot is docked with the charging device, the cleaning robot adjusts the pose so that the sum of the first intensity value and the fifth intensity value is equal to the sum of the second intensity value and the fifth intensity value, so that the cleaning robot and the charging device are centered relative to each other.

[0014] In an exemplary embodiment of the present disclosure, the center line of the middle signal receiver is arranged to coincide with the center line of the robot body, and the center line of the first signal receiver and the center line of the second signal receiver are symmetrically arranged about the center line of the robot body.

[0015] In an example embodiment of the present disclosure, the center line of the third signal receiving area is arranged to coincide with the center line of the robot body of the cleaning robot, the right boundary of the first signal receiving area is arranged to intersect the center line, and the left boundary of the second signal receiving area is arranged to intersect the center line.

[0016] In an example embodiment of the present disclosure, the third signal receiving area partially overlaps the first signal receiving area, and a first sub-blind area is formed between the third signal receiving area and the first signal receiving area. The third signal receiving area partially overlaps the second signal receiving area, and a second sub-blind area is formed between the third signal receiving area and the second signal receiving area. The maximum coverage distance of the first sub-blind area and the second sub-blind area is less than the signal coverage distance of the proximity transmitter of the charging device.

[0017] In an example embodiment of the present disclosure, the horizontal interval distance between the first signal receiver and the second signal receiver is 280 mm to 0 mm. The detection angle of the first signal receiver in the first signal receiving area is 80° to 100°. The detection angle of the second signal receiver in the second signal receiving area is 80° to 100°.

[0018] In an example embodiment of the present disclosure, the signal strength received by the first signal receiver is a first intensity value, and the signal strength received by the second signal receiver is a second intensity value.

[0019] When the controller determines that the first signal receiver and the second signal receiver both detect the back charging guide signal emitted by the charging device, and the first intensity value is equal to the second intensity value, it is determined that the charging device is located in front of the cleaning robot.

[0020] In an example embodiment of the present disclosure, the first signal receiver and the second signal receiver are symmetrically arranged about the center line of the robot body of the robot main body. The first signal receiver includes a first signal receiving plane, and the included angle between the first signal receiving plane and the center line of the robot body of the robot main body is greater than 45°.

[0021] The second signal receiver includes a second signal receiving plane, and the included angle between the second signal receiving plane and the center line of the robot body of the robot main body is greater than 45°.

[0022] In an example embodiment of the present disclosure, the robot main body includes a front collision assembly.

[0023] The front collision assembly includes a circuit board, and the first signal receiver and the second signal receiver are integrated on the same circuit board.

[0024] In an example embodiment of the present disclosure, the first signal receiver and the second signal receiver each comprise a signal receiving component and a conductive pin, the conductive pin being conductively connected between the signal receiving component and the circuit board;

[0025] The conductive pin comprises a first conductive connecting segment and a second conductive connecting segment, an included angle between the first conductive connecting segment and the second conductive connecting segment being greater than 0° and less than 180°.

[0026] In an example embodiment of the present disclosure, the front collision component further comprises a bracket and a front collision body, the bracket being connected to the robot body, the circuit board being fixedly connected to the bracket, the front collision body being connected to the bracket, the circuit board being located between the front collision body and the bracket;

[0027] The bracket is provided with a guide groove, the guide groove comprising a first guide inclined surface and a second guide inclined surface, the first conductive connecting segment abutting against the first guide inclined surface, and the second conductive connecting segment abutting against the second guide inclined surface.

[0028] In an example embodiment of the present disclosure, the front collision component further comprises a first concave mirror structure and a second concave mirror structure, the first concave mirror structure being arranged corresponding to the first signal receiver, and the second concave mirror structure being arranged corresponding to the second signal receiver.

[0029] The second aspect of the present disclosure provides a cleaning system, comprising the charging device and the cleaning robot described above, the charging device comprising a signal transmitting unit, the signal transmitting unit being used to transmit the charging guidance signal.

[0030] The scheme has the following beneficial effects:

[0031] In the embodiment of the present disclosure, the robot body is provided with a first signal receiver and a second signal receiver, the first signal receiver being configured to detect the charging guidance signal emitted by the charging device towards the left side of the robot body, and the second signal receiver being configured to detect the charging guidance signal emitted by the charging device towards the right side of the robot body. The detection area of the first signal receiver is a first signal receiving area, the detection area of the second signal receiver is a second signal receiving area, and the first signal receiving area and the second signal receiving area partially overlap in the front of the robot body. Therefore, the first signal receiving area and the second signal receiving area form a continuous detection area on the left side, the front and the right side of the robot body, so that there is no or a small detection blind area between the first signal receiving area and the second signal receiving area, thereby reducing the probability of the cleaning robot colliding with the charging device.

[0032] Other features and advantages of the present application will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the application.

[0033] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application, as claimed. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is readily apparent to one skilled in the art that the following description is merely exemplary and explanatory of the present disclosure and that various embodiments of the present disclosure can be readily carried out according to these drawings without resorting to inventive faculty.

[0035] Figure 1 A state diagram showing that the first signal receiving area and the second signal receiving area of the cleaning robot according to the first embodiment of the present disclosure partially overlap.

[0036] Figure 2 A state diagram showing that the third signal receiving area of the cleaning robot according to the first embodiment of the present disclosure covers at least part of the detection blind area.

[0037] Figure 3 A state diagram showing that the cleaning robot according to the first embodiment of the present disclosure approaches the charging device.

[0038] Figure 4 A split structure diagram of the front collision assembly according to the first embodiment of the present disclosure.

[0039] Figure 5 A split structure diagram of the front collision assembly according to the first embodiment of the present disclosure. Figure 4 A structure diagram of another view of the front collision assembly according to the first embodiment of the present disclosure.

