Cleaning robot

Abstract

A cleaning robot (100), comprising: a body (10); the moving assembly supports and drives the cleaning robot (100) to move on the surface of the to-be-cleaned area; the cleaning assembly is arranged at the bottom of the machine body (10) and performs cleaning work on the surface of the to-be-cleaned area; the cleaning robot (100) cleans the surface of the to-be-cleaned area according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot (100) in each working period is equivalent to the cleaning effect of the handheld dust collector; the preset cleaning strategy comprises at least one of the number M of cleaning times in each work cycle and the cleaning effect of each time. By adopting a multi-pass cleaning strategy, that is, the comprehensive cleaning effect of the cleaning robot (100) is equivalent to the cleaning effect of a handheld dust collector by accumulating the cleaning effect of each pass and the number M of times in a working period.

Description

cleaning robots

[0001] This application claims priority to Chinese patent application number CN202210551234.X filed on May 20, 2022, entitled “Cleaning Robot,” the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to a small household product, and in particular to a cleaning robot. Background Art

[0003] With the development of science and technology, robots play an increasingly important role in our lives, especially household robots, which help people free themselves from heavy housework. Among them, cleaning robots are widely favored by users due to their wide applicability.

[0004] Existing cleaning robots are capable of autonomous movement, requiring no direct human control or operation while performing their tasks. They also feature features such as path planning, automatic obstacle avoidance, human-machine interaction, and recharging capabilities, effectively addressing daily floor cleaning needs. While autonomously moving indoors, cleaning robots utilize vacuum suction to clean the surfaces they pass over. However, current cleaning robots on the market offer limited cleaning effectiveness, particularly on difficult-to-clean carpets and mats. Their low cleaning efficiency fails to meet user needs.

[0005] Summary of the Invention

[0006] In order to overcome the defects of the prior art, the problem to be solved by the embodiments of the present disclosure is to provide a cleaning robot with better cleaning effect.

[0007] A cleaning robot comprises: a body; a moving component, which supports and drives the cleaning robot to move on the surface of an area to be cleaned; a cleaning component, which is arranged at the bottom of the body and performs cleaning work on the surface of the area to be cleaned; the cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to that of a handheld vacuum cleaner; the preset cleaning strategy includes at least one of the number of cleaning passes M in each working cycle and the cleaning effect of each pass; the cleaning effect is characterized by cleaning efficiency or energy input per unit area.

[0008] In one embodiment, each working cycle is set to 7 natural days; the cleaning effect is characterized by cleaning efficiency; for a non-standard test carpet, the cleaning efficiency of the cleaning robot within the working cycle is greater than or equal to 35%.

[0009] In one embodiment, the cleaning effect is characterized by cleaning efficiency; for a standard test carpet, the cleaning efficiency of the cleaning robot during the working cycle is greater than or equal to 80%.

[0010] In one embodiment, each of the working cycles is set to 7 natural days.

[0011] In one embodiment, the number of cleaning passes M per working cycle ranges from 5 to 21 passes per cycle. For non-standard test carpets, the cleaning efficiency of each pass is greater than or equal to 15%, so that the cleaning efficiency in each working cycle is greater than or equal to 35%.

[0012] In one embodiment, the preset cleaning strategy further includes: dividing the number of cleaning passes M in each working cycle into N times, where N is greater than 1.

[0013] In one embodiment, the time interval between two adjacent passes is greater than the time interval between two adjacent passes.

[0014] In one embodiment, the time interval between two adjacent times is greater than or equal to 1 hour.

[0015] In one embodiment, between two adjacent passes, the cleaning robot is charged using a constant current charging CC combined with a constant voltage charging CV charging method; between two adjacent passes, the cleaning robot is charged using a constant current charging CC charging method.

[0016] In one embodiment, at most one cleaning is allocated per natural day within each of the working cycles.

[0017] In one embodiment, the working time of each cleaning is no more than 8 hours.

[0018] In one embodiment, the cleaning robot includes a rechargeable battery, and the single charging time of the rechargeable battery is in the range of less than or equal to 45 minutes.

[0019] In one embodiment, the cleaning robot includes a rechargeable battery, and the charging power of the rechargeable battery has a value range of greater than or equal to 100W.

[0020] In one embodiment, the cleaning robot includes a rechargeable battery, and the working time of the rechargeable battery after a single full charge is in the range of greater than or equal to 20 minutes.

