Cleaning device and cleaning robot

Abstract

This application relates to the field of mobile robot technology, and more particularly to a cleaning device and a cleaning robot. The cleaning device includes a mounting beam and a spray assembly. The spray assembly is mounted on the mounting beam and includes a housing, an air valve, and a water valve. The housing has a spray nozzle, an air duct, and a water channel, with the spray nozzle connected to both. The air duct receives airflow and blows it out of the housing through the spray nozzle; the water channel receives water flow and sprays it out of the housing through the spray nozzle. The air valve is located in the air duct and regulates the airflow rate flowing into the spray nozzle; the water valve is located in the water channel and regulates the waterflow rate flowing into the spray nozzle. This method allows airflow and water flow to mix at the spray nozzle to form a water mist. This water mist can simultaneously wash the ground and blow away debris, thereby enhancing the cleaning effect and improving cleaning efficiency.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and more particularly to a cleaning device and a cleaning robot. Background Technology

[0002] A mobile robot is an intelligently controlled device that moves to perform various tasks, and it is increasingly being applied in the service sector. For example, a mobile robot can be equipped with a cleaning device to form a cleaning robot, which can clean areas such as roads, squares, and parks.

[0003] In actual use, if the cleaning device is not effective, the cleaning robot needs to perform multiple cleaning cycles, which leads to a waste of resources and fails to achieve the best cleaning results. Summary of the Invention

[0004] The present application aims to provide a cleaning device and a cleaning robot, which are intended to enhance the cleaning effect of the cleaning device.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a cleaning device, the cleaning device including a mounting beam and a spraying assembly, the spraying assembly being disposed on the mounting beam, the spraying assembly including a housing, an air valve and a water valve, the housing having a spray nozzle, an air duct and a water duct, the spray nozzle communicating with the air duct and the water duct; wherein, the air duct is used to receive airflow and blow the airflow out of the housing through the spray nozzle, the water duct is used to receive water flow and spray the water flow out of the housing through the spray nozzle; the air valve is disposed in the air duct and is used to regulate the airflow flow rate into the spray nozzle through the air duct; the water valve is disposed in the water duct and is used to regulate the waterflow flow rate into the spray nozzle through the water duct.

[0006] In some embodiments, a mixing chamber is provided inside the housing, which is connected to the nozzle, the air duct and the water duct respectively, and the mixing chamber is used to mix the airflow and the water flow.

[0007] In some embodiments, the blowing assembly further includes a first driving member disposed on the mounting beam and connected to the housing. The first driving member is used to drive the housing to translate relative to the mounting beam along a first direction, wherein the first direction is parallel to the length direction of the mounting beam.

[0008] In some embodiments, the blowing assembly further includes a second driving member that connects the first driving member to the housing, and the second driving member is used to drive the housing to rotate about a first axis relative to the mounting beam, wherein the first axis is parallel to the first direction.

[0009] In some embodiments, the blowing assembly further includes a third driving member that connects the second driving member to the housing, the third driving member being used to drive the housing to rotate about a second axis relative to the mounting beam, wherein the second axis is perpendicular to the first axis.

[0010] In some embodiments, the cleaning device further includes a suction assembly, which includes a fourth drive member and a suction hood. The fourth drive member is connected to the mounting beam and the suction hood. The fourth drive member is used to drive the suction hood to rotate about a third axis relative to the mounting beam. The suction hood is used to pick up debris. The third axis is perpendicular to the length direction of the mounting beam.

[0011] In some embodiments, the cleaning device further includes a sensing component, which includes a first sensing module and a second sensing module. The first sensing module is disposed in the housing, and the second sensing module is disposed in the suction cover. Both the first sensing module and the second sensing module are used to sense the ground environment.

[0012] In some embodiments, the cleaning device further includes a cleaning assembly, which includes a brush disposed on the mounting beam and is used to clean the floor.

[0013] In some embodiments, the cleaning device has an automatic working mode and a manual working mode. In the automatic working mode, the first sensing module acquires first motion information, valve information, and first navigation information based on the ground environment; the first, second, and third driving components adjust the position and angle of the housing relative to the mounting beam according to the first motion information; the air valve and the water valve adjust their respective opening degrees according to the valve information; the second sensing module acquires second motion information and second navigation information based on the ground environment; the fourth driving component adjusts the angle of the suction hood relative to the mounting beam according to the second motion information; the cleaning robot controls the cleaning robot to drive and avoid obstacles according to the first and second navigation information; in the manual working mode, it accepts user input commands, and the air valve and the water valve adjust their respective opening degrees according to the commands.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in the embodiments of this application is: to provide a cleaning robot, the cleaning robot including the cleaning device as described in any of the above claims, the cleaning device being installed on the body of the cleaning robot.