[0040] Figure 6 A structure diagram of another view of the front collision assembly according to the first embodiment of the present disclosure. Figure 5 An enlarged structure diagram of position A of the front collision assembly according to the first embodiment of the present disclosure.

[0041] Figure 7 A split structure diagram of the intermediate signal receiver according to the first embodiment of the present disclosure.

[0042] Figure 8 A perspective structure diagram of the robot body according to the first embodiment of the present disclosure.

[0043] Figure 9 A front view structure diagram of the cleaning robot according to the first embodiment of the present disclosure.

[0044] Figure 10A state diagram showing that the third signal receiving area of the cleaning robot according to Embodiment Two covers at least part of the detection blind area.

[0045] Figure 11 A state diagram showing that the cleaning robot according to Embodiment Two approaches the charging device.

[0046] Reference Signs List:

[0047] 10, cleaning robot; 11, robot body; 12, front bumping assembly; 121, circuit board; 122, front bumping body; 1221, shielding block; 123, bracket; 124, transparent plate; 1241, first concave mirror structure; 1242, second concave mirror structure; 13, first signal receiver; 13a, first signal receiving area; 14, second signal receiver; 14a, second signal receiving area; 15, intermediate signal receiver; 15a, intermediate signal receiving area; 151, second signal receiving lamp; 152, third signal receiving lamp; 153, first mounting shell; 154, second mounting shell; 16, signal receiving assembly; 17, conductive pin; 171, first conductive connecting section; 172, second conductive connecting section; 18, detection blind area; 181, first sub-blind area; 182, second sub-blind area; 20, charging device; 21, first approach area; 22, second approach area; 23, fourth light field area;

[0048] 101, guide groove; 101a, first guide slope; 101b, second guide slope; 102, avoiding hole; 103, through hole; a, center line of the machine body. DETAILED DESCRIPTION

[0049] Example implementations are now described with reference to the drawings; however, these implementations are merely examples of the disclosure, which can be embodied in various forms. Therefore, specific details that are provided are not intended to limit the implementations to the examples described herein; rather, the specific details merely illustrate implementations of the application.

[0050] Furthermore, described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0051] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present application, and should not be construed as limiting the present application.

[0052] Example 1

[0053] like Figures 1 to 9 As shown, Embodiment 1 of this disclosure provides a cleaning robot 10, including: a robot body 11, a first signal receiver 13, a second signal receiver 14 disposed on the robot body 11, and a controller.

[0054] It is understandable that the cleaning robot 10 can be a sweeping robot, a sweeping and mopping robot, a mopping robot, a floor scrubbing robot, or a floor washing robot, etc.

[0055] The first signal receiver 13 is configured to detect the recharge guidance signal emitted by the charging device 20 to the left side of the robot body 11, and the second signal receiver 14 is configured to detect the recharge guidance signal emitted by the charging device 20 to the right side of the robot body 11. The detection area of ​​the first signal receiver 13 is the first signal receiving area 13a, and the detection area of ​​the second signal receiver 14 is the second signal receiving area 14a. The first signal receiving area 13a and the second signal receiving area 14a overlap at the front of the robot body 11.

[0056] The controller is electrically connected to the first signal receiver 13 and the second signal receiver 14. The controller determines the relative position of the cleaning robot 10 and the charging device 20 based on the signals received by the first signal receiver 13 and the second signal receiver 14.

[0057] In the embodiments of the present disclosure, the robot body 11 is provided with a first signal receiver 13 and a second signal receiver 14. The first signal receiver 13 is configured to detect the return charging guide signal emitted by the charging device 20 towards the left side of the robot body 11. The second signal receiver 14 is configured to detect the return charging guide signal emitted by the charging device 20 towards the right side of the robot body 11. The detection area of the first signal receiver 13 is a first signal receiving area 13a, and the detection area of the second signal receiver 14 is a second signal receiving area 14a. The first signal receiving area 13a and the second signal receiving area 14a partially overlap in the front of the robot body 11. Therefore, the first signal receiving area 13a and the second signal receiving area 14a form a continuous detection area on the left side, the front, and the right side of the robot body, so that there is no or a small detection blind area 18 between the first signal receiving area 13a and the second signal receiving area 14a, thereby reducing the probability of the cleaning robot 10 colliding with the charging device 20. When the first signal receiver 13 receives the return charging guide signal, it can be determined that the return charging seat is located in the left side area or the front area of the robot body 11. When the second signal receiver 14 receives the return charging guide signal, it can be determined that the return charging seat is located in the right side area or the front area of the robot body 11. When the first signal receiver 13 and the second signal receiver 14 both receive the return charging guide signal, it can be determined that the return charging seat is located in the front area of the robot body 11, thereby facilitating the cleaning robot 10 to approach the return charging seat.

[0058] In some embodiments, a detection blind area 18 can be formed between the first signal receiving area 13a and the second signal receiving area 14a, and the detection blind area 18 is located in the front of the robot body 11.

[0059] Optionally, the first signal receiver 13 and the second signal receiver 14 are, for example, infrared receivers. The first signal receiving area 13a is the detectable field of view area of the first signal receiver 13. Since the first signal receiver 13 has a specific detection angle range, the first signal receiving area 13a is approximately fan-shaped. The second signal receiving area 14a is the detectable field of view area of the second signal receiver 14. Since the second signal receiver 14 has a specific detection angle range, the second signal receiving area 14a is approximately fan-shaped. The first signal receiver 13 can include one or more than two infrared receiving lamps. The second signal receiver 14 can include one or more than two infrared receiving lamps.

[0060] It should be understood that when the boundary of the first signal receiving area 13a and the second signal receiving area 14a does not overlap, a detection blind area 18 is formed between the first signal receiving area 13a and the second signal receiving area 14a. The larger the range of the detection blind area 18 is, the more likely it is that the recharging guidance signal emitted by the infrared emitter of the charging device 20 cannot be received by the first signal receiver 13 and the second signal receiver 14, and eventually the cleaning robot 10 is likely to collide with the charging device 20.

