A cleaning robot

Abstract

The application discloses a cleaning robot, and relates to the technical field of cleaning equipment. The cleaning robot comprises a machine body, an elastic hose, a liquid flow channel formed in the elastic hose, an on-off component arranged on one side of the elastic hose, the on-off component being movable between a closed position and an open position for controlling the on-off of the elastic hose, a cleaning assembly pivotally connected to the bottom of the machine body, the cleaning assembly being movable between a lifting position close to the machine body and a descending position away from the machine body, and a driving device for driving the on-off component and the cleaning assembly to move. The cleaning robot drives the on-off component and the cleaning assembly to move through the driving device, the number of parts required to be installed in the cleaning equipment is reduced, the installation space provided by the machine body is saved, the cleaning range covered by the cleaning equipment is improved, the weight of the whole cleaning equipment is reduced, the power system of the cleaning robot is relieved, energy is saved, and the endurance of the cleaning robot is improved.

Description

Technical Field

[0001] This invention relates to the technical field of cleaning equipment, and more particularly to a cleaning robot. Background Technology

[0002] Existing cleaning equipment with cleaning functions (floor scrubbing, mopping, etc.) includes a mop assembly located at the bottom of the machine and a water channel structure for supplying cleaning fluid and collecting and recycling fluid. When the cleaning equipment cleans a specific surface, the cleaning fluid in the clean water tank is sprayed onto the mop assembly through the water channel structure to wet the mop assembly. After the mop assembly cleans the surface to be cleaned, the recycled fluid on the mop assembly is collected into the wastewater tank through the water channel structure to avoid secondary pollution to the cleaned surface.

[0003] When the mop assembly of a cleaning device encounters carpets or other objects that do not require scrubbing on the surface, or when there are obstacles, the mop assembly needs to lift or stop to allow the device to selectively scrub the surface and overcome obstacles. In the water system structure, the pipelines used to transport cleaning and recovery solutions are typically controlled by pumps, valves, and other devices to maintain their connection to the external environment.

[0004] The cleaning equipment requires separate drive units to control the mop assembly and to control the water pump and valves. This design necessitates providing internal space to accommodate multiple drive units, resulting in a compact structure and low component integration. Consequently, the overall size and weight of the cleaning equipment are significant, greatly limiting its cleaning range and increasing the burden on its power system. Furthermore, the complex internal structure increases the difficulty of disassembly and assembly, reducing the efficiency of maintenance and repair. Summary of the Invention

[0005] The purpose of this invention is to provide a cleaning robot that solves the problems of large overall size and weight due to numerous components in the installation space, which affects the cleaning range, and the complex installation structure in the installation space, making disassembly and assembly difficult.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] On the one hand, a cleaning robot is provided, including:

[0008] The body provides installation space;

[0009] An elastic hose is disposed in the installation space, and a liquid flow channel is formed in the elastic hose;

[0010] A switching component is disposed on one side of the elastic hose, and the switching component can move between a closed position and an open position; in the closed position, the switching component acts on the elastic hose to cut off the liquid flow channel; in the open position, the switching component releases the elastic hose to allow the elastic hose to elastically reset and connect the liquid flow channel.

[0011] A cleaning assembly, pivotally connected to the bottom of the body, allows the cleaning assembly to move up and down between a raised position close to the body and a lowered position away from the body;

[0012] A drive device is connected to the on / off component and the cleaning assembly for driving the on / off component and the cleaning assembly to move. When the cleaning robot is in the cleaning operation state, the on / off component is in the closed position.

[0013] As an optional implementation, the driving device is provided with a first output terminal;

[0014] The switching component is driven to the first output terminal, and the cleaning component is driven to the switching component, so that the driving device can synchronously drive the cleaning component through the switching component.

[0015] Alternatively, the cleaning component is driven to the first output terminal, and the switching component is driven to the cleaning component, so that the driving device can synchronously drive the switching component through the cleaning component.

[0016] As an optional implementation, the driving device is provided with a first output terminal and a second output terminal for synchronous motion;

[0017] The on / off component is driven to the first output terminal, and the cleaning component is driven to the second output terminal.

[0018] As an optional implementation, the switching component is a cam structure, and the switching component has a contour surface. In the axial projection direction of the switching component, the distance between the contour surface and the axis of the switching component changes in an involute manner.

[0019] The contoured surface can move in a direction close to or away from the elastic hose as the switching component rotates.

[0020] As an optional implementation, a pressure fitting is provided between the on / off component and the elastic hose, and the contoured surface slidably acts on one side of the pressure fitting;

[0021] The pressure fitting can move in a direction close to or away from the elastic hose under the rotation of the on / off component, so that the pressure fitting is linearly driven by the rotation of the on / off component to squeeze or release the elastic hose.

[0022] As an optional implementation, a crank and a connecting rod are provided between the drive device and the cleaning component;

[0023] The first end of the crank is movably connected to the machine body;

[0024] The connecting rod is movably connected to the second end of the crank and the cleaning assembly, respectively.

[0025] The drive device is connected to the crank drive and is used to drive the second end of the crank to swing relative to the body about its first end, so as to drive the cleaning component to move through the connecting rod.

[0026] As an optional implementation, an elastic component is provided between the cleaning component and the body;

[0027] The elastic component is used to continuously apply an elastic force to the cleaning assembly in the direction of downward movement.

[0028] As an optional implementation, a movable shaft and an obstacle-crossing groove are provided between the crank and the connecting rod, and the movable shaft is inserted into the obstacle-crossing groove and is clearance-fitted with the obstacle-crossing groove;

[0029] The movable shaft is disposed on the crank, and the obstacle-crossing groove is correspondingly opened on the connecting rod and extends along the direction of the connecting rod. The obstacle-crossing groove provides adjustment space for the movable shaft to move in the radial direction, so that the cleaning component can move from the lowered position to the raised position under the action of external force.

[0030] As an optional implementation, it also includes:

[0031] A mounting shell is disposed in the mounting space and connected to the body, and the interior of the mounting shell is hollow to form a receiving cavity;

[0032] The switching component is disposed in the receiving cavity, and a switching gap is formed between the switching component and the cavity wall of the receiving cavity for the elastic hose to pass through. The switching gap in the closed position is smaller than the switching gap in the open position.

[0033] The mounting housing has two hose through holes, which are respectively connected to the on / off gap, providing space for the elastic hose to enter and exit the mounting housing.

[0034] As an optional implementation, the accommodating cavity is provided with a first limiting part and a second limiting part;

[0035] When the switching component is in the open position, the first limiting part abuts against the switching component, restricting the degree of freedom of the switching component to move from the closed position to the open position;

[0036] When the switching component is in the closed position, the second limiting part abuts against the switching component, restricting the degree of freedom of the switching component to move from the open position to the closed position.

[0037] As an optional implementation, it also includes:

[0038] A position sensor is used to detect the position status of at least one of the on / off component, the cleaning component, and the drive device.

[0039] As an optional implementation, the position sensor includes a first optocoupler, which is fixedly disposed on one side of the on / off component;

[0040] The first optocoupler includes a first emitter and a first receiver. The switching component is provided with a first light guide and a second light guide corresponding to the closed position and the open position. In the closed position, the first receiver either does not receive a light source or receives light emitted by the first emitter and reflected by the first light guide. In the open position, the first receiver receives light emitted by the first emitter and reflected by the second light guide.

[0041] As an optional implementation, the position sensor further includes a second optocoupler, which is fixedly disposed on one side of the on / off component;

[0042] The second optocoupler includes a second emitter and a second receiver. The switching component is provided with a third light guide and a fourth light guide corresponding to the raised and lowered positions of the cleaning component. In the lowered position, the second receiver receives light emitted by the second emitter and reflected by the third light guide. In the raised position, the second receiver receives light emitted by the second emitter and reflected by the fourth light guide.