[0021] In one embodiment, the ratio of the battery's single charging time to its single fully charged working time is in a range of less than or equal to 2.3:1.

[0022] In one embodiment, the cleaning robot includes a rechargeable battery, and the battery cycle number of the rechargeable battery is greater than or equal to 2000 times.

[0023] In one embodiment, the charging current of the rechargeable battery is in a range of greater than or equal to 5A.

[0024] In one embodiment, the rechargeable battery has a battery capacity of 80Wh.

[0025] In one embodiment, the cleaning robot has a high-efficiency cleaning mode, in which the cleaning efficiency of the cleaning robot is a first cleaning efficiency;

[0026] The cleaning robot further has a normal cleaning mode. In the normal cleaning mode, the cleaning efficiency of the cleaning robot is a second cleaning efficiency, wherein the first cleaning efficiency is greater than the second cleaning efficiency.

[0027] In one embodiment, the cleaning robot performs cleaning in the high-efficiency cleaning mode on working days within each cycle;

[0028] The cleaning robot performs cleaning in the normal cleaning mode or does not perform cleaning on non-working days within each cycle.

[0029] In one embodiment, in the high-efficiency cleaning mode, the cleaning robot performs cleaning passes greater than or equal to 2 times; and in the normal cleaning mode, the cleaning robot performs cleaning passes once.

[0030] In one embodiment, in the high-efficiency cleaning mode, the fan power of the cleaning robot is greater than or equal to 100W; in the normal cleaning mode, the fan power of the cleaning robot is less than 100W.

[0031] In one embodiment, in the high-efficiency cleaning mode, among the N times, the cleaning efficiency of at least one time is greater than or equal to 25%, or the energy input per unit area of ​​at least one time is greater than or equal to 5000 J / m2.

[0032] In one embodiment, among the N times, the cleaning efficiency of at least three times is greater than or equal to 25%, or the energy input per unit area of ​​at least three times is greater than or equal to 5000 J / m2.

[0033] In one embodiment, among the N times, at least one cleaning pass is greater than or equal to 2 passes.

[0034] In one embodiment, the cleaning assembly includes a cleaning roller brush, which includes at least a first cleaning roller brush and a second cleaning roller brush, which are arranged at the bottom of the body, and the first cleaning roller brush and the second cleaning roller brush clean the garbage on the surface of the area to be cleaned when they rotate;

[0035] The cleaning robot performs each cleaning pass using the first cleaning roller brush and the second cleaning roller brush.

[0036] In one embodiment, the first cleaning roller brush is a hard roller brush, and the second cleaning roller brush is a bristle roller brush, or both the first cleaning roller brush and the second cleaning roller brush are hard roller brushes, or both the first cleaning brush and the second cleaning brush are bristle roller brushes.

[0037] In one embodiment, the hard roller brush is a rubber roller brush, and the bristle roller brush at least includes bristles.

[0038] In one embodiment, the cleaning robot performs each cleaning pass on the surface of the area to be cleaned at a first moving speed, and a value range of the first moving speed is 0.13 m / s-0.2 m / s.

[0039] In one embodiment, the cleaning robot has a total power of greater than or equal to 100W.

[0040] The present disclosure also provides a cleaning robot having a high-efficiency cleaning mode. In the high-efficiency cleaning mode, the cleaning robot performs more than or equal to 2 cleaning passes.

[0041] In one embodiment, the cleaning robot has a normal cleaning mode. In the normal cleaning mode, the cleaning robot performs one cleaning pass.

[0042] In one embodiment, the cleaning robot has a communication module configured to receive instructions sent by a user, wherein the instructions are used to indicate a time node selected by the user for executing the high-efficiency cleaning mode.

[0043] In one embodiment, the time node for executing the high-efficiency cleaning mode includes at least one day from Monday to Sunday.