[0061] Further, as shown in Figure 2 、 Figure 3 and Figure 7 , the cleaning robot 10 further comprises a middle signal receiver 15 arranged on the robot body 11, the middle signal receiver 15 is electrically connected to the controller, the middle signal receiver 15 is located between the first signal receiver 13 and the second signal receiver 14, and the middle signal receiver 15 is configured to detect the recharging guidance signal emitted by the charging device 20 towards the front of the robot body 11. The detection area of the middle signal receiver 15 is a third signal receiving area 15a, and the third signal receiving area 15a covers at least part of the detection blind area 18. The controller further determines the relative position of the cleaning robot 10 and the charging device 20 according to the signal received by the middle signal receiver 15.

[0062] The third signal receiving area 15a is the detectable field of view area of the middle signal receiver 15. Since the middle signal receiver 15 has a specific detection angle range, the third signal receiving area 15a is generally fan-shaped. The middle signal receiver 15 can include one or more pairs of infrared receiving lamps.

[0063] In some embodiments, the recharging guidance signal includes infrared docking signals emitted by a pair of infrared emitting lamps, and the middle signal receiver 15 can include a pair of infrared receiving lamps. The pair of infrared receiving lamps of the middle signal receiver 15 are used to respectively receive the infrared docking signals emitted by the pair of infrared emitting lamps, so as to achieve the center docking of the cleaning robot 10 and the charging device 20.

[0064] It should be understood that when the middle signal receiver 15 is located between the first signal receiver 13 and the second signal receiver 14, and the third signal receiving area 15a covers at least part of the detection blind area 18, the detection blind area 18 can be further reduced, and the cleaning robot 10 can receive the recharging guidance signal emitted by the charging device 20 in a larger range, so as to reduce the probability of the cleaning robot 10 colliding with the charging device 20.

[0065] In this embodiment, the charging device 20 includes a perimeter signal transmitter and a directional signal transmitter. The infrared signal emitted by the perimeter signal transmitter forms a perimeter zone, which is the surrounding area of ​​the charging device 20. The perimeter signal is used to instruct the cleaning robot 10 to enter the surrounding area of ​​the charging device 20. The infrared signal emitted by the directional signal transmitter extends beyond the perimeter zone, allowing the cleaning robot 10 to be guided to approach the charging device 20 from a distance. It is understood that the recharge guidance signal of the charging device 20 includes both the infrared signal emitted by the perimeter signal transmitter and the infrared signal emitted by the directional signal transmitter. The directional signal transmitter includes a left infrared emitter, a right infrared emitter, and a pair of centrally located infrared emitters. The left infrared emitter emits infrared signals from the left directional direction, the right infrared emitter emits infrared signals from the right directional direction, and the pair of infrared emitters emits infrared signals from the center directional direction, i.e., a centering docking signal. In other embodiments, the charging device 20 may not include a perimeter signal transmitter.

[0066] The first signal receiver 13 can be used to receive the infrared signal emitted by the satellite signal transmitter and the infrared signal emitted by the azimuth signal transmitter; the second signal receiver 14 can be used to receive the infrared signal emitted by the satellite signal transmitter and the infrared signal emitted by the azimuth signal transmitter; the intermediate signal receiver 15 can be used to receive the infrared signal emitted by the satellite signal transmitter and the infrared signal emitted by the azimuth signal transmitter.

[0067] In some embodiments, the near-satellite signal transmitter includes a first infrared transmitter, a second infrared transmitter, and a third infrared transmitter.

[0068] like Figure 3 As shown, the area through which the recharge guidance signal emitted by the first infrared transmitter passes forms the first near-satellite region 21; the area through which the recharge guidance signal emitted by the second infrared transmitter passes forms the second near-satellite region 22, and the first near-satellite region 21 is located within the second near-satellite region 22; the area through which the recharge guidance signal emitted by the third infrared transmitter passes forms the third near-satellite region.

[0069] Further, if the cleaning robot 10 can directly receive the charging guidance signal emitted by the first infrared emitter but cannot receive the charging guidance signal emitted by the azimuth emitter, it is proved that the cleaning robot has entered the first guard area 21, at this time, the cleaning robot 10 directly retreats into the second guard area 22 and performs arc motion until the cleaning robot 10 can receive the charging guidance signal emitted by the azimuth emitter, and then starts to dock with the charging device 20; if the cleaning robot 10 can directly receive the charging guidance signal emitted by the second infrared emitter but cannot receive the charging guidance signal emitted by the azimuth emitter, it is proved that the cleaning robot has entered the second guard area 22, at this time, the cleaning robot 10 performs arc motion until the cleaning robot 10 can receive the charging guidance signal emitted by the azimuth emitter, and then starts to dock with the charging device 20; if the cleaning robot 10 can directly receive the charging guidance signal emitted by the third infrared emitter, the cleaning robot 10 moves into the second guard area 22 according to the charging guidance signal emitted by the third infrared emitter, and then performs arc motion until the cleaning robot 10 can receive the charging guidance signal emitted by the azimuth emitter, and finally starts to dock with the charging device 20; if the cleaning robot 10 can directly receive the charging guidance signal emitted by the azimuth emitter, it directly starts to dock with the charging device 20.

[0070] In other embodiments, the guard signal emitter includes a first infrared emitter and a second infrared emitter.

[0071] In other embodiments, the guard signal emitter includes a first infrared emitter.

[0072] In some embodiments, when the centering docking signal emitted by the azimuth emitter is received by the intermediate signal receiver 15, the cleaning robot 10 enters the stage of starting to dock with the charging device 20.

[0073] In some embodiments, when the centering docking signal emitted by the azimuth emitter is received by the first signal receiver 13, the second signal receiver 14 and the intermediate signal receiver 15 at the same time, the cleaning robot 10 enters the stage of starting to dock with the charging device 20.