[0043] As an optional implementation, when the first light receiver receives light emitted by the first light emitter and reflected by the first light guide, the second light receiver receives light emitted by the second light emitter and reflected by the fourth light guide.

[0044] The beneficial effects of this invention are as follows: The cleaning robot synchronously drives the movement of the switching components and cleaning parts through a drive device, reducing the number of parts required in the cleaning equipment and thus saving installation space. The overall size (height and width) of the cleaning robot is reduced, allowing it to enter smaller areas for cleaning operations and increasing the cleaning range it can cover. Furthermore, the reduced number of components also lowers the overall weight of the equipment, reducing the burden on the robot's power system, thereby saving energy and improving its endurance. Attached Figure Description

[0045] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0046] Figure 1 This is one of the schematic diagrams of the overall structure of the cleaning robot described in an embodiment of the present invention;

[0047] Figure 2 This is a second schematic diagram of the overall structure of the cleaning robot according to an embodiment of the present invention;

[0048] Figure 3 This is the third schematic diagram of the overall structure of the cleaning robot described in this embodiment of the invention;

[0049] Figure 4 This is a bottom view of the cleaning robot described in an embodiment of the present invention;

[0050] Figure 5 This is a partial cross-sectional view of the cleaning robot described in an embodiment of the present invention;

[0051] Figure 6 This is one of the schematic diagrams of the internal structure of the cleaning robot described in an embodiment of the present invention (body omitted);

[0052] Figure 7 This is a second schematic diagram of the internal structure of the cleaning robot described in an embodiment of the present invention (body omitted);

[0053] Figure 8 One of the exploded views of the internal structure of the cleaning robot described in an embodiment of the present invention (body omitted);

[0054] Figure 9 This is a second exploded view of the internal structure of the cleaning robot described in an embodiment of the present invention (body omitted);

[0055] Figure 10 This is one of the schematic diagrams showing the closed position state of the switching component according to an embodiment of the present invention;

[0056] Figure 11 This is a second schematic diagram of the closed position of the switching component according to an embodiment of the present invention (cleaning component lifting position);

[0057] Figure 12 This is a schematic diagram of the open position state of the switching component according to an embodiment of the present invention;

[0058] Figure 13 This is one of the schematic diagrams of the descent position of the cleaning component according to an embodiment of the present invention (closed position of the on / off component);

[0059] Figure 14 This is a schematic diagram of the lifting position of the cleaning component according to an embodiment of the present invention (closed position of the on / off component);

[0060] Figure 15 This is a second schematic diagram of the descent position of the cleaning component according to an embodiment of the present invention (open position of the on / off component);

[0061] Figure 16 This is a schematic diagram illustrating the cooperation relationship between the on / off component and the position sensor according to an embodiment of the present invention;

[0062] Figure 17 This is a schematic diagram of the control method steps for the cleaning robot according to an embodiment of the present invention.

[0063] In the diagram: 10. Body; 11. Mounting shell; 111. Receiving cavity; 112. On / off gap; 113. Hose through hole; 114. First limiting part; 115. Second limiting part; 116. Guide groove; 12. Position sensor; 121. First optocoupler; 122. Second optocoupler; 13. Mounting groove; 20. Elastic hose; 30. On / off component; 31. Pressure fitting; 311. Pressure rib; 32. First light guide; 33. Second light guide; 34. Third light guide; 35. Fourth light guide; 36. First contour surface; 37. Second contour surface; 38. Guide block; 40. Cleaning assembly; 41. Elastic component; 42. Fixing frame; 43. Roller brush assembly; 50. Drive device; 60. Crank; 61. Movable shaft; 70. Connecting rod; 71. Obstacle crossing groove; 80. First rotation trajectory; 90. Second rotation trajectory. Detailed Implementation

[0064] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0067] like Figures 1-5 As shown, this embodiment provides a cleaning robot, which aims to reduce the number of internal components, increase component integration, simplify the installation structure, increase the cleaning coverage of the cleaning robot, and reduce the burden on the equipment's power system.

[0068] This cleaning robot has good scalability, especially when combined with artificial intelligence, it can choose whether to clean the surface based on the environment and the surface to be cleaned.

[0069] like Figures 1-4 The diagram shown is a simplified overall structure of the cleaning robot described in this embodiment. It can be understood that a cleaning robot is a type of intelligent home appliance, which can be an automatic cleaning robot, intelligent vacuum cleaner, floor mopping / brushing robot, window-climbing robot, etc. It is a type of intelligent home appliance that can automatically complete cleaning tasks within its designated area using a certain level of artificial intelligence. Cleaning robots generally use a combination of brushing and vacuuming to first collect dust and debris into their dust collection box, and then use a moistened cleaning component 40 to scrub the floor, thus completing the floor cleaning function.

[0070] The cleaning robot includes a body 10 for providing space for component installation, a cleaning component 40, and components for assisting the cleaning component 40 in sweeping and wiping the surface to be cleaned, all of which can be installed in the installation space.

[0071] The cleaning component 40 described in this embodiment can be a cleaning tool such as a roller brush, brush, or scraper used to sweep the surface to be cleaned, which can move and guide materials of a certain volume, such as dust and debris, on the surface to be cleaned in one direction; or it can be a cleaning tool such as a cloth with water-absorbing properties used to wipe the surface to be cleaned.

[0072] The cleaning component 40 in this embodiment is an example of a cleaning tool used for wiping the surface to be cleaned and provided with a water-absorbing material.

[0073] The cleaning robot can be remotely controlled or operated using the control panel on the body 10. The body 10 can be equipped with a control system, drive system, cleaning system, energy system and human-machine interaction system. On the outside of the body 10, a sensing system can be installed so that the body 10 can use the sensing system to enable the cleaning robot to clean a certain area in a planned manner through the control system and drive system.

[0074] In some embodiments, the body 10 can be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform refers to the body 10 itself that can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but can execute predetermined programs or operate according to certain logic.

[0075] The sensing system includes a position determination device located above the body 10, a buffer device located on one side of the body 10 in the direction of forward movement, a cliff sensor and an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer, or one or more other sensing devices located at the bottom of the body 10, which provide the control system with various position information and motion status information of the machine.

[0076] Cliff sensors are used to prevent cleaning robots from falling off ground structures or platforms with significant elevation differences during movement, thus avoiding damage to the robot.

[0077] Location determination devices include, but are not limited to, cameras and laser rangefinders (LDS).

[0078] The components of the sensing system can operate independently or collaboratively to achieve the intended function more accurately. Cliff sensors and ultrasonic sensors identify the surface to be cleaned to determine its physical characteristics, including material and cleanliness. This can be further enhanced by combining sensors such as cameras and laser rangefinders for more precise assessment.

[0079] For example, ultrasonic sensors can be used to determine whether the surface to be cleaned is carpet, whether there are obstacles, and the height of obstacles. If the ultrasonic sensor determines that the surface to be cleaned is carpet, the control system determines that the carpet area does not need to be wiped and controls the cleaning component 40 to rise, or the control system controls the cleaning equipment to perform carpet cleaning. Similarly, when the ultrasonic sensor determines that the surface to be cleaned has obstacles, a more accurate determination can be made by combining the sensor with a camera and a laser rangefinder to determine whether the cleaning robot can overcome the obstacle. If it is determined that it cannot overcome the obstacle, the control system controls the power system to steer and avoid the obstacle when approaching it. If it is determined that it can overcome the obstacle, the control system controls the cleaning component 40 to rise and overcome the obstacle. Of course, the cleaning component 40 can also be equipped with a passive obstacle-crossing structure, so that the cleaning component 40 adapts to the structure of the surface to be cleaned. When the obstacle comes into contact with the cleaning component 40, the cleaning component 40 is passively raised towards the side closer to the body 10 by the force exerted by the obstacle to overcome the obstacle.