[0044] For example, after the user selects the high-efficiency cleaning mode through the user terminal, the user terminal can further present options for time nodes for the user to check, where the time nodes can be, for example, Monday to Sunday, with a check box in front, so that the user can check through the user terminal which days from Monday to Sunday to execute the high-efficiency cleaning mode. After checking, the cleaning robot can perform cleaning work according to the number of cleaning times (for example, two times) corresponding to the checked time point and the high-efficiency cleaning mode. Of course, in other embodiments, the time node can also be a time interval, such as 8:00-11:00; 13:00-16:00, etc.; of course, the time interval can be presented after the user checks a natural day from Monday to Sunday, so that the cleaning robot performs cleaning work according to the number of cleaning times (for example, two times) corresponding to the high-efficiency cleaning mode within the time interval corresponding to the checked natural day; the time interval can be set according to the completion time (cleaning time) of the number of cleaning times corresponding to the high-efficiency cleaning mode. For example, if the high-efficiency cleaning mode is 2 times and the time to complete two cleaning times is 4 hours, the time interval is set to a four-hour interval (such as 8:00-12:00; 13:00-17:00).

[0045] The present disclosure further provides a cleaning robot, the cleaning robot having a high-efficiency cleaning mode, wherein in the high-efficiency cleaning mode, the cleaning efficiency of the cleaning robot is a first cleaning efficiency;

[0046] The cleaning robot further has a normal cleaning mode. In the normal cleaning mode, the cleaning efficiency of the cleaning robot is a second cleaning efficiency, wherein the first cleaning efficiency is greater than the second cleaning efficiency.

[0047] In one embodiment, the cleaning robot has a high-efficiency cleaning mode, in which the cleaning robot performs two or more cleaning passes.

[0048] The cleaning robot also has a normal cleaning mode. In the normal cleaning mode, the cleaning robot performs one cleaning pass.

[0049] In one embodiment, the cleaning robot has a high-efficiency cleaning mode, in which the fan power of the cleaning robot is greater than or equal to 100W;

[0050] The cleaning robot has a normal cleaning mode. In the normal cleaning mode, the fan power of the cleaning robot is less than 100W.

[0051] The present disclosure further provides a cleaning robot, comprising: a body; a moving component, supporting and driving the cleaning robot to move on the surface of an area to be cleaned; a cleaning component, arranged at the bottom of the body, to perform cleaning work on the surface of the area to be cleaned; the cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to that of a handheld vacuum cleaner; wherein the cleaning effect is characterized by cleaning efficiency or energy input per unit area; the preset cleaning strategy includes daily working hours in each working cycle, and the daily working hours of the cleaning robot do not exceed 8 hours.

[0052] In one embodiment, the cleaning robot includes a rechargeable battery, and the cleaning robot is charged using a constant current charging (CC) method.

[0053] In one embodiment, the cleaning robot includes a rechargeable battery, and the number of cycles of the rechargeable battery is greater than or equal to 2000 times.

[0054] The present disclosure further provides a cleaning robot, comprising: a body; a moving component, supporting and driving the cleaning robot to move on the surface of an area to be cleaned; a cleaning component, arranged at the bottom of the body, to perform cleaning work on the surface of the area to be cleaned; the cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to that of a handheld vacuum cleaner; wherein the cleaning effect is characterized by cleaning efficiency or energy input per unit area; the preset cleaning strategy includes the number of cleaning passes per day in each working cycle, and the number of cleaning passes per day of the cleaning robot is greater than or equal to 2 times.

[0055] In one embodiment, the cleaning effect is characterized by energy input per unit area, and the energy input per unit area per pass is greater than or equal to 5000 J / m2.

[0056] The present disclosure further provides a cleaning robot, comprising: a body; a dust box for collecting garbage cleaned by the cleaning robot; at least one driving wheel for supporting and driving the cleaning robot to move on the surface of the area to be cleaned; a cleaning roller brush, comprising at least a first cleaning roller brush and a second cleaning roller brush, which are arranged at the bottom of the body and at least partially exposed to the bottom surface of the body, and when the first cleaning roller brush and the second cleaning roller brush rotate, they sweep the garbage on the surface to be cleaned that the cleaning robot has walked on into the body; a fan, which forms negative pressure inside the dust box to suck the garbage into the dust box; the power of the fan is greater than or equal to 100W.

[0057] In one embodiment, for a standard test carpet, the cleaning efficiency of the cleaning robot is greater than or equal to 80%.

[0058] In one embodiment, for a standard test carpet, the cleaning robot performs at least two cleaning passes, so that the cleaning efficiency of the cleaning robot is greater than or equal to 80%.

[0059] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure and to implement them according to the contents of the specification, the following is a detailed description of the preferred implementation methods of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The objectives, technical solutions and beneficial effects of the present disclosure described above can be clearly obtained through the following detailed description of specific embodiments that can implement the present disclosure, combined with the description of the accompanying drawings.