[0074] In some embodiments, when the centering docking signal emitted by the azimuth emitter is received by the first signal receiver 13 and the second signal receiver 14 at the same time, the cleaning robot 10 enters the stage of starting to dock with the charging device 20.

[0075] In some embodiments, as shown in FIG. 6, the cleaning robot 10 can receive the centering docking signal emitted by the azimuth emitter through the first signal receiver 13, the second signal receiver 14 and the intermediate signal receiver 15 at the same time. Figure 2As shown, the third signal receiving area 15a partially overlaps the first signal receiving area 13a, and a first sub-blind area 181 is formed between the third signal receiving area 15a and the first signal receiving area 13a. The third signal receiving area 15a partially overlaps the second signal receiving area 14a, and a second sub-blind area 182 is formed between the third signal receiving area 15a and the second signal receiving area 14a. The maximum coverage distance of the first sub-blind area 181 and the second sub-blind area 182 is less than the signal coverage distance of the near guard infrared emitter of the charging device 20.

[0076] It should be understood that, as Figure 3 shown, the maximum coverage distance of the first sub-blind area 181 and the second sub-blind area 182 is at least less than the distance covered by the first infrared emitter of the charging device 20, i.e., less than the distance covered by the first near guard area 21. Therefore, when the cleaning robot 10 moves into the first near guard area 21 before successfully docking with the charging device 20, since the maximum coverage distance of the first sub-blind area 181 and the second sub-blind area 182 is less than the coverage distance of the first near guard area 21, the first near guard area 21 emitted by the first infrared emitter will not only cover the first sub-blind area 181 and / or the second sub-blind area 182, but will also cover at least part of the first signal receiving area 13a, the second signal receiving area 14a, or the third signal receiving area 15a. At this time, the controller of the cleaning robot 10 can perform signal processing according to the charging guidance signals received by the first signal receiver 13, the first signal receiver 13, or the intermediate signal receiver 15, and make the cleaning robot 10 exit the first near guard area 21, and then continue to make an arc motion until the cleaning robot 10 receives the charging guidance signals emitted by the azimuth emitter, and finally control the cleaning robot 10 to dock with the charging device 20.

[0077] In some embodiments, in combination with Figure 1 and Figure 2 shown, the center line of the third signal receiving area 15a is arranged to coincide with the center line a of the body of the cleaning robot 10, the right boundary of the first signal receiving area 13a is arranged to cross the center line, and the left boundary of the second signal receiving area 14a is arranged to cross the center line.

[0078] It should be understood that when the center line of the third signal receiving area 15a is arranged to coincide with the body center line a of the cleaning robot 10, in the case that the intersection angle after the right side boundary of the first signal receiving area 13a intersects with the body center line a is less than 90°, the greater the intersection angle, the smaller the area of the first sub-blind area 181; similarly, in the case that the intersection angle after the left side boundary of the second signal receiving area 14a intersects with the body center line a is less than 90°, the greater the intersection angle, the smaller the area of the second sub-blind area 182, therefore, this design can reduce the areas of the first sub-blind area 181 and the second sub-blind area 182, and further reduce the probability of the cleaning robot 10 colliding with the charging device 20.

[0079] In some embodiments, the horizontal interval distance between the first signal receiver 13 and the second signal receiver 14 is 280 mm to 0 mm, the detection angle of the first signal receiving area 13a is 80° to 100°, preferably, the detection angle of the first signal receiving area 13a is 90°; the detection angle of the second signal receiving area 14a is 80° to 100°, preferably, the detection angle of the second signal receiving area 14a is 90°.

[0080] It should be understood that the first signal receiving area 13a includes a right side boundary close to the third signal receiving area 15a and a left side boundary away from the third signal receiving area 15a, wherein the included angle between the right side boundary and the left side boundary is the detection angle of the first signal receiving area 13a; similarly, the second signal receiving area 14a includes a left side boundary close to the third signal receiving area 15a and a right side boundary away from the third signal receiving area 15a, wherein the included angle between the left side boundary and the right side boundary is the detection angle of the second signal receiving area 14a.

[0081] In some embodiments, the first signal receiver 13 and the second signal receiver 14 are symmetrically arranged about the body center line a of the robot body 11, the first signal receiver 13 includes a first signal receiving plane, and the included angle between the first signal receiving plane and the body center line a of the robot body 11 is greater than 45°; the second signal receiver 14 includes a second signal receiving plane, and the included angle between the second signal receiving plane and the body center line a of the robot body 11 is greater than 45°.

[0082] For example, the included angles between the first signal receiving plane and the left side boundary and the right side boundary of the first signal receiving area 13a are both 45°; the included angles between the second signal receiving plane and the left side boundary and the right side boundary of the second signal receiving area 14a are both 45°.

[0083] It should be understood that when the first signal receiving plane and the fuselage center line a of the robot body 11 form an angle greater than 45°, and the second signal receiving plane and the fuselage center line a of the robot body 11 form an angle greater than 45°, the first signal receiving area 13a and the second signal receiving area 14a can intersect with the fuselage center line a, thereby reducing the areas of the first sub-blind area 181 and the second sub-blind area 182, and finally reducing the probability of the cleaning robot 10 colliding with the charging device 20.

[0084] Alternatively, when the first signal receiving plane and the fuselage center line a of the robot body 11 form an angle greater than or equal to 75°, and the second signal receiving plane and the fuselage center line a of the robot body 11 form an angle greater than or equal to 75°, the first signal receiving area 13a and the second signal receiving area 14a can intersect, and the first sub-blind area 181 and the second sub-blind area 182 can be completely eliminated, so that the probability of the cleaning robot 10 colliding with the charging device 20 is completely solved.