[0080] During the cleaning operation of the cleaning robot, the buffer can detect one or more events (or objects) in the travel path of the robot body 10 via a sensor system, such as an infrared sensor. The automatic cleaning device can respond to the events (or objects) detected by the buffer, such as obstacles or walls, by controlling the power system, such as avoiding obstacles.

[0081] The control system is located on the main circuit board of the machine body 10, including but not limited to non-temporary memory such as hard disk, flash memory, and random access memory, and a computing processor for communication such as a central processing unit and application processor. Specifically, the control system can combine distance and speed information fed back by sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the sweeper, such as crossing a threshold, stepping on a carpet, being on a cliff, being stuck above or below, having a full dustbin, having a full wastewater tank, being picked up, etc. It will also provide specific next action strategies for different cleaning conditions, making the operation of the automatic cleaning equipment more in line with the user's requirements and providing a better user experience.

[0082] The human-machine interface system includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine status or available functions; and it may include a mobile client application. For path-navigation cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0083] Specifically, the cleaning system described above includes at least one cleaning component 40, a water supply mechanism, a water return mechanism, and a water tank.

[0084] The cleaning component 40 can move autonomously or involuntarily along the surface to be cleaned, either independently or involuntarily with the body 10. The cleaning component 40 has a cleaning cloth or cleaning plate on the surface in contact with the surface to be cleaned. Through relative movement with the surface, friction is generated between the cleaning component 40 and the surface to be cleaned, thereby removing stains from the surface. In this embodiment, the cleaning component 40 includes a material with water storage function. It can be a cleaning roller including absorbent fabric, or a mop floor including absorbent fabric. The absorbent fabric can be a strip of fabric or a sheet of fabric, etc. A water tank is also provided inside the body 10. Generally, the water tank includes a clean water tank (not shown) and a wastewater tank (not shown). The clean water tank is configured to store cleaning fluid, and the wastewater tank is configured to store recycled fluid. The clean water tank and the wastewater tank are independent and each has an opening for easy filling or cleaning.

[0085] Understandably, the clean water tank is equipped with a clean water outlet for wetting the cleaning component 40, while the wastewater tank is equipped with a wastewater collection port and a wastewater outlet. The wastewater collection port is connected to the cleaning component 40. After the cleaning liquid is collected and used to wipe the surface to be cleaned by the cleaning component 40, the cleaning liquid becomes contaminated and forms a recycled liquid. The wastewater collection port is used to collect the recycled liquid to avoid secondary pollution to the surface to be cleaned later. When the wastewater tank is full, or when the cleaning robot needs to be cleaned and maintained, the wastewater tank can discharge the recycled liquid inside the cleaning robot through the wastewater outlet.

[0086] The clean water tank and the wastewater tank are also equipped with water level detection devices. These devices can detect the water level in the clean water tank and the wastewater tank. When the water level in the clean water tank is insufficient or the water level in the wastewater tank is too high, the system will remind the user to intervene manually through the display screen and / or indicator lights and / or speaker and / or mobile client program of the human-machine interaction system, or automatically return to the base station to replenish the cleaning solution or discharge the recycled solution.

[0087] The aforementioned water delivery mechanism is directly or indirectly connected to the clean water outlet of the clean water tank. The cleaning fluid can flow from the clean water tank to the water delivery mechanism and wet the cleaning component 40. After the cleaning component 40 cleans the surface to be cleaned, the cleaning fluid becomes contaminated, forming a recycled fluid. This recycled fluid can be squeezed out of the cleaning component 40 by means of a scraper, pressure roller, or other recycling mechanism. The return water mechanism connects the cleaning component 40 to the wastewater tank, thereby sending the squeezed-out recycled fluid into the wastewater tank.

[0088] The body 10 has an internal space for accommodating components such as the control system, drive system, cleaning system, energy system, and human-machine interaction system. Specifically, the body 10 can be a one-piece molded shell structure, with the upper and / or lower sides of the shell structure forming the aforementioned installation space. It can be formed by one-piece injection molding, casting, milling, or other methods, or it can be formed by assembling multiple parts after they are individually processed. The body 10 has a number of holes that connect the upper and lower sides of the shell structure, allowing components installed on the upper and lower sides of the body 10 to be connected through the holes, or allowing the cavity-like installation space formed inside the shell structure to be open and connected to the external environment. This allows at least some components of each system to extend from the through holes and be installed on the surface or outside of the body 10, realizing the interaction and linkage between the body 10 and the external environment and the user.

[0089] like Figures 6-9 As shown, the flexible hose 20 serves as a channel structure for the water system. It can be connected between the cleaning component 40 and the clean water tank as a water delivery mechanism or a water return mechanism, or connected between the wastewater tank and the external environment of the cleaning robot. In this example, the flexible hose 20 is located on the upper side of the body 10. Of course, it can also be located on the lower side of the body 10 or pass through the above-mentioned holes to the upper and lower sides of the body 10, depending on the structure of the body 10.

[0090] In this embodiment, taking the flexible hose 20 connected to the sewage tank and the external environment of the cleaning robot as an example, the flexible hose 20 is used to discharge the recycled liquid and debris in the sewage chamber. The flexible hose 20 has a through structure, and its interior provides a liquid flow channel for the recycled liquid to flow.

[0091] Understandably, the flexible hose 20 is made of an elastomeric material, which needs to possess a certain degree of deformability, that is, a certain degree of flexible deformation function, and the characteristic of returning to its original shape through its own elastic force after deformation. In other words, the flexible hose 20 can deform under stress and quickly return to its approximate initial shape and size after the external force is removed. It can be made of an elastic polymer, or of course, other materials with the same physical properties.

[0092] The on / off component 30 is used to control the deformation of the elastic hose 20. In this embodiment, the elastic hose 20 is used to discharge the recycled liquid and debris in the sewage tank. Therefore, the on / off component 30 is used to control the sewage tank to be cut off or connected to the external environment, so that the sewage tank can be selectively cut off or connected to the external environment according to the state of the on / off component 30. In this embodiment, the on / off component 30 is provided on one side of the elastic hose 20. The on / off component 30 can move relative to the elastic hose 20 and can move between the closed position and the open position.

[0093] When the on / off component 30 is in the closed position, the on / off component 30 acts on the elastic hose 20, causing the elastic hose 20 to deform and thereby cutting off the liquid flow path.

[0094] When the on / off component 30 is in the open position, the on / off component 30 releases the elastic hose 20, causing the elastic hose 20 to elastically reset, thereby reconnecting the liquid flow channel.