[0061] The same reference numerals and symbols are used in the drawings and the description to designate the same or equivalent elements.

[0062] FIG1 is a bottom view of a cleaning robot according to an embodiment of the present disclosure;

[0063] FIG2 is a schematic diagram of the internal structure of the cleaning robot shown in FIG1 ;

[0064] FIG3 a is a side view of a cleaning roller brush and a first driving assembly of a cleaning robot in one embodiment of the present disclosure;

[0065] FIG3 b is a view of the cleaning roller brush and the first driving assembly of the cleaning robot shown in FIG3 a from another perspective;

[0066] FIG4 a is a side view of a cleaning roller brush and a first driving assembly of a cleaning robot in one embodiment of the present disclosure;

[0067] FIG4b is a view of the cleaning roller brush and the first driving assembly of the cleaning robot shown in FIG4a from another perspective;

[0068] FIG5 is a schematic diagram of a cleaning robot docked at a base station for wired charging in one embodiment of the present disclosure;

[0069] FIG6 is a schematic diagram of a cleaning robot docked at a base station for wireless charging in one embodiment of the present disclosure;

[0070] FIG7 is a schematic diagram of a path of a cleaning robot moving during two cleanings of a second type of surface in accordance with an embodiment of the present disclosure;

[0071] FIG8 is a graph showing the cleaning efficiency of a cleaning robot with a single cleaning roller brush and two cleaning roller brushes on a carpet during the experiment of the present disclosure;

[0072] FIG9 is a comparison chart showing the cleaning efficiency of a cleaning robot with a single cleaning brush and with two cleaning brushes on a carpet under the same speed, different materials, and different fan powers during the experiment of the present disclosure;

[0073] FIG10a is a graph showing the effects of the rotation speed of the cleaning roller brush and the power of the fan on the cleaning efficiency of the carpet when the cleaning robot is equipped with a single cleaning roller brush made of the first material (marked in brackets) during the experiment of the present disclosure;

[0074] FIG10 b is a graph showing the effects of the rotation speed of the cleaning roller brush and the power of the fan on the cleaning efficiency of the carpet when the cleaning robot is equipped with a single cleaning roller brush made of the second material (marked in brackets) during the experiment of the present disclosure;

[0075] FIG10c is a graph showing the effects of the rotation speed of the cleaning brushes and the power of the fan on the cleaning efficiency on the carpet during the experiment of the present disclosure, in which the cleaning robot is equipped with two cleaning rollers, the cleaning rollers being made of the first material indicated in the brackets;

[0076] FIG10d is a graph showing the effects of the rotation speed of the cleaning brushes and the power of the fan on the cleaning efficiency on the carpet during the experiment of the present disclosure, in which the cleaning robot is equipped with two cleaning rollers, each of which is made of the second material indicated in the brackets;

[0077] FIG11 is a comparison chart showing the hair removal rate and hair entanglement rate on a carpet when the cleaning robot is equipped with a single cleaning brush and two cleaning brushes, cleaning brushes of different materials, and a combination of cleaning brushes of different materials during the experiment of the present disclosure;

[0078] FIG12 is a comparison chart showing the dust removal rates on the floor when the cleaning robot is provided with a single cleaning roller brush and two cleaning roller brushes, cleaning roller brushes of different materials, and a combination of cleaning roller brushes of different materials during the test of the present disclosure;

[0079] FIG13 is a schematic diagram of a control terminal provided in an embodiment of the present disclosure;

[0080] FIG14 is a first schematic diagram of a traversal path of a cleaning robot provided by an embodiment of the present disclosure when performing one two-pass cleaning;

[0081] FIG15 is a second schematic diagram of a traversal path of the cleaning robot when performing one two-pass cleaning according to an embodiment of the present disclosure;

[0082] FIG16 is a bottom view of a cleaning robot according to another embodiment of the present disclosure;

[0083] FIG17 is a schematic front view of a cleaning robot in another embodiment provided by the present disclosure. DETAILED DESCRIPTION

[0084] The technical solutions of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only a portion of the embodiments of the present disclosure, not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are within the scope of protection of the present disclosure.

[0085] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this disclosure and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0086] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on the specific circumstances.