[0085] In the embodiment, as shown in Figures 4 to 9 , the first signal receiver 13 includes a signal receiving lamp, which receives a signal of a first intensity value; the second signal receiver 14 includes a signal receiving lamp, which receives a signal of a second intensity value, and the intermediate signal receiver 15 includes a first signal receiving lamp 151, a second signal receiving lamp 152, a first mounting shell 153, and a second mounting shell 154. The first signal receiving lamp 151 and the second signal receiving lamp 152 are respectively fixed on the first mounting shell 153, the first mounting shell 153 is fixedly connected to the second mounting shell 154, and the first mounting shell 153 and the second mounting shell 154 are mounted on the front collision assembly 12. Among them, the first signal receiving lamp 151 is arranged close to the first signal receiver 13, the second signal receiving lamp 152 is arranged close to the second signal receiver 14, the first signal receiving lamp 151 receives a signal of a third intensity value, and the second signal receiving lamp 152 receives a signal of a fourth intensity value.

[0086] For example, in combination with Figure 5 , Figure 7 and Figure 9As shown, the detection angle of the signal receiving lamp of the first signal receiver 13 and the second signal receiver 14 is 90°; the detection angle of the first signal receiving lamp 151 and the second signal receiving lamp 152 is 90°. Among them, the front collision component 12 is provided with a mounting hole for mounting the intermediate signal receiver 15, and a shielding block 1221 is arranged in the mounting hole. The center line of the shielding block 1221 coincides with the center line a of the fuselage, and the shielding block 1221 divides the mounting hole into two through holes 103 for partially exposing the first signal receiving lamp 151 and the second signal receiving lamp 152. The first signal receiving lamp 151 and the second signal receiving lamp 152 are respectively located behind the two through holes 103, and the shielding block 1221 can shield part of the first signal receiving lamp 151 and part of the second signal receiving lamp 152, so that the effective detection angle of the first signal receiving lamp 151 and the second signal receiving lamp 152 is 45°.

[0087] In some embodiments, when the controller determines that the first signal receiver 13 and the second signal receiver 14 both detect the return charging guide signal emitted by the charging device 20, and the first intensity value is equal to the second intensity value, it can be determined that the charging device 20 is located in front of the cleaning robot 10. Therefore, the controller can determine the relative position of the cleaning robot 10 and the charging device 20 according to the first signal receiver 13 and the second signal receiver 14, that is, the controller can determine that the cleaning robot 10 is located in front of, left side or right side of the charging device 20 through the mutual relationship of the first intensity value and the second intensity value, so as to facilitate the centering of the cleaning robot 10 and the charging device 20.

[0088] For example, when the first intensity value is greater than the second intensity value, the controller can determine that the cleaning robot 10 is located on the left side of the charging device 20, and when the first intensity value is less than the second intensity value, the controller can determine that the cleaning robot 10 is located on the right side of the charging device 20.

[0089] Further, when the cleaning robot 10 adjusts the pose to make the sum of the first intensity value and the third intensity value equal to the sum of the second intensity value and the fourth intensity value, the cleaning robot 10 and the charging device 20 are centered relative to each other.

[0090] It should be understood that, since the intermediate signal receiver 15 includes two signal receiving lamps, the cleaning robot 10 in the present embodiment can rely only on the intermediate signal receiver 15 to realize the docking with the charging device 20. Of course, the first signal receiver 13 and the second signal receiver 14 can also realize the docking of the cleaning robot 10 and the charging device 20 together with the intermediate signal receiver 15 according to actual conditions.

[0091] For example, when the first intensity value and the second intensity value received by the signal receiving lights of the first signal receiver 13 and the second signal receiver 14 are both equal to 0, that is, only the middle signal receiver 15 realizes the docking with the charging device 20: if the third intensity value received by the first signal receiving light 151 is greater than the fourth intensity value received by the second signal receiving light 152, the cleaning robot 10 can determine that the charging device 20 is located on the left side of the cleaning robot 10, and vice versa, the cleaning robot 10 can determine that the charging device 20 is located on the right side of the cleaning robot 10; then the cleaning robot 10 adjusts the moving strategy according to the relative position with the charging device 20, until the third intensity value is equal to the fourth intensity value, at this time, the cleaning robot 10 is centrally opposite to the charging device 20, and the docking is completed.

[0092] For example, when the first intensity value and the second intensity value received by the signal receiving lights of the first signal receiver 13 and the second signal receiver 14 are both greater than 0, that is, the docking with the charging device 20 is realized by the first signal receiver 13 and the second signal receiver 14 and the middle signal receiver 15 together: when the sum of the first intensity value received by the signal receiving light of the first signal receiver 13 and the third intensity value received by the first signal receiving light 151 is greater than the sum of the second intensity value received by the signal receiving light of the second signal receiver 14 and the fourth intensity value received by the second signal receiving light 152, the cleaning robot 10 can determine that the charging device 20 is located on the left side of the cleaning robot 10; otherwise, the cleaning robot 10 can determine that the charging device 20 is located on the right side of the cleaning robot 10; then the cleaning robot 10 adjusts the moving strategy according to the relative position with the charging device 20, until the cleaning robot 10 adjusts the pose to the sum of the first intensity value and the third intensity value is equal to the sum of the second intensity value and the fourth intensity value, at this time, the cleaning robot 10 is centrally opposite to the charging device 20, and the docking is completed.

[0093] In addition, if the cleaning robot 10 is facing away from the charging device 20, the first signal receiver 13, the second signal receiver 14 and the middle signal receiver 15 can not receive the charging guide signal emitted by the charging device 20, at this time, the cleaning robot 10 rotates randomly until the first signal receiver 13, the second signal receiver 14 and the middle signal receiver 15 can receive the charging guide signal, and then repeat the above steps.