[0095] like Figures 6-7 As shown, it should be noted that the direction of movement of the switching component 30 relative to the elastic hose 20 is not specifically limited at this stage, as long as it has the freedom to reciprocate in the direction of approaching and moving away from the elastic hose 20. For example, the switching component 30 can be a mechanical structure with motion characteristics such as an intermittent motion mechanism or a reciprocating motion mechanism, or a device component with functional characteristics such as intermittent motion function or reciprocating motion function, including but not limited to ratchet mechanisms, Geneva mechanisms, linkage mechanisms, cam mechanisms, cylinders, hydraulic cylinders, lead screw mechanisms, etc. Figures 10-11 As shown, when the switching component 30 moves from the open position to the closed position, at least one part of the switching component 30 moves from the side away from the elastic hose 20 towards the side closer to the elastic hose 20 and acts on the elastic hose 20 to deform it, thereby cutting off the liquid flow path, as shown. Figure 12 As shown, when the switching component 30 moves from the closed position to the open position, the side of the switching component 30 acting on the elastic hose 20 moves from the side closest to the elastic hose 20 away from the elastic hose 20, ultimately releasing the elastic hose 20 and allowing the elastic hose 20 to restore the connection of the liquid flow channel through elastic force. It should be noted that the aforementioned release of the elastic hose 20 by the switching component 30 refers to a state where the switching component 30 and the elastic hose 20 are not in contact, so that the switching component 30 does not apply any force to the elastic hose 20, or the force applied by the switching component 30 to the elastic hose 20 is not enough to cut off the liquid flow channel.

[0096] like Figures 4-5As shown, in order to improve the compactness of the cleaning robot structure and reduce the overall thickness, the bottom of the body 10 in this embodiment is provided with an upward recessed mounting groove 13. The cleaning component 40 is disposed at the bottom of the body 10 and is at least partially housed in the mounting groove 13. The roller brush component 43 of the cleaning component 40 for wiping the surface to be cleaned protrudes from the lower part of the body 10, so that when the cleaning robot is placed on the support plane, the cleaning head is on the side relatively away from the body 10 and close to the surface to be cleaned, which also allows the center of gravity of the cleaning robot to be lowered. The cleaning component 40 is pivotally connected to the body 10 to form a movable end, so that the cleaning component 40 can move relative to the body 10 about the pivotally connected end between a raised position and a lowered position. In this embodiment, the cleaning component 40 includes a fixing frame 42, which is at least partially housed in the mounting groove 13. One end of the fixing frame 42 forms the aforementioned movable end and is pivotally engaged with the body 10 in the mounting groove 13. The other end of the fixing frame 42 is equipped with a roller brush assembly 43, so that the roller brush assembly 43 can reciprocate with the fixing frame 42 about the fixed end between the raised position and the lowered position.

[0097] like Figures 13-15 As shown, it should be noted that the cleaning robot will be placed on a horizontal surface to be cleaned:

[0098] In the raised position, the roller brush assembly 43 is located on the side closer to the body 10, and the surface of the roller brush assembly 43 is separated from the surface to be cleaned and does not contact the surface to be cleaned.

[0099] In the lowered position, the roller brush assembly 43 is located on the side away from the body 10, abutting against the surface to be cleaned, and applying a certain pressure to the surface to be cleaned.

[0100] In embodiments of the present invention, the roller brush assembly 43 can be driven electrically or non-electrically. When the roller brush assembly 43 is electrically driven, it can be controlled by a drive mechanism such as a motor to move relative to the surface to be cleaned, thereby generating friction with the surface. Furthermore, when the roller brush assembly 43 separates from the surface to be cleaned to the raised position, it stops moving. When the roller brush assembly 43 is in the lowered position and in contact with the surface to be cleaned, it can be driven to move there, reducing energy consumption, thereby improving the cleaning robot's endurance, extending the equipment's service life, reducing the equipment's failure rate, and thus lowering maintenance and repair costs. When the roller brush assembly 43 is not electrically driven, it can be configured as a cylindrical structure. When the roller brush assembly 43 is in the descending position and in contact with the surface to be cleaned, it can rotate under the action of external force of friction with the surface to be cleaned. Alternatively, the roller brush assembly can be a plate-shaped structure. When the roller brush assembly 43 is in the descending position, the surface of the cleaning assembly 40 is in contact with the surface to be cleaned, thereby achieving friction cleaning with the surface to be cleaned, thus reducing the manufacturing cost of the cleaning assembly 40.

[0101] To control the switching component 30 and the cleaning component 40, a drive device 50 is also provided in the installation space. The drive device 50 is connected to the switching component 30 and the cleaning component 40 in a transmission manner, and is used to drive the switching component 30 and the cleaning component 40 to move. The drive device 50 can be connected to the switching component 30 and the cleaning component 40 through multiple output terminals respectively, or the drive device 50 can be connected to the switching component 30 or the cleaning component 40 through one output terminal, and a transmission connection is further provided between the switching component and the cleaning component 40, thereby achieving the effect of driving the switching component 30 and the cleaning component 40 with only one drive device 50.

[0102] Understandably, when the cleaning robot is in the cleaning operation state, the cleaning component 40 is generally in the lowered position and in contact with the surface to be cleaned, wiping and cleaning the surface. In special cases, such as when the cleaning robot detects that it has entered a non-wiping area or needs to overcome an obstacle, the drive device 50 drives the cleaning component 40 to rise, so as to prevent the cleaning component 40 from wiping the non-wiping area or from interfering with the obstacle. During the above process, since the on / off component 30 is used to control the sewage tank's discharge function, the on / off component 30 must always be in the closed position to ensure that the recycled liquid and debris in the sewage tank are not discharged into the external environment during the cleaning operation of the cleaning robot, thus avoiding secondary pollution of the cleaning surface.

[0103] To further explain, in this embodiment, the water flow is controlled by the on / off component 30. Compared to the traditional method of using a water pump or valve to control the water flow, this embodiment eliminates the need for additional components to control the water flow. The recovered liquid flows only within the liquid channel during collection and discharge, and the on / off component 30 does not directly interfere with the liquid channel. This prevents debris from entering the on / off component 30, simplifying the water flow structure, increasing its reliability, and extending its service life. Since no other components are involved in the liquid channel, the wastewater flow channel can discharge debris of a volume matching its diameter, avoiding the need for regular manual cleaning and maintenance of the wastewater tank and water flow components. Users can set different liquid channel diameters according to the cleaning conditions of the robot, allowing the flexible hose 20 to discharge debris of different volumes, thus improving the robot's versatility for various cleaning conditions.

[0104] Compared to having separate drive mechanisms for the switching component 30 and the cleaning component 40, the above-described embodiment reduces the number of components required in the cleaning equipment. By using a single drive device 50 to drive the movement of both the switching component 30 and the cleaning component 40, the number of drive devices 50 required is reduced. Furthermore, it eliminates the need for relatively independent transmission mechanisms between each drive device 50 and the switching component 30 and cleaning component 40, saving installation space required for the main body 10. The overall size (height and width) of the cleaning robot 10 is reduced, allowing it to enter smaller areas for cleaning operations and increasing the cleaning range it can cover. Moreover, the reduced number of components also lowers the overall weight of the equipment, reducing the burden on the robot's power system, thus saving energy and improving its endurance.

[0105] It should be noted that the drive system of the above-mentioned cleaning robot includes a drive motor, a drive wheel (not shown) and a driven wheel (not shown). The drive wheel and the driven wheel are rotatably mounted at the bottom of the body 10. The drive motor is connected to the drive wheel for transmission. The driven wheel has a steering function (it can be a universal wheel or an all-directional wheel, etc.). The drive motor drives the drive wheel to rotate, thereby realizing the automatic walking of the body 10.

[0106] When it is understood, the lower surfaces of the driving wheel and the driven wheel form a support surface for supporting the body 10. When the cleaning component 40 is in the lowered position, the horizontal height of the lower surface of the cleaning component 40 is less than that of the support surface of the body 10, so as to ensure that the cleaning component 40 can be in contact with the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot.

[0107] In this embodiment, the drive device 50 is a single-axis motor or single-axis motor, and its output shaft serves as the first output end. The on / off component 30 is drivenly connected to the first output end, and the cleaning component 40 is drivenly connected to the on / off component 30, so that the drive device 50 can synchronously drive the cleaning component 40 through the on / off component 30.