[0087] In addition, the technical features involved in different embodiments of the present disclosure described below can be combined with each other as long as they do not conflict with each other.

[0088] At present, existing cleaning robots can clean the work area to be cleaned, which reduces the cleaning burden of users to a certain extent. However, their cleaning effect on the floor is average, especially for carpets or floor mats. Since soft materials such as carpets (or floor mats) usually have fluff, cleaning robots that have average cleaning effect on the floor have poor cleaning effect when performing carpet cleaning. This means that users still need to use handheld vacuum cleaners to deep clean carpets (or floor mats) every week or every two weeks. It can be seen that existing cleaning robots cannot truly free users' hands.

[0089] In view of this, the applicant aims to design a cleaning robot that can be used to replace a handheld vacuum cleaner and can truly free the user's hands.

[0090] In other words, on the one hand, the cleaning robot has a good cleaning effect on the area to be cleaned, especially the carpet area (or floor mat area) that is more difficult to clean, that is, the cleaning effect of the cleaning robot can be close to or reach the cleaning effect of a handheld vacuum cleaner; the "close" here can be understood as the cleaning effect of the cleaning robot reaching a preset percentage of the cleaning effect of the handheld vacuum cleaner, for example, the cleaning effect of the cleaning robot reaches 60% of the cleaning effect of the handheld vacuum cleaner, that is, the cleaning robot can be considered to be "close" to the cleaning effect of the handheld vacuum cleaner; of course, the preset percentage can be determined according to design requirements and the user's working cycle of using the handheld vacuum cleaner (for example, every week or every two weeks), and this embodiment does not impose specific restrictions on this. It should be pointed out that the cleaning effect described herein can be characterized by cleaning efficiency (CE). Of course, the cleaning effect can also be characterized by other parameters, such as energy input per unit area.

[0091] On the other hand, the working time of the cleaning robot is controllable, for example, the working time should be controlled within a range acceptable to the user.

[0092] Furthermore, factors such as the cleaning robot's battery life, the robot's size, and its movement strategy within the area to be cleaned (particularly carpeted or matted areas) should also be considered during design. The aforementioned movement strategy includes at least the robot's movement trajectory (e.g., a reciprocating cleaning trajectory per unit area of ​​the cleaning area) and / or movement speed (e.g., the distance traveled per unit time or the area cleaned per unit time).

[0093] First, in order to approach or achieve the cleaning effect of a handheld vacuum cleaner, you can do so in two ways:

[0094] Method 1: Adopt a single-pass cleaning strategy, which involves a single-pass cleaning process. The "pass" here refers to traversing the entire area to be cleaned, and the "equivalent" mentioned above means approaching or achieving the cleaning performance of a handheld vacuum cleaner.

[0095] Method 2: Adopt a multi-pass cleaning strategy. This involves performing at least two passes and combining the cleaning results of each pass to achieve an overall cleaning effect close to or equal to that of a handheld vacuum cleaner. The reasons for adopting a multi-pass cleaning strategy are as follows: 1. A single-pass cleaning strategy would require the robot to be extremely large, which would not meet user expectations for miniaturized cleaning robots. 2. Due to the robot's size, the cleaning effect of each pass is limited. The robot's size is related to the size and power of its components, such as the battery, cleaning parts, and motor.

[0096] Considering that if only the number of passes is increased and the effect of each pass is too small or remains unchanged, the number of passes will be too many and the working time of the cleaning robot will be very long; therefore, the cleaning effect of each pass should also be constrained.

[0097] In this application, by controlling the number of cleaning passes (denoted by M) and the cleaning effect of each pass, the overall cleaning effect of the cleaning robot is made comparable to that of a handheld vacuum cleaner. It can be seen that to achieve the same cleaning effect, the number of cleaning passes and the cleaning effect of each pass are inversely proportional, that is, the greater the number of cleaning passes, the smaller the cleaning effect of each pass can be; conversely, the better the cleaning effect of each pass, the fewer cleaning passes can be.

[0098] Therefore, the design requires a balance between the number of cleaning passes and the cleaning effect of each pass. Specifically, the number of passes (M) must be within a first range, and the cleaning effect of each pass within a second range, so that the cleaning effect after M passes is a preset percentage of the cleaning effect of the handheld vacuum cleaner. The cleaning effect of each pass can be characterized by cleaning efficiency (CE); in this case, the cleaning efficiency of each pass should be controlled within a corresponding threshold range. Of course, the cleaning effect of each pass can also be characterized by other parameters such as energy input per unit area. In this case, the energy input per unit area of ​​each pass should be controlled within the corresponding threshold range, and this application does not impose any restrictions on this.