[0094] It should be understood that when the cleaning robot 10 is centrally aligned with the charging device 20, the first signal receiver 13, the second signal receiver 14 and the intermediate signal receiver 15 mainly receive the charging guidance signals emitted by the orientation transmitter. Of course, the first signal receiver 13, the second signal receiver 14 and the intermediate signal receiver 15 can also receive the charging guidance signals emitted by the first infrared transmitter and the second infrared transmitter to adjust the pose according to the actual situation.

[0095] In some embodiments, the center line of the intermediate signal receiver 15 is arranged to coincide with the body center line a of the cleaning robot 10, and the center lines of the first signal receiver 13 and the second signal receiver 14 are symmetrically arranged about the body center line a of the cleaning robot 10.

[0096] It should be understood that the body center line a divides the total signal receiving area formed by the first signal receiving area 13a, the second signal receiving area 14a and the third signal receiving area 15a into two equal-area sub-signal receiving areas; when the sum of the first intensity value and the third intensity value is equal to the sum of the second intensity value and the third intensity value, the center line of the fourth light field area 23 emitted by the orientation transmitter is also arranged to coincide with the body center line a; that is, the center line of the body divides the fourth light field area 23 emitted by the orientation transmitter into two equal-area sub-charging signal guidance areas. Wherein, when the corresponding overlapping areas of the two sub-charging signal guidance areas and the two sub-signal receiving areas are equal respectively, the sum of the first intensity value and the third intensity value is equal to the sum of the second intensity value and the third intensity value.

[0097] In some embodiments, as shown in Figures 4 to 9 The robot body 11 includes a front impact assembly 12, for example, in an arc-shaped structure. Wherein, the front impact assembly 12 includes an arc-shaped circuit board 121, and the first signal receiver 13 and the second signal receiver 14 are integrated on the same circuit board 121. In addition, the circuit board 121 also integrates an obstacle detection sensor for detecting obstacles encountered by the cleaning robot 10 during movement, and controlling the cleaning robot 10 to avoid obstacles through the controller.

[0098] It should be understood that the first signal receiver 13 and the second signal receiver 14 are integrated on the same circuit board 121 on the front impact assembly 12, so that the cleaning robot 10 does not need to additionally increase the circuit board 121 for separately integrating the first signal receiver 13 and the second signal receiver 14, thereby saving costs and optimizing the internal space of the cleaning robot 10.

[0099] In some embodiments, as shown in Figure 5 and Figure 6As shown, the first signal receiver 13 and the second signal receiver 14 each include a signal receiving component 16 and a conductive pin 17, which is conductively connected between the signal receiving component 16 and the circuit board 121; the conductive pin 17 includes a first conductive connecting section 171 and a second conductive connecting section 172, and the included angle between the first conductive connecting section 171 and the second conductive connecting section 172 is greater than 0° and less than 180°.

[0100] It can be understood that the first signal receiver 13 and the second signal receiver 14 each realize that the included angle between the first signal receiving plane and the center line a of the fuselage of the robot body 11 is greater than 45° and that the included angle between the second signal receiving plane and the center line a of the fuselage of the robot body 11 is greater than 45° by first bending the conductive pin 17 and then welding the conductive pin 17 on the circuit board 121. The included angle between the first conductive connecting section 171 and the second conductive connecting section 172 can be adjusted according to the required included angle between the first signal receiving plane and the second signal receiving plane and the center line a of the fuselage of the robot body 11.

[0101] For example, the front collision component 12 further includes a bracket 123 and a front collision body 122, the bracket 123 is connected to the main machine, the circuit board 121 is fixedly connected to the bracket 123, and the front collision body 122 is connected to the bracket 123, and the circuit board 121 is located between the front collision body 122 and the bracket 123.

[0102] The bracket 123 is provided with a guide groove 101, the guide groove 101 includes a first guide inclined surface 101a and a second guide inclined surface 101b, the first conductive connecting section 171 abuts against the first guide inclined surface 101a, and the second conductive connecting section 172 abuts against the second guide inclined surface 101b.

[0103] It can be understood that when the conductive pin 17 is bent, it is easy to restore the deformation of the conductive pin 17 during the use of the cleaning robot 10, for example, when a collision occurs, therefore, the first conductive connecting section 171 is limited by abutting against the first guide inclined surface 101a, and the second conductive connecting section 172 is limited by abutting against the second guide inclined surface 101b, which can ensure that the bending angle between the first conductive connecting section 171 and the second conductive connecting section 172 does not change, and thus the included angle between the first signal receiving plane and the second signal receiving plane and the center line a of the fuselage of the robot body 11 remains unchanged, which is beneficial to product quality control.

[0104] The circuit board 121 is provided with a relief hole 102 penetrating through the circuit board 121, the conductive pin 17 is welded on one side of the circuit board 121 close to the bracket 123, the signal receiving component 16 abuts against the hole wall of the relief hole 102, and the receiving component includes an infrared receiving lamp, which is exposed from the relief hole 102.

[0105] In the example, the front collision assembly 12 further comprises a front collision transparent plate 124 fixedly connected to the front collision body 122. The front collision transparent plate 124 is provided with a first concave mirror structure 1241 and a second concave mirror structure 1242 on the side close to the front collision body 122, the first concave mirror structure 1241 is provided corresponding to the first signal receiver 13, and the second concave mirror structure 1242 is provided corresponding to the second signal receiver 14.

[0106] It can be understood that, through the arrangement of the first concave mirror structure 1241 and the second concave mirror structure 1242, when the infrared light emitted by the first signal receiver 13 and the second signal receiver 14 passes through the first concave mirror structure 1241 and the second concave mirror structure 1242, the first concave mirror structure 1241 and the second concave mirror structure 1242 can scatter the light to expand the areas of the first signal receiving area 13a and the second signal receiving area 14a, thereby reducing the area of the detection blind area 18.