[0108] In another embodiment, the cleaning component 40 is driven to the first output terminal, and the switching component 30 is driven to the cleaning component 40, so that the driving device 50 can synchronously drive the switching component 30 through the cleaning component 40.

[0109] The drive unit 50 can also be a dual-axis motor or dual-axis motor, which is provided with a first output terminal and a second output terminal for synchronous movement. The on / off component 30 is drivenly connected to the first output terminal, and the cleaning component 40 is drivenly connected to the second output terminal.

[0110] like Figures 8-12 As shown, in one embodiment, the switching component 30 is a cam structure. The switching component 30 has a contoured surface. In the axial projection direction of the switching component 30, the distance between the contoured surface and the axis of the switching component 30 changes in an involute manner. The switching component 30 can be rotatably disposed on one side of the elastic hose 20 through a rotating structure such as a rotating shaft. The driving device 50 is used to drive the switching component 30 to rotate between the closed position and the open position. The contoured surface can move in the direction close to or away from the elastic hose 20 under the rotation of the switching component 30.

[0111] As the on / off component 30 of the cam, its contour surface includes a first contour surface 36 coaxially arranged with its rotation axis and a second contour surface 37 eccentrically arranged with its rotation axis. During the rotation of the on / off component 30, taking the axial projection direction of the on / off component 30 as an example, the horizontal height of the first contour surface 36 facing the elastic hose 20 is greater than the horizontal height of the second contour surface 37 facing the elastic hose 20. That is, the stage in which the first contour surface 36 interacts with the elastic hose 20 is the closed position of the on / off component 30. The interaction force between the first contour surface 36 and the elastic hose 20 remains unchanged, keeping the elastic hose 20 cut off. When the second contour surface 37 faces the elastic hose 20, the second contour surface 37 will release the elastic hose 20, thereby connecting the elastic hose 20. The switching component 30 can use different contour surfaces as functional surfaces in different position states according to its control method and relative position to the elastic hose 20. It can be seen that when the switching component 30 is in the closed position, the first contour surface 36 acts on the elastic hose 20. In this state, the contour surface can wedge the elastic hose 20, causing the elastic hose 20 to be deformed under pressure, thereby preventing the recovered liquid in the sewage flow channel from flowing along the elastic hose 20. In the open position, a gap is formed between the second contour surface and the elastic hose 20. Alternatively, following the above scheme, the force exerted by the second contour surface 37 on the elastic hose 20 is insufficient to cut off the sewage flow channel.

[0112] By using a cam structure as the switching component 30, the switching component 30 can achieve the effect of at least part of the switching component 30 moving towards and away from the elastic hose 20 through simple rotational motion. The rotational motion only requires providing space for the switching component 30 to rotate. Compared with other linear motions, the rotational motion occupies less installation space and the component itself has a simpler structure. Correspondingly, the drive device 50 and the transmission structure are also simpler.

[0113] To make the on / off control process of the flexible hose 20 smoother, a pressure member 31 is provided between the on / off component 30 and the flexible hose 20. The contoured surface slides on one side of the pressure member 31. The pressure member 31 can cooperate with the first contoured surface 36 and the second contoured surface 37 respectively under the rotation of the on / off component 30. The rotational movement of the pressure member 31 is converted into linear movement, so that the pressure member 31 can move in the direction of approaching or moving away from the flexible hose 20 to squeeze or release the flexible hose 20.

[0114] The pressure fitting 31 converts the rotational motion of the on / off component 30 into linear motion, forming a cam mechanism. Compared with the solution of directly setting a linear reciprocating motion mechanism outside the elastic hose 20, the cam mechanism has higher transmission stability. The on / off component 30 of the cam structure can serve as a speed reduction transmission device between the drive device 50 and the pressure fitting 31, eliminating the need to further set a speed reduction device on the linear reciprocating motion mechanism, and it also occupies less installation space.

[0115] Following the above scheme, in this embodiment, the curvature of the first contour surface 36 is greater than that of the second contour surface 37. In order to make the movement of the pressing component 31 smoother during the switching between the two position states, the end of the second contour surface 37 connected to the first contour surface 36 is connected to each other. Since the curvature of the first contour surface 36 is greater than that of the second contour surface 37, the first contour surface 36 is smoother than the second contour surface 37. Since one end of the second contour surface 37 is connected to the first contour surface 36, the end of the second contour surface 37 away from the first contour surface 36 will move towards the side closer to the rotation center of the switching component 30. Furthermore, the curvature of the second contour surface 37 near the first contour surface 36 gradually increases towards the end away from the first contour surface 36. This ensures that the lifting and lowering process of the pressing component 31 is uniform during the rotation of the switching component 30 between the two position states, thus ensuring the stability of the mechanism's movement.

[0116] It is understood that the deformation state of the elastic hose 20 described in this embodiment can be interpreted as the side of the elastic hose 20 away from the on / off component 30 having a relatively fixed component support, or the side of the elastic hose 20 away from the on / off component 30 having no deformation capacity. This allows the hose 20 to be squeezed from the side being squeezed to the other side by the pressure fitting 31 during the process of applying pressure to the elastic hose 20, thereby narrowing and eventually closing the liquid flow channel and cutting off the sewage flow channel. Alternatively, it can be understood that the elastic hose 20 deforms as a whole towards the side away from the squeezed side. Taking the horizontally placed deformed section as an example, in this embodiment, the deformed section will bulge towards the side away from the on / off component 30 during deformation. When the height of the bulge is large, the recovered liquid in the sewage flow channel cannot rely on the weight of the liquid and hydraulic pressure to cross the bulge and achieve the cutting off of the sewage flow channel.

[0117] like Figures 8-12As shown, in order to further improve the effect of the compression fitting 31 in squeezing the elastic hose 20 and to ensure that the elastic hose 20 can maintain the sealed cut-off of the liquid flow channel after being deformed, the compression fitting 31 is provided with a compression rib 311 on the side near the elastic hose 20. The compression rib 311 is used to squeeze or release the elastic hose 20. In the cross-sectional direction of the elastic hose 20, the length of the compression rib 311 is greater than the width of the elastic hose 20. It should be noted that the length of the compression rib 311 is greater than the width of the deformed section after being squeezed and deformed, so that the elastic hose 20 can still be squeezed by the compression rib 311 after deformation and maintain the cut-off state.

[0118] In this embodiment, the pressing rib 311 is perpendicular to the extension direction of the deformation section, so that the pressing rib 311 can laterally compress the elastic hose 20 and improve the cut-off effect of the sewage flow channel.

[0119] Furthermore, the number of crimping ribs 311 can be set according to the size of the flexible hose 20, as well as the wall thickness and flow rate of the flexible hose 20. For example, when the size of the flexible hose 20 is small and its internal flow rate is small, its crimping rib 311 can be a single segment. When the size of the flexible hose 20 is large and its internal flow rate and other parameters are also large, its crimping rib 311 can be two or more segments, thereby improving the deformation effect of the flexible hose 20 when the crimping component 31 squeezes the flexible hose 20, and ensuring that the liquid flow channel can be cut off when the on / off component 30 is in the closed position.

[0120] like Figures 8-9 , Figures 13-15 As shown, as a further embodiment of the drive cleaning component 40, the cleaning component 40 and the body 10 can be connected by a reciprocating motion mechanism such as a crank 60 rocker mechanism or a double rocker mechanism. In this embodiment, a crank 60 and a connecting rod 70 are provided between the cleaning component 40 and the body 10. The first end of the crank 60 is movably connected to the body 10, and the connecting rod 70 is movably connected to the second end of the crank 60 and the cleaning component 40, respectively.