[0015] Unlike related technologies, the cleaning device and cleaning robot of this application embodiment can mix airflow and water flow at the nozzle to form water mist. The water mist can simultaneously wash the ground and blow away garbage, thereby enhancing the cleaning effect and improving cleaning efficiency.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0017] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0018] Figure 1 This is a schematic diagram of the structure of the cleaning robot according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the cleaning device according to an embodiment of this application;

[0020] Figure 3 yes Figure 2 Exploded view;

[0021] Figure 4 yes Figure 3 Schematic diagram of the structure of the centrally installed beam;

[0022] Figure 5 yes Figure 3 A structural schematic diagram of the centrally mounted beam from another perspective;

[0023] Figure 6 yes Figure 3 Exploded view of the central jet assembly;

[0024] Figure 7 yes Figure 6 Exploded views of the second and third drive components;

[0025] Figure 8 yes Figure 6 Schematic diagram of the middle shell structure;

[0026] Figure 9 yes Figure 6 A sectional view of the inner shell;

[0027] Figure 10 yes Figure 6 A cross-sectional view of the middle shell from another perspective;

[0028] Figure 11 yes Figure 3 Exploded view of the pickup component;

[0029] Figure 12 yes Figure 3 Schematic diagram of the cleaning component;

[0030] Figure 13 This is a flowchart of the automatic working mode of the cleaning device according to an embodiment of this application.

[0031] The reference numerals in the detailed embodiments are as follows:

[0032] 1000. Cleaning robots;

[0033] 100. Cleaning device;

[0034] 1. Mounting beam; 11. Rod; 12. Connecting part; 13. First connecting post; 14. Limiting post; 15. Fourth connecting post; 16. Sixth connecting hole; 17. Mounting groove; 18. Eighth connecting hole;

[0035] 2. Pulse jet assembly;

[0036] 21. First driving component; 211. First connecting hole; 212. Second connecting hole;

[0037] 22. Second driving component; 221. Second connecting post; 222. Third connecting post; 223. Fixed base; 224. Rotary base; 2241. Mounting hole; 225. Driver;

[0038] 23. Third driving component; 231. Drive shaft;

[0039] 24. Housing; 241. Connecting groove; 242. Connecting ring; 243. Spray nozzle; 244. Air duct; 245. Water channel; 246. Mixing chamber; 247. Snap-fit ​​groove;

[0040] 25. Limiting component; 251. Limiting hole; 252. Third connecting hole;

[0041] 26. Slip ring; 27. Air valve; 28. Water valve; 29. ​​Guide vane;

[0042] 3. Suction pickup assembly; 31. Fourth drive component; 311. Fourth connecting hole; 312. Fifth connecting hole; 32. Suction pickup cover; 321. Fifth connecting post; 322. Seventh connecting hole;

[0043] 4. Sensing components; 41. First sensing module; 42. Second sensing module;

[0044] 5. Sweeping assembly; 51. Drive unit; 511. Connecting boss; 512. Ninth connecting hole; 52. Sweeping brush. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, all within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed with a different module division or order than that shown in the device schematic diagram or the flowchart.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0047] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0048] In the description of the embodiments of this application, the terms "first," "second," etc., are used to define components merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and should not be construed as limiting the scope of protection of this application. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0049] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0050] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0051] like Figure 1 As shown, this application provides a cleaning robot 1000, which includes a cleaning device 100 mounted on its body. The cleaning robot 1000 can move in various ways, such as by wheels or by tracks; it can also have various shapes, such as a vehicle or a bipedal robot. This application does not limit the shape or movement of the cleaning robot 1000.

[0052] like Figure 2 and Figure 3 As shown, the cleaning device 100 includes a mounting beam 1, a blowing assembly 2, a suction assembly 3, a sensing assembly 4, and a cleaning assembly 5. The blowing assembly 2 is used to blow air and / or spray water, the suction assembly 3 is used to pick up ground debris, the sensing assembly 4 is used to sense the ground environment, and the cleaning assembly 5 is used to clean up ground debris. The blowing assembly 2, suction assembly 3, and cleaning assembly 5 are all mounted on the mounting beam 1, and there are two of each assembly. The two cleaning assemblies 5 are located at opposite ends of the mounting beam 1, the two suction assemblies 3 are located inside the two cleaning assemblies 5, and the two blowing assemblies 2 are located outside the two cleaning assemblies 5. The sensing assembly 4 is located between the blowing assembly 2 and the suction assembly 3. It is understood that in some other embodiments, the number of blowing assemblies 2, suction assembly 3, and cleaning assembly 5 may be different, the arrangement of the blowing assemblies 2, suction assembly 3, and cleaning assembly 5 may be different, and the sensing assembly 4 may also be located on the mounting beam 1.