[0107] In summary, in the embodiment, by bending the first signal receiver 13 and the second signal receiver 14, the angles between the first signal receiving plane and the second signal receiving plane and the center line a of the machine body of the robot main body 11 are greater than 45°, which ensures that the first signal receiving area 13a and the second signal receiving area 14a can intersect with the center line a of the machine body, thereby reducing the areas of the first sub-blind area 181 and the second sub-blind area 182. When the cleaning robot 10 fails to dock with the charging device 20, even if the cleaning robot 10 moves to the first infrared emitter emitted first guard area 21, since the maximum coverage distance of the first sub-blind area 181 and the second sub-blind area 182 is less than the distance of the first guard area 21, the first guard area 21 emitted by the first infrared emitter will not only cover the first sub-blind area 181 and / or the second sub-blind area 182, but also at least cover part of the first signal receiving area 13a, the second signal receiving area 14a or the third signal receiving area 15a. At this time, the controller of the cleaning robot 10 can perform signal processing according to the charging guidance signals received by the first signal receiver 13, the first signal receiver 13 or the intermediate signal receiver 15, and make the cleaning robot 10 exit the first guard area 21 emitted by the first infrared emitter, so as to avoid the cleaning robot 10 continuing to move towards the charging device 20 and finally colliding with the charging device 20, damaging the cleaning robot 10 or the charging device 20.

[0108] Embodiment two

[0109] The cleaning robot of the second embodiment is substantially the same as the cleaning robot of the first embodiment, except that the intermediate signal receiver and the front collision component of the second embodiment are different from the intermediate signal receiver and the front collision component of the first embodiment, and the docking method of the cleaning robot and the charging device is different. Specifically:

[0110] In some embodiments, as shown in FIGS. 1A and 1B, the first signal receiver 13 includes a signal receiving light, and the signal receiving light receives a signal of a first intensity value. The second signal receiver 14 includes a signal receiving light, and the signal receiving light receives a signal of a second intensity value. The intermediate signal receiver 15 includes a signal receiving light (i.e., a third signal receiving light), and the third signal receiving light receives a signal of a fifth intensity value. Figure 10 Figure 11 In some embodiments, as shown in FIGS. 1A and 1B, the first signal receiver 13 includes a signal receiving light, and the signal receiving light receives a signal of a first intensity value. The second signal receiver 14 includes a signal receiving light, and the signal receiving light receives a signal of a second intensity value. The intermediate signal receiver 15 includes a signal receiving light (i.e., a third signal receiving light), and the third signal receiving light receives a signal of a fifth intensity value.

[0111] In some embodiments, when the cleaning robot 10 docks with the charging device 20, the cleaning robot 10 adjusts the pose to a sum of the first intensity value and the fifth intensity value equal to a sum of the second intensity value and the fifth intensity value, so that the cleaning robot 10 and the charging device 20 are centered relative to each other.

[0112] It should be understood that the cleaning robot 10 can adjust the motion strategy of the cleaning robot 10 according to the different charging guidance signal intensity received by the first signal receiver 13, the second signal receiver 14, and the intermediate signal receiver 15.

[0113] ​For example, if the first intensity value received by the first signal receiver 13 is greater than 0, and the second intensity value received by the second signal receiver 14 and the fifth intensity value received by the intermediate signal receiver 15 are equal to 0, the cleaning robot 10 can determine that the charging device 20 is located at the left side of the cleaning robot 10, and then the cleaning robot 10 adjusts the moving strategy according to the relative position of the charging device 20 until the sum of the first intensity value and the fifth intensity value is equal to the sum of the second intensity value and the fifth intensity value. Similarly, if the second intensity value received by the second signal receiver 14 is greater than 0, and the second intensity value received by the first signal receiver 13 and the fifth intensity value received by the intermediate signal receiver 15 are equal to 0, the cleaning robot 10 can determine that the charging device 20 is located at the right side of the cleaning robot 10, and then the cleaning robot 10 adjusts the moving strategy according to the relative position of the charging device 20 until the sum of the first intensity value and the fifth intensity value is equal to the sum of the second intensity value and the fifth intensity value. Of course, if the fifth intensity value received by the intermediate signal receiver 15 is greater than 0, and the sum of the first intensity value and the fifth intensity value is not equal to the sum of the second intensity value and the fifth intensity value, the cleaning robot 10 can determine that the charging device 20 is located at the front of the cleaning robot 10, and then the cleaning robot 10 adjusts the moving strategy according to the relative position of the charging device 20 until the sum of the first intensity value and the fifth intensity value is equal to the sum of the second intensity value and the fifth intensity value.

[0114] For the other structures of the cleaning robot, please refer to the first embodiment, which will not be repeated here.

[0115] Embodiment Three

[0116] The third embodiment also provides a cleaning system, which comprises the charging device and the cleaning robot described above, and the cleaning robot is completely the same as the cleaning robot of the first embodiment, specifically:

[0117] In the embodiment, the charging device 20 comprises a signal emitting unit, which is used to emit the charging guide signal. For example, the signal emitting unit is an infrared emitter, and the more the number of the infrared emitters, the larger the range of the charging guide signal formed, which makes it easier for the cleaning robot 10 to find the charging device 20 through the first signal receiver 13, the second signal receiver 14 and the intermediate signal receiver 15.

[0118] The signal emitting unit comprises a guard emitter and a direction emitter, which can be referred to the previous description, and will not be repeated here. Of course, in other embodiments, the signal emitting unit can not comprise the guard emitter.

[0119] For the other structures of the cleaning robot, please refer to the first embodiment, which will not be repeated here.

[0120] In addition, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or implying a number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0121] In the present application, unless otherwise explicitly specified and limited, the terms "assembly", "connection" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0122] In the description of the present application, the description of the terms "some embodiments", "exemplarily" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are contained in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples, without contradiction.

[0123] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application. Therefore, any changes or modifications made in accordance with the claims and description of the present application shall be within the scope of the present application.