[0121] The relative position of the brush assembly 43 to the body 10 in the raised and lowered positions can be adjusted by defining the lengths of the crank 60 and connecting rod 70, as well as the rotation angles of the crank 60, connecting rod 70, and fixing frame 42. Specifically, the relative horizontal height of the brush assembly 43 in the raised position, i.e., the distance from the surface to be cleaned, can be controlled by adjusting the parameters of the above components, and the pressure of the brush assembly 43 against the surface to be cleaned can be controlled in the lowered position.

[0122] Specifically, the drive unit 50 can be connected to the crank 60 for transmission. The drive unit 50 is used to drive the second end of the crank 60 to reciprocate or rotate unidirectionally relative to the body 10 around the rotation axis of its first end. The movement of the crank 60 further acts on the connecting rod 70, so that the connecting rod 70 drives the cleaning component 40 to reciprocate between the raised position and the lowered position. In this embodiment, the drive unit 50 can be connected to the control system. The control system transmits corresponding control commands to the drive unit 50 according to the current mode state of the cleaning robot and the condition of the surface to be cleaned, so as to control the movement of the drive unit 50, control the movement of the crank 60 by a corresponding angle, and control the cleaning component 40 to move to the raised position, move to the lowered position, remain in the raised position, and remain in the lowered position.

[0123] By implementing the above technical solution, when a cleaning robot is used to clean a surface, if fluid contaminants or solidified stains (water stains or oil stains, etc.) appear on the surface, the drive unit 50 keeps the crank 60 in the controlled fixed frame 42 in the lowered position, so that the cleaning robot can wipe the contaminants with the roller brush assembly 43 when passing over them. However, if there are protruding obstacles on the surface to be cleaned, or if the cleaning robot detects areas or parts on the surface in its path that do not need to be wiped through the sensing system, the drive unit 50 controls the crank 60 to remain in the lowered position. The reciprocating lifting mechanism, consisting of crank 60 and connecting rod 70, moves the fixed frame 42 around one end of the body 10, moving it away from the surface to be cleaned. This allows the roller brush assembly 43 to rise to a raised position, disengaging from the surface to be cleaned. This prevents obstacles and surfaces that do not need cleaning from contacting the roller brush assembly 43, allowing the cleaning robot to quickly pass over obstructed surfaces and non-wiping areas, improving cleaning efficiency and preventing the cleaning assembly 40 from getting stuck or tangled in obstructions or non-wiping surfaces (such as carpets). After the cleaning robot passes over obstacles or non-cleaned areas, the drive unit 50 controls the crank 60 to move, which, through the connecting rod 70, moves the fixed frame 42 around the rotational axis of its movable end towards the surface to be cleaned. This allows the roller brush assembly 43 to return to its lowered position and rest against the surface to be cleaned.

[0124] Furthermore, the cleaning efficiency of the cleaning robot has been improved, and the frequency of cleaning the cleaning component 40 needs to be cleaned within a certain period of time has been reduced.

[0125] like Figure 5As shown, as a further embodiment, an elastic member 41 is provided between the cleaning component 40 and the body 10. The elastic member 41 is used to continuously apply an elastic force to the cleaning component 40 in the direction of downward movement. Specifically, one end of the elastic member 41 abuts against the mounting groove 13, and the other end of the elastic member 41 abuts against the fixing frame 42. By continuously applying a certain elastic force to the fixing frame 42 through the elastic member 41, the connection positions between the fixing frame 42 and the connecting rod 70, and between the connecting rod 70 and the fixing frame 42, can be abutted and fitted, thereby eliminating the assembly gap between the above-mentioned components, making the movement of the cleaning component 40 between the raised position and the lowered position more stable, and increasing the pressure applied to the surface to be cleaned by the cleaning component 40 in the lowered position. It also allows the cleaning component 40 to resist a certain reaction force applied to it by the cleaning surface, increasing the friction of the cleaning component 40 on the surface to be cleaned, and enhancing the cleaning effect of the cleaning robot.

[0126] Because the sensing system may have information acquisition errors, some obstacles with small protrusions may be misjudged, causing the cleaning component 40 to remain in the descending position when the cleaning robot is crossing obstacles.

[0127] like Figures 6-9 , Figures 13-15 As shown, to further enhance the obstacle-crossing ability of the cleaning robot and avoid the cleaning component 40 directly interfering with obstacles in case of misjudgment by the sensing system, which could lead to damage to the cleaning component 40, a movable shaft 61 and an obstacle-crossing groove 71 are provided between the crank 60 and the connecting rod 70. The movable shaft 61 is inserted into the obstacle-crossing groove 71 and is clearance-fitted with the obstacle-crossing groove 71. The movable shaft 61 is located on the crank 60, and the obstacle-crossing groove 71 is correspondingly opened on the connecting rod 70 and extends along the setting direction of the connecting rod 70. This allows the obstacle-crossing groove 71 to provide adjustment space for the movable shaft 61 to move radially towards or away from the other end of the connecting rod 70. Under the action of the elastic component 41, the elastic component 41 continuously applies an elastic force away from the body 10 to the cleaning component 40, so that the movable shaft 61 always remains on the upper part of the obstacle-crossing groove 71 when no external force is applied.

[0128] During obstacle crossing by the cleaning robot, if the cleaning component 40 is still in the descending position, the obstacle will exert a force on the cleaning component 40 in the direction of lifting. Since the obstacle crossing groove 71 provides downward adjustment space for the movable shaft 61, the cleaning component 40 can move in the direction of lifting under the action of external force. The connecting rod 70 will move upward relative to the crank 60. At this time, the movable shaft 61 will move downward along the direction set by the obstacle crossing groove 71, thereby allowing the cleaning component 40 to be passively lifted and cross the obstacle, avoiding the cleaning component 40 being damaged by the obstacle, and ensuring the smoothness of the cleaning robot when crossing obstacles of a certain horizontal height while the cleaning component 40 is still in the descending position. After the cleaning robot crosses the obstacle, the elastic force applied by the elastic component 41 to the cleaning component 40 can push the cleaning component 40 back to the descending position against the surface to be cleaned, ensuring that the cleaning robot can continue cleaning operations.

[0129] Following the above scheme, when the drive device 50 is a single-axis motor or a single-axis motor, the on / off component 30 can be arranged between the crank 60 and the drive device 50 so that the drive device 50 can synchronously drive the crank 60 by controlling the on / off component 30.

[0130] In another embodiment, the crank 60 is also disposed between the switching component 30 and the drive device 50, so that the drive device 50 can synchronously drive the switching component 30 through the crank 60.

[0131] When the drive device 50 is a dual-axis motor, the output ends of the two ends of the drive device 50 are respectively connected to the crank 60 and the switching component 30, so that the crank 60 and the connecting rod 70 are located on the first side of the drive device 50, the switching component 30 is located on the second side of the drive device 50, and the crank 60 and the switching component 30 are driven to rotate synchronously.

[0132] To support the drive device 50 and components of this embodiment, a mounting shell 11 is also provided in the mounting space. The mounting shell 11 is connected to the body 10, and the interior of the mounting shell 11 is hollow to form a receiving cavity 111. A switching component 30 is provided in the receiving cavity 111, and a switching gap 112 is formed between the switching component 30 and the cavity wall of the receiving cavity 111 for the elastic hose 20 to pass through. The switching gap 112 in the closed position is smaller than the switching gap 112 in the open position. The mounting shell 11 has two hose through holes 113, which are respectively connected to the switching gap 112, providing space for the elastic hose 20 to enter and exit the mounting shell 11.