[0053] Next, the specific structures of the above-mentioned mounting beam 1, blowing assembly 2, suction assembly 3, sensing assembly 4 and cleaning assembly 5 will be described in turn.

[0054] For the aforementioned installation beam 1, as Figure 4 and Figure 5As shown, the mounting beam 1 includes a rod 11 and a connecting part 12. The rod 11 can be elongated, and the connecting part 12 can be L-shaped. One end of the connecting part 12 is connected to the rod 11, and the other end is used to connect to the body of the cleaning robot 1000. The connecting part 12 is perpendicular to the rod 11, and there are two connecting parts 12, which are spaced apart to improve the stability of the connection between the rod 11 and the robot body. The shape and structure of the mounting beam 1 are not limited here and can be adjusted during the design process. For example, the mounting beam 1 can be a curved or bent rod. It is understood that the connecting part 12 can be provided with through holes and connected to the body of the cleaning robot 1000 by bolts, or it can be directly welded to the body of the cleaning robot 1000. Optionally, the mounting beam 1 is installed at the front end of the cleaning robot 1000.

[0055] For the aforementioned jetting component 2, such as Figure 2 , Figure 3 and Figure 6 As shown, the blowing assembly 2 includes a first driving member 21, a second driving member 22, a third driving member 23, and a housing 24. The first driving member 21, the second driving member 22, the third driving member 23, and the housing 24 are connected sequentially, and the first driving member 21 is disposed on the mounting beam 1. The first driving member 21 is used to drive the housing 24 to translate relative to the mounting beam 1 along a first direction X; the second driving member 22 is used to drive the housing 24 to rotate relative to the mounting beam 1 about a first axis; the third driving member 23 is used to drive the housing 24 to rotate relative to the mounting beam 1 about a second axis; the housing 24 is used to blow air and / or spray water. It is understood that the housing 24 is connected to an external air source and an external water source to blow air and / or spray water.

[0056] Wherein, the first direction X is parallel to the length direction of the mounting beam 1, specifically parallel to the length direction of the rod 11; the first axis is parallel to the first direction X, and the second axis is perpendicular to the first axis. Thus, the housing 24 can rotate relative to the mounting beam 1 in three-dimensional space and translate along a straight line, flexibly adjusting the direction and position of the airflow and / or water jets emitted by the housing 24. This allows for multi-directional washing of the ground or blowing away debris, improving the washing effect and increasing the efficiency of conveying debris to the suction assembly 3.

[0057] It is understandable that, depending on the actual situation, the first direction X may not be parallel to the length direction of the mounting beam 1; the first axis may not be parallel to the first direction X, and the second axis may not be perpendicular to the first axis. Only the cooperation of the first driving component 21, the second driving component 22, and the third driving component 23 is needed to adjust the angle and position of the housing 24 relative to the mounting beam 1. For example, as... Figure 1 and Figure 2As shown, the mounting beam 1 is set horizontally, that is, the rod 11 is parallel to the horizontal plane, the first direction X is the horizontal direction, and the first axis is the horizontal axis.

[0058] It is understood that in some other embodiments, the housing 24 may also be directly disposed on the mounting beam 1, that is, the blowing assembly 2 does not include the first driving member 21, the second driving member 22 and the third driving member 23; or the blowing assembly 2 may be disposed on the mounting beam 1 through one or both of the first driving member 21, the second driving member 22 and the third driving member 23, that is, the blowing assembly 2 does not include one or both of the first driving member 21, the second driving member 22 and the third driving member 23.

[0059] Regarding the aforementioned first driving component 21, as Figure 4 and Figure 6 As shown, the first driving member 21 can be rod-shaped, with its two ends connected to the rod portion 11 and the second driving member 22, respectively. The two ends of the first driving member 21 can extend and retract to enable the driving housing 24 to translate relative to the mounting beam 1. Optionally, the first driving member 21 can be an electric push rod or a pneumatic cylinder push rod.

[0060] To connect the first drive member 21 to the rod 11, as follows: Figure 4 and Figure 6 As shown, the mounting beam 1 also includes a first connecting post 13, which is disposed on the rod portion 11; one end of the first driving member 21 has a first connecting hole 211, which connects to the first connecting post 13 to mount the first driving member 21 onto the mounting beam 1. The mounting angle of the first connecting post 13 within the first connecting hole 211 is adjustable to adjust the mounting angle of the first driving member 21 relative to the mounting beam 1. Optionally, as... Figure 4 As shown, the first connecting post 13 is disposed on a sheet material, which is connected to the rod portion 11, so as to indirectly dispose the first connecting post 13 on the rod portion 11.