Claims

1. A cleaning robot, characterized in that, The robot comprises a robot body, a first signal receiver, a second signal receiver, a middle signal receiver and a controller; The first signal receiver is configured to detect a charging guide signal emitted by a charging device on the left side of the robot body, the second signal receiver is configured to detect the charging guide signal emitted by the charging device on the right side of the robot body, and the middle signal receiver is configured to detect the charging guide signal emitted by the charging device in front of the robot body; the center line of the middle signal receiver is arranged to coincide with the center line of the robot body, and the center lines of the first signal receiver and the second signal receiver are arranged to be symmetrical about the center line of the robot body; the detection area of the first signal receiver is a first signal receiving area, the detection area of the second signal receiver is a second signal receiving area, and the detection area of the middle signal receiver is a third signal receiving area; the right boundary of the first signal receiving area intersects with the center line, the left boundary of the second signal receiving area intersects with the center line, and the first signal receiving area and the second signal receiving area coincide in front of the robot body. The controller is electrically connected to the first signal receiver, the second signal receiver and the middle signal receiver, and determines the relative position of the cleaning robot and the charging device according to the signals received by the first signal receiver, the second signal receiver and the middle signal receiver.

2. The cleaning robot according to claim 1, wherein, A detection blind area is formed between the first signal receiving area and the second signal receiving area, and the detection blind area is located in front of the robot body. The middle signal receiver is arranged on the robot body and is electrically connected to the controller; the middle signal receiver is located between the first signal receiver and the second signal receiver; the detection area of the middle signal receiver is a third signal receiving area, and the third signal receiving area covers at least part of the detection blind area; and the controller determines the relative position of the cleaning robot and the charging device according to the signal received by the middle signal receiver.

3. The cleaning robot according to claim 2, wherein, The signal strength received by the first signal receiver is a first intensity value, the signal strength received by the second signal receiver is a second intensity value, the middle signal receiver comprises a first signal receiving lamp and a second signal receiving lamp, the signal strength received by the first signal receiving lamp is a third intensity value, and the signal strength received by the second signal receiving lamp is a fourth intensity value; When the cleaning robot is docked with the charging device, the cleaning robot adjusts the pose so that the sum of the first intensity value and the third intensity value is equal to the sum of the second intensity value and the fourth intensity value, so that the cleaning robot and the charging device are centered relative to each other.

4. The cleaning robot according to claim 2, wherein, The signal strength received by the first signal receiver is a first intensity value, the signal strength received by the second signal receiver is a second intensity value, and the intermediate signal receiver comprises a third signal receiving lamp, the signal strength received by the third signal receiving lamp is a fifth intensity value; When the cleaning robot is docked with the charging device, the cleaning robot adjusts the pose to make the sum of the first intensity value and the fifth intensity value equal to the sum of the second intensity value and the fifth intensity value, so that the cleaning robot is centered with the charging device.

5. The cleaning robot according to claim 2, wherein, The third signal receiving area partially overlaps with the first signal receiving area, and a first sub-blind area is formed between the third signal receiving area and the first signal receiving area. The third signal receiving area partially overlaps with the second signal receiving area, and a second sub-blind area is formed between the third signal receiving area and the second signal receiving area. The maximum coverage distance of the first sub-blind area and the second sub-blind area is less than the signal coverage distance of the near guard transmitter of the charging device.

6. The cleaning robot according to claim 1, wherein, The horizontal interval distance between the first signal receiver and the second signal receiver is 280 mm to 0 mm. The detection angle of the first signal receiver in the first signal receiving area is 80° to 100°. The detection angle of the second signal receiver in the second signal receiving area is 80° to 100°.

7. The cleaning robot of claim 1, wherein, The signal strength received by the first signal receiver is a first intensity value, and the signal strength received by the second signal receiver is a second intensity value. When the controller determines that the first signal receiver and the second signal receiver both detect the charging guide signal emitted by the charging device, and the first intensity value is equal to the second intensity value, it is determined that the charging device is located directly in front of the cleaning robot.

8. The cleaning robot of claim 1, wherein, The first signal receiver and the second signal receiver are symmetrically arranged about the center line of the robot body. The first signal receiver comprises a first signal receiving plane, and the angle between the first signal receiving plane and the center line of the robot body is greater than 45°. The second signal receiver comprises a second signal receiving plane, and the angle between the second signal receiving plane and the center line of the robot body is greater than 45°.

9. The cleaning robot according to claim 1, wherein, The robot body comprises a front collision assembly. The first signal receiver and the second signal receiver are integrated on the same circuit board. 10.The cleaning robot according to claim 9, wherein, The first signal receiver and the second signal receiver each comprise a signal receiving assembly and a conductive pin, and the conductive pin is conductively connected between the signal receiving assembly and the circuit board. The conductive pin comprises a first conductive connection section and a second conductive connection section, and the angle between the first conductive connection section and the second conductive connection section is greater than 0° and less than 180°. 11.The cleaning robot according to claim 10, wherein The front collision assembly further comprises a bracket and a front collision body. The bracket is connected to the robot body, the circuit board is fixedly connected to the bracket, and the front collision body is connected to the bracket. The circuit board is located between the front collision body and the bracket. The support is provided with a guide groove, the guide groove comprises a first guide slope and a second guide slope, the first conductive connection section abuts against the first guide slope, and the second conductive connection section abuts against the second guide slope.

12. The cleaning robot of claim 9, wherein, The front collision assembly further comprises a first concave mirror structure and a second concave mirror structure, the first concave mirror structure is arranged corresponding to the first signal receiver, and the second concave mirror structure is arranged corresponding to the second signal receiver.

13. A cleaning system characterized by, The cleaning robot comprises the charging device and any one of claims 1-12, and the charging device comprises a signal transmitting unit configured to transmit the charging guidance signal.

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