[0133] After the flexible hose 20 enters the housing 11 through one hose through hole 113, it exits through the other hose through hole 113 via the on / off gap 112. As the on / off component 30 moves from the open position to the closed position, the contour surface of the on / off component 30 gradually approaches and squeezes the flexible hose 20, and narrows the size of the on / off gap 112. At this time, the opposite sides of the flexible hose 20 will press against the contour surface and the side wall of the housing 11 on the opposite side, respectively. The side wall of the housing 11 on the side of the on / off gap 112 will exert a reaction force on the flexible hose 20 to prevent the flexible hose 20 from bulging away from the on / off component 30, and finally achieve the narrowing and cutting off of the liquid flow channel.

[0134] The crank 60 and connecting rod 70 are disposed on one side of the mounting housing 11. By opening a hole on one side of the mounting housing 11, the first end of the crank 60 and the switching component 30 can be coaxially connected through a shaft hole. The drive device 50 is disposed on the other side of the mounting housing 11. Correspondingly, by opening a hole on the other side of the mounting housing 11, the drive device 50 is mounted on the mounting housing 11, and its output shaft extends into the corresponding hole to drive the switching component 30. The mounting housing 11 can be fixedly mounted on the machine body 10 to support and fix the components.

[0135] like Figure 8 As shown, it can be understood that in order to stabilize the movement of the crimp fitting 31 relative to the flexible hose 20 and the switching component 30, a guide structure is provided between the crimp fitting 31 and the mounting shell 11. Specifically, a guide structure with a guide groove 116 and a guide block 38 slidingly engaged is provided between the side of the crimp fitting 31 and the shell. The guide block 38 is slidably embedded in the guide groove 116. The guide groove 116 extends along the lifting direction of the crimp fitting 31 to guide the crimp fitting 31.

[0136] like Figures 10-12 As shown, in order to prevent the switching component 30 from going beyond the closed or open position during rotation within the receiving cavity 111, which could cause excessive compression of the elastic hose 20 or excessive lifting or lowering of the cleaning component, a first limiting part 114 and a second limiting part 115 are provided within the receiving cavity 111. The first limiting part 114 and the second limiting part 115 are arranged around the periphery of the switching component 30, and at least partially coincide with the rotation trajectory of the contour surface of the switching component 30.

[0137] When the on / off component 30 is in the open position, the first limiting part 114 abuts against the on / off component 30, restricting the degree of freedom of the on / off component 30 to move from the closed position to the open position. When the on / off component 30 is in the closed position, the second limiting part 115 abuts against the on / off component 30, restricting the degree of freedom of the on / off component 30 to move from the open position to the closed position.

[0138] like Figure 17 As shown, the following provides a control method for a cleaning robot, which includes:

[0139] S10. Send a cleaning operation command to the drive device. The cleaning operation command is used to control the drive device 50 to synchronously drive the on / off component 30 and the cleaning component 40 to move.

[0140] S20. Obtain the position status of at least one of the on / off component 30, cleaning component 40, and drive device 50;

[0141] S30. When the on / off component 30 is in the closed position, the control drive device 50 stops running so that the cleaning robot is in the cleaning operation state. In the cleaning operation state, the cleaning component 40 can be in either the raised or lowered position.

[0142] When the cleaning robot needs to perform sewage discharge operations, it sends a sewage discharge operation command to the drive device 50. The sewage discharge operation command is used to control the drive device to synchronously drive the on / off component 30 and the cleaning component 40 to move, and to obtain the position status of at least one of the on / off component 30, the cleaning component 40 and the drive device 50. The position status includes an open position and a raised position. When it is determined that the on / off component is in the open position, the drive device is controlled to stop running so that the cleaning component is in the raised position.

[0143] As a specific implementation plan for the above method, such as Figures 10-16 As shown, in order to accurately detect the position status of the on / off component 30 and the cleaning component 40, this cleaning robot is also equipped with a position sensor 12. The position sensor 12 is used to detect the position status of at least one of the on / off component 30, the cleaning component 40, and the drive device 50.

[0144] Specifically, the position sensor 12 includes a first optocoupler 121, which is fixedly disposed on one side of the switching component 30. The first optocoupler 121 includes a first emitter and a first receiver. The switching component 30 is provided with a first light guide 32 and a second light guide 33 corresponding to the closed and open positions. In the closed position, the first receiver either does not receive a light source or receives light emitted by the first emitter and reflected by the first light guide 32. In the open position, the first receiver receives light emitted by the first emitter and reflected by the second light guide 33.

[0145] The position sensor 12 also includes a second optocoupler 122, which is fixedly disposed on one side of the switching component 30. The second optocoupler 122 includes a second emitter and a second receiver. The switching component 30 is provided with a third light guide 34 and a fourth light guide 35 corresponding to the raised and lowered positions of the cleaning component 40. In the lowered position, the second receiver receives light emitted by the second emitter and reflected by the third light guide 34. In the raised position, the second receiver receives light emitted by the second emitter and reflected by the fourth light guide 35.

[0146] like Figures 10-12 As shown, since the switching component 30 adopts a cam structure, the first light guide 32 and the second light guide 33 are both located on the first rotation trajectory 80 of the switching component 30, while the third light guide 34 and the fourth light guide 35 are both located on the second rotation trajectory 90. The first optocoupler 121, used to detect the first light guide 32 and the second light guide 33, is also located on the first rotation trajectory 80, and the fourth optocoupler, used to detect the third light guide 34 and the fourth light guide 35, is also located on the second rotation trajectory 90. It should be noted that the first rotation trajectory 80 and the second rotation trajectory 90 are staggered to avoid interference between the signal transmission and reception of the first optocoupler 121 and the second optocoupler 122, but their rotation centers coincide with the switching component 30.

[0147] As shown in the figure and Table 1-1, when the first optocoupler 121 and the second optocoupler 122 do not receive a signal, their calibration is 0; when the first optocoupler 121 and the second optocoupler 122 receive a signal, their calibration is 1.

[0148] The cam's rotation trajectory is divided into points A, B, and C. An AB region is formed between points A and B, and a BC region is formed between points B and C.

[0149]

[0150] Table 1-1

[0151] When the first light receiver receives the light emitted by the first light emitter and reflected by the first light guide 32, the second light receiver receives the light emitted by the second light emitter and reflected by the fourth light guide 35. The extension line connecting the first light guide 32 and the third light guide 34 passes through the rotation center of the switching component 30, and the extension line formed by the connection between the second light guide 33 and the fourth light guide 35 passes through the rotation center of the switching component 30. In order to realize the above detection and control method, the extension line formed by the connection between the first optocoupler 121 and the second optocoupler 122 is the tangent of the second rotation trajectory 90.

[0152] Taking the initial closed position of the switching component 30 and the lowered position of the cleaning component 40 as an example, i.e., the switching component 30 is at point A, the third light guide 34 is directly opposite the second optocoupler 122, and the second optocoupler 122 receives the signal reflected from the third light guide 34, with a calibration of 1, while the first optocoupler 121 is in a state of not receiving a signal, with a calibration of 0. During the counterclockwise rotation of the switching component 30, both the first and second optocouplers 121 and 122 remain unreceived, and their calibrations are both 0. Subsequently, the fourth light guide 35 comes to face the second optocoupler 122, and the second optocoupler 122 receives the signal reflected from the fourth light guide 35, with a calibration of 1. The first light guide 32 comes to face the first optocoupler 121, and the first optocoupler 121 receives the signal reflected from the first light guide 32, with a calibration of 1. At this point, the switching component 30 is in the closed position, and the cleaning component 40 is in the raised position. Furthermore, as the switching component 30 continues to rotate counterclockwise, both the first optocoupler 121 and the second optocoupler 122 show no received signal, and their calibrations are both 0. Finally, the second light guide 33 will be facing the first optocoupler 121. The first optocoupler 121 receives the signal reflected from the second light guide 33, and its calibration is 1, while the second optocoupler 122 is in a state of no received signal, and its calibration is 0. At this time, the switching component 30 is in the open position, and the cleaning component 40 is in the lowered position.