[0099] Regarding how to balance the number of cleaning passes and the cleaning effect of each pass, the following is an explanation from two aspects: the number of cleaning passes and the cleaning effect of each pass:

[0100] On the one hand, considering that the number of passes is restricted by the cleaning effect of each pass, the number of cleaning passes can be controlled by improving the cleaning effect of each pass to a corresponding range.

[0101] Since the cleaning effect of each pass is related to the cleaning element, the efficiency (suction force) of collecting dirt (such as dust, hair, debris, etc.), and the movement strategy of the cleaning robot, wherein the cleaning element at least includes a roller brush for cleaning (for example, sweeping up dirt or garbage) and a suction port for sucking in dirt or garbage, in order to improve the cleaning effect of each pass, in one embodiment, it can be improved by at least one of the following methods:

[0102] 1. From the perspective of cleaning parts, in one embodiment of the present application, the cleaning robot uses a double roller brush for cleaning, and the double roller brush includes a first cleaning roller brush and a second cleaning roller brush. The first cleaning roller brush and the second cleaning roller brush cooperate with each other to work together to beat up dust and other garbage so that they can be sucked up by the suction port.

[0103] In order to further improve the cleaning effect, further, in the double roller brushes, one cleaning roller brush adopts a hard roller brush, and the other cleaning roller brush adopts a bristle roller brush; wherein the hard roller brush is a rubber roller brush, and the bristle roller brush at least includes bristles; that is, in the double roller brushes, one cleaning roller brush adopts a rubber roller brush; and the other cleaning roller brush can adopt a roller brush including bristles, such as a pure bristle roller brush with only bristles or a rubber bristle roller brush with both rubber and bristles.

[0104] It should be noted that in other embodiments, the cleaning robot can also improve dust removal by increasing the power of the roller brush (motor). The roller brush power range of this application is 25-50W, and preferably, the roller brush power is 30W; this is conducive to improving the cleaning effect. Because the roller brush (motor) power is related to the roller brush (motor) speed, the roller brush power can be increased by increasing the roller brush motor speed. In one embodiment, the roller brush motor speed is greater than or equal to 1500r / min.

[0105] 2. From the perspective of suction, the cleaning robot uses strong suction to vacuum, where strong suction can be achieved by a high-power fan, and the fan power is related to the vacuum degree and flow rate. The vacuum degree is related to the sealing of the dust suction port, and the flow rate is related to the size of the dust suction port. The relationship between the three is as follows: W (fan power) = P (vacuum degree) * Q (flow rate); From this relationship, it can be seen that the required fan power can be obtained by considering both the vacuum degree and the flow rate. That is, for the same fan power, a fan with high vacuum and low flow rate can be selected, or a fan with high flow rate and low vacuum degree can be selected. The high flow rate here refers to the flow rate at the fan inlet being greater than or equal to 1.2m 3 / min, low flow means the flow at the fan inlet is less than 1.2m 3 / min; high vacuum degree means that the static pressure at the air inlet of the fan is greater than or equal to 15KPa when the fan is fully blocked, and low vacuum degree means that the static pressure at the air inlet of the fan is less than 15KPa when the fan is fully blocked.

[0106] The high-power fan mentioned above refers to a fan with a power greater than or equal to 100 W. Furthermore, the fan is a fan with a high flow rate, which has a better dust collection effect.

[0107] In one embodiment of the present application, the power range of the fan is 100W to 200W; preferably, the power range of the fan is 100W to 125W. For example, the fan can be used with a high flow rate (the flow rate at the fan inlet is 1.2 to 1.6 m 3 / min), low vacuum (the static pressure at the fan inlet is between 10 and 15 kPa when the fan is fully blocked); or the fan uses a low flow rate (the flow rate at the fan inlet is between 0.8 and 1.2 m 3 / min), high vacuum degree (the static pressure at the fan inlet is between 15 and 20 kPa when the fan is fully blocked).

[0108] In this application, the power of the fan is 125W.