[0061] To connect the first drive unit 21 and the second drive unit 22, as follows: Figure 6 and Figure 7 As shown, the second driving member 22 is provided with a second connecting post 221; the other end of the first driving member 21 is provided with a second connecting hole 212, which is connected to the second connecting post 221 to connect the first driving member 21 and the second driving member 22. The mounting angle of the second connecting post 221 within the second connecting hole 212 is adjustable to adjust the mounting angle of the housing 24 relative to the first driving member 21.

[0062] It is understandable that when the first drive component 21 drives the housing 24 to translate, it may exceed the preset stroke, causing the housing 24 to extend beyond the body of the cleaning robot 1000 along the first direction X. This could easily lead to the housing 24 scraping against ground structures, such as curbs, which could damage the spray assembly 2. To improve this problem, such as... Figure 4 , Figure 6 and Figure 7 As shown, the spray assembly 2 may further include a limiting member 25, with a limiting hole 251 at one end and a third connecting hole 252 at the other end; the second driving member 22 is provided with a third connecting post 222, and the third connecting hole 252 is connected to the third connecting post 222 to connect the limiting member 25 to the second driving member 22; the mounting beam 1 also includes a limiting post 14, which is disposed on the rod portion 11 and passes through the limiting hole 251; and when the first driving member 21 drives the housing 24 to translate relative to the mounting beam 1 along the first direction X, the limiting post 14 slides within the limiting hole 251. Specifically, when the limiting post 14 slides within the limiting hole 251 to the end of the limiting hole 251 along the first direction X, the inner wall of the limiting hole 251 will prevent the limiting post 14 from sliding further along the limiting hole 251, thereby limiting the range of motion of the housing 24 relative to the mounting beam 1 along the first direction X. Optionally, as... Figure 4 As shown, the limiting post 14 is disposed on a sheet material, which is connected to the rod 11 to indirectly place the limiting post 14 on the rod 11.

[0063] For the second driving component 22 mentioned above, such as Figure 6 and Figure 7 As shown, the second driving member 22 includes a fixed base 223, a rotating base 224, and a driver 225. The fixed base 223 and the rotating base 224 can be plate-shaped. One side of the rotating base 224 is rotatably connected to one side of the fixed base 223. The driver 225 is disposed on the other side of the fixed base 223 and connected to the other side of the rotating base 224. The driver 225 is used to drive the rotating base 224 to rotate relative to the fixed base 223. Furthermore, the fixed base 223 is connected to the first driving member 21, and the rotating base 224 is connected to the third driving member 23. Thus, the driver 225 drives the housing 24 to rotate relative to the first driving member 21. In this embodiment, the rotation axis is the first axis, thereby enabling the second driving member 22 to drive the housing 24 to rotate relative to the mounting beam 1 around the first axis. Optionally, the second connecting post 221 and the third connecting post 222 are both disposed on the side of the fixed base 223 opposite to the rotating base 224. Optionally, the driver 225 is an electric push rod or a cylinder push rod. It is understood that the driver 225 is movably connected to at least one of the fixed base 223 and the rotating base 224, so that the driver 225 can drive the rotating base 224 to rotate relative to the fixed base 223.

[0064] like Figure 6 and Figure 7 As shown, the rotating base 224 has a mounting hole 2241, and the third driving member 23 is housed in the mounting hole 2241, so that the third driving member 23 can rotate with the rotating base 224 relative to the fixed base 223.

[0065] For the aforementioned third drive component 23, such as Figures 6 to 8 As shown, the third driving member 23 is provided with a driving shaft 231, and the housing 24 has a connecting groove 241. The driving shaft 231 is connected to the connecting groove 241 to connect the housing 24 to the third driving member 23, and can drive the housing 24 to rotate relative to the rotating seat 224. The rotation axis of the driving shaft 231 is a second axis, thereby enabling the housing 24 to rotate relative to the mounting beam 1 around the second axis. Optionally, one end of the driving shaft 231 connected to the connecting groove 241 is adapted to the connecting groove 241, and the cross-section of the connecting groove 241 is square to improve the problem of slippage of the driving shaft 231 within the connecting groove 241. Optionally, the third driving member 23 is a motor; specifically, the third driving member 23 can be an external rotor motor.

[0066] Understandably, the third drive component 23 and drive shaft 231 are relatively small. Relying solely on drive shaft 231 to connect housing 24 to the second drive component 22 results in poor stability and a high risk of breakage. This problem has not been improved, such as... Figure 6 and Figure 7 As shown, the spray assembly 2 also includes a slip ring 26, which is disposed on the rotating seat 224, with its central axis coinciding with the second axis. The housing 24 is further provided with a connecting ring 242, whose central axis coincides with the second axis. The outer ring surface of the connecting ring 242 slides in contact with the inner ring surface of the slip ring 26, thereby rotatably connecting the housing 24 to the rotating seat 224, thus sharing the stress borne by the drive shaft 231 and improving the problem of the drive shaft 231 being prone to breakage. Further, as... Figure 7 and Figure 8 As shown, the third drive member 23 is cylindrical, and the inner ring surface of the slip ring 26 slides in contact with the outer peripheral surface of the third drive member 23 to rotatably connect the housing 24 to the outer peripheral surface of the third drive member 23, thereby further improving the above-mentioned problems.