[0153] It should be noted that when the cleaning robot is powered on, the drive unit 50 needs to drive the on / off component 30 to reset. If the on / off component 30 is in area AB or BC, the position sensor 12 cannot detect the status of the cleaning component 40 and the on / off component 30. Therefore, the drive unit 50 needs an initialization action, with the on / off component 30 rotating clockwise by default, so that the position sensor 12 can detect the signal at point A (0, 1) or point B (1, 1). This allows the current position status of the on / off component 30 and the cleaning component 40 to be determined. It should also be noted that the drive unit 50 cannot rotate counterclockwise during the initialization action, as this may cause the on / off component 30 to move to the open position, resulting in the accidental discharge of the recycled liquid and debris from the wastewater tank.

[0154] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, 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, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0155] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0156] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0157] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A cleaning robot, characterized in that, include: The body (10) provides installation space; An elastic hose (20) is disposed in the installation space, and a liquid flow channel is formed in the elastic hose (20); A switching component (30) is disposed on one side of the elastic hose (20). The switching component (30) can move between a closed position and an open position. In the closed position, the switching component (30) acts on the elastic hose (20) to cut off the liquid flow channel. In the open position, the switching component (30) releases the elastic hose (20) so that the elastic hose (20) elastically resets and connects the liquid flow channel. A cleaning assembly (40) is pivotally connected to the bottom of the body (10) so that the cleaning assembly (40) can move up and down between a raised position close to the body (10) and a lowered position away from the body (10); A drive device (50) is connected to the on / off component (30) and the cleaning component (40) in a transmission connection. The drive device (50) is used to drive the on / off component (30) and the cleaning component (40) to move. When the cleaning robot is in the cleaning operation state, the on / off component (30) is in the closed position. The drive device (50) is provided with a first output terminal; The switching component (30) is driven to the first output terminal, and the cleaning component (40) is driven to the switching component (30), so that the driving device (50) can synchronously drive the cleaning component (40) through the switching component (30); Alternatively, the cleaning component (40) is driven to the first output terminal, and the switching component (30) is driven to the cleaning component (40), so that the driving device (50) can synchronously drive the switching component (30) through the cleaning component (40); Alternatively, the drive device (50) may be provided with a first output terminal and a second output terminal for synchronous motion; The on / off component (30) is driven to the first output terminal, and the cleaning component (40) is driven to the second output terminal.

2. The cleaning robot according to claim 1, characterized in that, The switching component (30) is a cam structure. The switching component (30) has a contour surface. In the axial projection direction of the switching component (30), the distance between the contour surface and the axis of the switching component (30) changes in an involute manner. The contoured surface can move in a direction close to or away from the elastic hose (20) as the on / off component (30) rotates.

3. The cleaning robot according to claim 2, characterized in that, A pressure fitting (31) is provided between the on / off component (30) and the elastic hose (20), and the contoured surface slidably acts on one side of the pressure fitting (31); The crimping member (31) can move in a direction close to or away from the elastic hose (20) under the rotation of the on / off member (30), so that the crimping member (31) is linearly driven by the rotation of the on / off member (30) to squeeze or release the elastic hose (20).

4. The cleaning robot according to claim 1, characterized in that, A crank (60) and a connecting rod (70) are provided between the drive unit (50) and the cleaning assembly (40); The first end of the crank (60) is movably connected to the body (10); The connecting rod (70) is movably connected to the second end of the crank (60) and the cleaning assembly (40); The drive unit (50) is connected to the crank (60) for driving the second end of the crank (60) to swing relative to the body (10) about its first end, so as to drive the cleaning assembly (40) to move through the connecting rod (70).

5. The cleaning robot according to claim 4, characterized in that, An elastic component (41) is provided between the cleaning component (40) and the body (10); The elastic component (41) is used to continuously apply an elastic force to the cleaning assembly (40) in the direction of downward movement.

6. The cleaning robot according to claim 5, characterized in that, A movable shaft (61) and an obstacle-crossing groove (71) are provided between the crank (60) and the connecting rod (70). The movable shaft (61) is inserted into the obstacle-crossing groove (71) and is clearance-fitted with the obstacle-crossing groove (71). The movable shaft (61) is disposed on the crank (60), and the obstacle crossing groove (71) is correspondingly opened on the connecting rod (70) and extends along the setting direction of the connecting rod (70). The obstacle crossing groove (71) provides adjustment space for the movable shaft (61) to move in the radial direction, so that the cleaning component (40) can move from the lowering position to the raising position under the action of external force.

7. The cleaning robot according to claim 1, characterized in that, Also includes: A mounting shell (11) is disposed in the mounting space and connected to the body (10), and the interior of the mounting shell (11) is hollow to form a receiving cavity (111); The switching component (30) is disposed in the receiving cavity (111), and a switching gap (112) is formed between the switching component (30) and the cavity wall of the receiving cavity (111) for the elastic hose (20) to pass through. The switching gap (112) in the closed position is smaller than the switching gap (112) in the open position. The mounting housing (11) has two hose through holes (113), which are respectively connected to the on / off gap (112), providing space for the elastic hose (20) to enter and exit the mounting housing (11).

8. The cleaning robot according to claim 7, characterized in that, The accommodating cavity (111) is provided with a first limiting part (114) and a second limiting part (115); When the switch component (30) is in the open position, the first limiting part (114) abuts against the switch component (30) to restrict the degree of freedom of the switch component (30) to move from the closed position to the open position; When the on / off component (30) is in the closed position, the second limiting part (115) abuts against the on / off component (30) to restrict the degree of freedom of the on / off component (30) to move from the open position to the closed position.

9. The cleaning robot according to claim 1, characterized in that, Also includes: A position sensor (12) is used to detect the position status of at least one of the on / off component (30), the cleaning component (40), and the drive device (50).

10. The cleaning robot according to claim 9, characterized in that, The position sensor (12) includes a first optocoupler (121), which is fixedly disposed on one side of the on / off component (30); The first optocoupler (121) includes a first emitter and a first receiver. The switching component (30) is provided with a first light guide (32) and a second light guide (33) corresponding to the closed position and the open position. In the closed position, the first receiver does not receive light source, or the first receiver receives light emitted by the first emitter and reflected by the first light guide (32). In the open position, the first receiver receives light emitted by the first emitter and reflected by the second light guide (33).

11. The cleaning robot according to claim 10, characterized in that, The position sensor (12) also includes a second optocoupler (122), which is fixedly disposed on one side of the on / off component (30); The second optocoupler (122) includes a second emitter and a second receiver. The switching component (30) is provided with a third light guide (34) and a fourth light guide (35) corresponding to the raised and lowered positions of the cleaning component (40). In the lowered position, the second receiver receives light emitted by the second emitter and reflected by the third light guide (34). In the raised position, the second receiver receives light emitted by the second emitter and reflected by the fourth light guide (35).

12. The cleaning robot according to claim 11, characterized in that, When the first light receiver receives light emitted by the first light emitter and reflected by the first light guide (32), the second light receiver receives light emitted by the second light emitter and reflected by the fourth light guide (35).

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