[0109] 3. From the perspective of movement strategy, the cleaning robot controls the movement distance per unit time or the cleaning area per unit time, for example, cleaning at a relatively low movement speed, such as 0.1m / s-0.25m / s. In particular, the movement speed of the cleaning robot on the carpet is reduced to within a predetermined range. In one embodiment of the present application, the movement speed of the cleaning robot is in the range of 0.13-0.25m / s, and further, the movement speed of the cleaning robot is in the range of 0.13-0.2m / s; preferably, the movement speed of the cleaning robot is in the range of 0.15-0.2m / s.

[0110] In one embodiment, the present application improves the cleaning effect of each pass through a combination of the above-mentioned cleaning components and suction, that is, simultaneously improves the cleaning effect of each pass through a combination of a double roller brush and a large suction force.

[0111] In this application, for carpets that are non-standard test carpets, where non-standard test carpets refer to carpets that are not marked as test carpets, the CE value range for each pass is 15% or greater. Furthermore, the CE value range for each pass is 25% to 45%; preferably, the CE value range for each pass is 30% to 40%.

[0112] For the carpet type being a standard test carpet, wherein the standard test carpet refers to a Wilton carpet: the value range of CE per pass is greater than or equal to 60%; further, the value range of CE per pass is 60% to 80%; preferably, the value range of CE per pass is 65% to 75%.

[0113] On the other hand, as the number of passes increases, the cleaning robot's operating time becomes longer; in other words, the number of passes is constrained by the operating time. Therefore, the number of cleaning passes will be controlled here by constraining the operating time. Since the operating time is related to the user's working cycle of using the handheld vacuum cleaner; in other words, the number of passes is related to the user's working cycle of using the handheld vacuum cleaner (for example, one or two weeks), the number of passes M needs to be completed within this working cycle, and the total time spent on daily cleaning passes needs to be controlled within a range acceptable to the user, that is, the number of passes is constrained by the daily working time. It should be noted that the working cycle can be determined or set according to user needs.

[0114] Considering how to complete the number of cleaning passes within the above working cycle, it can be achieved in the following two ways:

[0115] Method A: The number of cleaning passes is completed in 1 time, that is, only 1 cleaning is performed in the working cycle to complete M times. At this time, the cleaning robot continuously runs M times in the working cycle to complete the cleaning.

[0116] Method B: Complete the cleaning process in multiple times, that is, complete M cleanings in N times within a working cycle, where N is an integer greater than 1 or greater than or equal to 2. The reason is that if M cleanings are completed in one time, the cleaning robot needs to work continuously and uninterruptedly within the working cycle. In this way, there are the following problems: 1. It may occupy the user's rest time and reduce the user experience; 2. The load of heating components is relatively large, such as chips, motors, batteries and other heating components, which may affect the service life of the cleaning robot; in addition, rechargeable batteries are usually used for cleaning robots, and the number of battery charges is limited, so completing multiple cleanings in one time will also lead to a decrease in battery life; 3. The robot's moving wheels (including at least one drive wheel and universal wheels) and cleaning parts and other mechanical parts also need to run continuously, so the wear of the mechanical parts will increase, reducing the service life of the mechanical parts.

[0117] Method B can provide users with rest time by cleaning in multiple times, and is also beneficial to extending the life of the cleaning robot or its components such as batteries.

[0118] The time interval between each pass should be short so that the user can intuitively feel the continuity and efficiency of the cleaning robot's work, thereby improving the user experience; and the time interval between each pass should be long so as to provide reserved time for the user to rest, thereby improving the user experience.

[0119] In this application, the execution of the pass is divided into several times to provide the user with rest time. As for the problem of how to reserve rest time for the user by the pass, on the one hand, it can be achieved by comparing the time interval between two adjacent passes and the charging method;

[0120] For example, in one embodiment, the time interval between the end of the previous operation and the start of the next operation is greater than the time interval between the end of the previous operation and the start of the next operation. That is, the time interval between two adjacent cleaning operations is greater than the time interval between two adjacent cleaning operations.

[0121] In another embodiment, the time interval between the end of the previous work and the start of the next work is greater than or equal to a set first threshold; and / or the time interval between the end of the previous work and the start of the next work is less than or equal to a set second threshold; wherein the first threshold is greater than the second threshold.