[0067] For the aforementioned housing 24, as Figures 8 to 10As shown, the housing 24 can be square. The housing 24 has a spray nozzle 243, an air duct 244, and a water channel 245. The spray nozzle 243 is connected to the air duct 244 and the water channel 245, respectively. The air duct 244 receives airflow and blows it out of the housing 24 through the spray nozzle 243. The water channel 245 receives water flow and sprays it out of the housing 24 through the spray nozzle 243. Since both airflow and water flow are sprayed through the spray nozzle 243, they can mix at the nozzle 243 to form a water mist, simultaneously washing the ground and blowing away debris, thus enhancing the cleaning effect and improving cleaning efficiency. Furthermore, the mixing of airflow and water flow to form a water mist reduces mutual interference between them, improving the problem of mutual interference between airflow and water flow in existing technologies. For example, it improves the problem of airflow scattering water flow and the problem of water flow weakening the impact force of airflow, thereby enhancing the cleaning effect. It should be noted that the air duct 244 and water duct 245 in the figure are both pipes. In some other embodiments, the air duct 244 and water duct 245 can be directly opened inside the housing 24.

[0068] Furthermore, such as Figure 9 and Figure 10 As shown, a mixing chamber 246 is provided inside the housing 24. The mixing chamber 246 is connected to the spray nozzle 243, the air duct 244, and the water duct 245, respectively. The mixing chamber 246 is used to mix the airflow and the water flow. By setting the mixing chamber 246, the contact area between the airflow and the water flow can be increased, so that the airflow and the water flow can be fully mixed, and the uniformity of the water mist formed by the mixture of airflow and water flow can be improved.

[0069] Furthermore, such as Figure 9 and Figure 10 As shown, the nozzle 243 is flat, which makes the ejected air or water flow into a ribbon shape, which helps to increase the flow rate of the air or water flow and increase the impact force on the garbage; and, since the air or water flow is ribbon-shaped, it can increase the area of ​​the air or water flow that it sweeps across the ground, thereby improving the cleaning efficiency.

[0070] Furthermore, such as Figure 9 and Figure 10 As shown, the blowing assembly 2 also includes a guide vane 29, which is disposed within the mixing chamber 246 and extends to the blowing port 243. When airflow or water flows through the guide vane 29, the guide vane 29 guides the airflow or water flow, allowing it to flow out of the blowing port 243 in a direction parallel to the guide vane 29. This concentrates the airflow or water flowing out of the blowing port 243, thereby increasing the impact force on the waste. Specifically, the inner wall of the housing 24 is provided with a snap-fit ​​groove 247, and the guide vane 29 snaps into the snap-fit ​​groove 247 to detachably mount the guide vane 29 to the housing 24.

[0071] To control the mixing ratio of airflow and water flow, the spray assembly 2 may further include an air valve 27 and a water valve 28. The air valve 27 is located in the air duct 244 and is used to regulate the airflow rate flowing into the spray nozzle 243 via the air duct 244. The water valve 28 is located in the water duct 245 and is used to regulate the waterflow rate flowing into the spray nozzle 243 via the water duct 245. By setting the air valve 27 and the water valve 28, not only can the mixing ratio of airflow and water flow be controlled, but also the flow rate of water mist, i.e., the volume of water mist flowing out of the housing 24 per unit time, can be regulated. In addition, by closing the air valve 27, only water flow can be sprayed from the housing 24. Alternatively, by closing the water valve 28, only airflow can be sprayed from the housing 24. Optionally, the air valve 27 and the water valve 28 are solenoid valves.

[0072] For the aforementioned pickup component 3, such as Figure 2 and Figure 11 As shown, the suction assembly 3 includes a fourth driving member 31 and a suction cover 32. The fourth driving member 31 is connected to both the mounting beam 1 and the suction cover 32. The fourth driving member 31 drives the suction cover 32 to rotate relative to the mounting beam 1 around a third axis, and the suction cover 32 is used to collect garbage. Specifically, the suction cover 32 is rotatably mounted on the mounting beam 1. The fourth driving member 31 can be rod-shaped, with both ends connected to the suction cover 32 and the mounting beam 1, respectively. Both ends of the fourth driving member 31 can extend and retract to drive the suction cover 32 to rotate relative to the mounting beam 1. It is understood that the suction cover 32 is connected to a suction device, such as the suction device of a vacuum cleaner, or a vacuum pump, to collect garbage. Optionally, the first driving member 21 can be an electric push rod or a cylinder push rod. In some other embodiments, the fourth driving member 31 can be a motor, and the suction cover 32 is mounted on the output shaft of the motor to drive the suction cover 32 to rotate relative to the mounting beam 1.

[0073] In the aforementioned suction assembly 3, the suction hood 32 can rotate relative to the mounting beam 1 around a third axis to adjust the direction in which the suction hood 32 picks up trash. This allows for multi-directional trash collection, increasing the suction area, and enabling the adjustment of appropriate suction angles for different types of trash, thus improving collection efficiency. The third axis is perpendicular to the length of the mounting beam 1, specifically parallel to the length of the rod 11. In this embodiment, the third axis is parallel to the direction of gravity, allowing the suction hood 32 to rotate relative to the mounting beam 1 around a vertical axis.

[0074] To connect the fourth drive component 31 to the suction shroud 32 and the mounting beam 1, as follows: Figure 5 and Figure 11As shown, the mounting beam 1 also includes a fourth connecting post 15, which is disposed on the rod portion 11; the suction cover 32 is provided with a fifth connecting post 321; the fourth driving member 31 has a fourth connecting hole 311 and a fifth connecting hole 312, the fourth connecting hole 311 being connected to the fourth connecting post 15 to mount the fourth driving member 31 to the mounting beam 1; the fifth connecting hole 312 being connected to the fifth connecting post 321 to connect the fourth driving member 31 to the suction cover 32. It can be understood that the fourth connecting post 15 can rotate within the fourth connecting hole 311, and the fifth connecting post 321 can rotate within the fifth connecting hole 312, so that the fourth driving member 31 can drive the suction cover 32 to rotate relative to the mounting beam 1.

[0075] To connect the suction hood 32 to the mounting beam 1, such as Figure 4 and Figure 11 As shown, the mounting beam 1 has a sixth connecting hole 16, and the suction cover 32 has a seventh connecting hole 322. The sixth connecting hole 16 and the seventh connecting hole 322 are rotatably connected, for example, by a rotating shaft, so that the suction cover 32 can be rotatably mounted on the mounting beam 1. In this embodiment, the central axes of both the sixth connecting hole 16 and the seventh connecting hole 322 coincide with the third axis, thereby enabling the fourth driving member 31 to drive the suction cover 32 to rotate relative to the mounting beam 1 about the third axis. Optionally, as... Figure 4 As shown, the sixth connecting hole 16 is provided on a sheet material, which is connected to the rod 11 to indirectly provide the sixth connecting hole 16 on the rod 11; the seventh connecting hole 322 is opened on the wall of the suction cover 32.

[0076] For the aforementioned sensing component 4, such as Figure 3 As shown, the sensing component 4 includes a first sensing module 41 and a second sensing module 42. The first sensing module 41 is disposed on the housing 24, and the second sensing module 42 is disposed on the suction hood 32. Both the first sensing module 41 and the second sensing module 42 are used to sense the ground environment. The first sensing module 41 and the second sensing module 42 can acquire road information and obstacle information by sensing the ground environment. By analyzing the road information and obstacle information, they can provide guidance for the navigation and obstacle avoidance of the cleaning robot 1000. They can also acquire information about litter on the ground. By analyzing the litter information, they can provide guidance for the direction and position of the airflow and / or water flow blown out of the housing 24, and also provide guidance for the direction of litter collection by the suction hood 32. Specifically, the litter information acquired by the first sensing module 41 is mainly used to guide the direction and position of the airflow and / or water flow blown out of the housing 24, and the litter information acquired by the second sensing module 42 is mainly used to guide the direction of litter collection by the suction hood 32. Optionally, the first sensing module 41 and the second sensing module 42 can be radar or cameras.

[0077] For the cleaning component 5 mentioned above, such as Figure 12 As shown, the cleaning assembly 5 includes a drive unit 51 and a brush 52. The drive unit 51 is disposed on the mounting beam 1, and the brush 52 is disposed on the drive unit 51, so that the brush 52 is mounted on the mounting beam 1. The drive unit 51 is used to drive the brush 52 to rotate, thereby cleaning the ground and sweeping away debris adhering to the ground, improving the cleaning effect on adhesive debris. Optionally, the drive unit 51 includes a motor, which drives the brush 52 to rotate.

[0078] To connect the drive unit 51 to the mounting beam 1, such as Figure 4 , Figure 5 and Figure 12 As shown, the end of the mounting beam 1 is provided with a mounting groove 17, specifically at the end of the rod 11; the drive part 51 is provided with a connecting boss 511, which is connected to the mounting groove 17 to connect the drive part 51 to the end of the mounting beam 1.

[0079] Furthermore, such as Figure 4 , Figure 5 and Figure 12 As shown, the mounting beam 1 has an eighth connecting hole 18 located on the wall of the mounting groove 17; the drive unit 51 has a ninth connecting hole 512 located on the connecting boss 511. The eighth connecting hole 18 and the ninth connecting hole 512 are rotatably connected, for example, by a rotating shaft, so that the drive unit 51 can be rotatably mounted on the mounting beam 1. In this embodiment, the central axes of the eighth connecting hole 18 and the ninth connecting hole 512 coincide and are parallel to the horizontal plane, so that the cleaning assembly 5 can swing up and down relative to the mounting beam 1. As a result, the brush 52 can make stable contact with the ground under the action of gravity, and has a good contact effect on uneven or sloping ground; and the pressure of the brush 52 on the ground is stable, so that the cleaning effect of the brush 52 on the ground is stable. Optionally, the central axes of the eighth connecting hole 18 and the ninth connecting hole 512 are perpendicular to the first direction X.

[0080] The cleaning device 100 of this embodiment can operate in both an automatic and a manual mode. In the automatic mode, the sensing component 4 senses the ground environment, acquiring road information, obstacle information, and debris information. By analyzing this information, it can provide guidance for the navigation and obstacle avoidance of the cleaning robot 1000, guide the direction and position of the airflow and / or water spray from the housing 24, and guide the direction of debris pickup by the suction hood 32. In the manual mode, the user can input commands. The cleaning device 100 accepts these commands and adjusts the opening degree of the air valve 27 and water valve 28 according to the received commands.

[0081] For the above automatic working modes, such as Figure 13 As shown, the process includes the following steps S210-S260:

[0082] S210: The first sensing module 41 acquires first motion information, valve information and first navigation information based on the ground environment.

[0083] The first sensing module 41 senses the ground environment, identifies the ground and objects on the ground, and extracts road information, obstacle information and garbage information from them; then it obtains first navigation information based on the road information and obstacle information; and obtains first motion information and valve information based on the garbage information.

[0084] S220: The first drive member 21, the second drive member 22 and the third drive member 23 adjust the position and angle of the housing 24 relative to the mounting beam 1 according to the first motion information.

[0085] The first motion information refers to the position and angle parameters of the housing 24 relative to the mounting beam 1 when it washes the ground or blows garbage. These position and angle parameters are a preferred parameter generated by the first sensing module 41. By controlling the first driving component 21, the second driving component 22 and the third driving component 23 according to these parameters, the position and angle of the housing 24 relative to the mounting beam 1 can be adjusted, thereby enhancing the effect of the jet blowing assembly 2 in washing the ground and blowing garbage.

[0086] S230: Air valve 27 and water valve 28 adjust their respective opening degrees according to valve information.

[0087] The valve information refers to the opening degree parameters of the air valve 27 and water valve 28 when the housing 24 washes the ground or blows garbage. This opening degree parameter is a better parameter generated by the first sensing module 41. By controlling the air valve 27 and water valve 28 according to this parameter, the mixing ratio of airflow and water flow can be adjusted, as well as the flow rate of the water mist formed by the mixture, thereby enhancing the effect of the jet blowing assembly 2 in washing the ground and blowing garbage.

[0088] S240: The second sensing module 42 acquires second motion information and second navigation information based on the ground environment.

[0089] The second sensing module 42 senses the ground environment, identifies the ground and objects on the ground, and extracts road information, obstacle information and garbage information from them; then it obtains second navigation information based on the road information and obstacle information; and obtains second motion information based on the garbage information.

[0090] S250: The fourth drive unit 31 adjusts the angle of the suction cover 32 relative to the mounting beam 1 according to the second motion information.

[0091] The second motion information is the angle parameter of the suction hood 32 relative to the mounting beam 1 when it picks up garbage. This angle parameter is a better parameter generated by the second sensing module 42. By controlling the fourth driving component 31 according to this parameter, the angle of the suction hood 32 relative to the mounting beam 1 can be adjusted, thereby improving the efficiency of the suction assembly 3 in picking up garbage.

[0092] S260: The cleaning robot 1000 controls the cleaning robot 1000 to drive and avoid obstacles according to the first navigation information and the second navigation information.

[0093] The first and second navigation information can be merged into a fused navigation information. Controlling the cleaning robot 1000 to move and avoid obstacles based on this fused navigation information improves the accuracy of its movement and obstacle avoidance. Furthermore, this fused navigation information can be further integrated with navigation information generated by radar or cameras on the cleaning robot 1000 to further enhance its accuracy in moving and avoiding obstacles.

[0094] The cleaning device 100 and cleaning robot 1000 of this application embodiment spray air and water through nozzles 243, so that the air and water can mix at the nozzles 243 to form a water mist, which can simultaneously wash the ground and blow away garbage, thereby enhancing the cleaning effect and improving cleaning efficiency; and it also improves the problem of mutual interference between air and water in the prior art. A mixing chamber 246 is provided in the housing 24, which can increase the contact area between air and water, so that air and water can be fully mixed and improve the uniformity of the water mist formed by the air and water mixture. The first drive member 21, the second drive member 22 and the third drive member 23 can flexibly adjust the direction and position of the air and / or water sprayed from the housing 24, which can wash the ground or blow away garbage on the ground from multiple directions, improve the washing effect on the ground, and improve the efficiency of blowing garbage to the suction component 3. The fourth drive member 31 can adjust the direction of the suction hood 32 to pick up garbage, which can pick up garbage on the ground from multiple directions, increase the suction area, and can adjust the appropriate suction angle for different types of garbage, thereby improving the suction efficiency. The sweeping component 5 can sweep up debris adhering to the ground, improving the cleaning effect of sticky debris. The sensing component 4 can sense the ground environment to obtain road information, obstacle information, and debris information, providing guidance for the navigation and obstacle avoidance of the cleaning robot 1000, improving the accuracy of the cleaning robot 1000 in driving and avoiding obstacles; it can also provide guidance on the direction and position of the airflow and / or water flow blown out by the housing 24, as well as the direction of the suction hood 32 in sucking up debris, enhancing the effect of the blowing component 2 in washing the ground and blowing away debris, and improving the efficiency of the suction component 3 in sucking up debris.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning device, characterized in that include: Install beams; A jetting assembly is disposed on the mounting beam, and the jetting assembly includes a first driving component, a second driving component, a third driving component, a housing, an air valve, and a water valve; The first driving member, the second driving member, the third driving member, and the housing are sequentially connected, and the first driving member is disposed on the mounting beam. The first driving member is used to drive the housing to translate relative to the mounting beam along a first direction, the second driving member is used to drive the housing to rotate relative to the mounting beam about a first axis, and the third driving member is used to drive the housing to rotate relative to the mounting beam about a second axis. The first direction is parallel to the length direction of the mounting beam, the first axis is parallel to the first direction, and the second axis is perpendicular to the first axis. The housing has a spray nozzle, an air duct, and a water channel, and the spray nozzle is connected to the air duct and the water channel. A mixing chamber is formed inside the housing, and the mixing chamber is connected to the spray nozzle, the air duct, and the water channel respectively. The sensing component includes a first sensing module, which is disposed in the housing and is used to sense the ground environment. The air duct is used to receive airflow and blow the airflow to the outside of the housing through the nozzle; the water duct is used to receive water flow and spray the water flow to the outside of the housing through the nozzle; and the mixing chamber is used to mix the airflow and water flow. The air valve is disposed in the air duct and is used to regulate the airflow rate flowing into the nozzle through the air duct; the water valve is disposed in the water duct and is used to regulate the waterflow rate flowing into the nozzle through the water duct. The cleaning device has an automatic working mode. In the automatic working mode, the first sensing module acquires first motion information and valve information based on the ground environment; the first driving component, the second driving component, and the third driving component adjust the position and angle of the housing relative to the mounting beam according to the first motion information; the air valve and the water valve adjust their respective opening degree according to the valve information.

2. The cleaning device of claim 1, wherein The cleaning device further includes a suction assembly, which includes a fourth drive member and a suction hood. The fourth drive member is connected to the mounting beam and the suction hood. The fourth drive member is used to drive the suction hood to rotate relative to the mounting beam around a third axis. The suction hood is used to pick up garbage. The third axis is perpendicular to the length direction of the mounting beam.

3. The cleaning device of claim 2, wherein The sensing component further includes a second sensing module, which is disposed on the suction cover and is used to sense the ground environment.

4. The cleaning device of claim 1, wherein The cleaning device further includes a cleaning component, which includes a brush mounted on the mounting beam and is used to clean the ground.

5. The cleaning device according to any one of claims 1 to 4, characterized in that It has both automatic and manual operating modes; In automatic operation mode, the first sensing module also acquires first navigation information based on the ground environment; the second sensing module acquires second motion information and second navigation information based on the ground environment. The fourth drive unit adjusts the angle of the suction cover relative to the mounting beam according to the second motion information; the cleaning robot controls its movement and obstacle avoidance according to the first navigation information and the second navigation information. The cleaning device also has a manual working mode. In the manual working mode, it accepts user input commands, and the air valve and the water valve adjust their respective opening degrees according to the commands.

6. A cleaning robot characterized by, Includes the cleaning device as described in any one of claims 1-5, wherein the cleaning device is mounted on the body of the cleaning robot.

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