[0122] The above-mentioned first threshold value can be set according to the user's rest time. For example, the first threshold value can be the rest time between morning and afternoon, or the user's sleep time; therefore, the first threshold value can be set to any value within the range of 1-12h (hours); preferably, the value range of the first threshold value is 2-10h. It should be pointed out that the first threshold value can correspond to different values ​​for different rest situations. For example, if the current moment is 11:00 in the morning, the first threshold value corresponds to 2h, and when the current moment is 22:00 in the evening, the first threshold value is adjusted to 8h accordingly. Of course, the user can also customize the first threshold value through the control terminal (such as a mobile phone or a remote control or a control interface on a cleaning robot).

[0123] The second threshold value can be set from the perspective of the continuity of the cleaning robot's work or from the perspective of the maintenance of the cleaning robot; from the perspective of the continuity of the work, the second threshold value is set to 0, for example, that is, the time interval between each pass is 0, and the cleaning robot works continuously. Considering that the cleaning area is large, the cleaning robot may need maintenance, such as charging, removing dirt, standby (such as heat dissipation) and other maintenance; at this time, from the perspective of maintenance, the second threshold value is set to, for example, the time required for the cleaning robot to perform charging maintenance, removing dirt or standby maintenance, and the second threshold value is set to 5-120min (minutes); preferably, the second threshold value is set to 10-60min. In summary, the second threshold value is within the range of 0-2h; preferably, the second threshold value range is 0-60min;

[0124] It should be noted that the second threshold value may correspond to different values ​​according to different conditions. For example, under the condition that no maintenance is required, the second threshold value is set to 0. Under the condition that dirt needs to be removed, the second threshold value is set to 5min-20min, for example; preferably, the second threshold value is 10min. Under the condition that charging maintenance is required, the second threshold value is set to 20min-40min, for example; preferably, the second threshold value is set to 30min. Under standby conditions, the second threshold value is set to 40min-60min, for example; preferably, the second threshold value is set to 60min. The above numerical values ​​are only for the convenience of understanding and description and should not be understood as limitations on this application.

[0125] In the above embodiment, the user experience is improved by adjusting the time interval between two adjacent times and / or the value or value range of the time interval between two adjacent times.

[0126] In addition, in other embodiments, the user experience can also be improved from the perspective of two adjacent times and two adjacent times of charging. For example, between the end of the previous work and the start of the next work, the cleaning robot is charged by constant current charging (CC) combined with constant voltage charging (CV); between the end of the previous work and the start of the next work, the cleaning robot is charged by constant current charging (CC). In other words, in this application, between two adjacent cleaning jobs, the cleaning robot is charged by CC; since CC charging time is short, it is conducive to the efficient work of the cleaning robot; and between two adjacent cleaning jobs, the cleaning robot is charged by CC combined with CV (for example, first charged by CC, then charged by CV), which provides users with rest time by combining CV charging with a longer charging time.

[0127] On the other hand, the execution can be divided into several times, and the times can be matched with natural days so that the time interval between times can be matched with the user's rest time.

[0128] For example, cleaning work may be assigned or scheduled at most once a day, or each cleaning work may be assigned or scheduled on a different natural day.

[0129] In one embodiment, the working time of each time can be matched with the day or night of each natural day so that the time is matched with the natural day. The matching method can, for example, limit the working time of each time (or day) or the working interval of each time (or day).

[0130] Regarding the question of how much to constrain the working hours each time (or every day), constraints can be imposed from at least one of the following two aspects:

[0131] a. Limit the scope of working hours at each time (or every day);

[0132] For example, the working time of each time (or each day) is controlled not to exceed the predetermined working time, or the working interval of each time (or each day) is controlled to be set at the corresponding time period of the day (or night) of the natural day. The predetermined working time or working interval can also be determined according to the user's rest time or customized by the user. During the above working time or working interval, the work of the cleaning robot not only includes performing cleaning tasks on the area to be cleaned, but also includes other necessary operations such as return maintenance (such as charging, removing dirt, etc.) and obstacle avoidance. Preferably, the cleaning robot works continuously and uninterruptedly during the working time of each time or each day. It should be particularly noted that the necessary return maintenance (such as charging, removing dirt, etc.) and obstacle avoidance during the working process are included in the meaning of continuous and uninterrupted work.

[0133] In one embodiment of the present application, the range of the value of each working time is less than or equal to 8 hours. Preferably, the predetermined working time is set to 6 hours, that is, the working time of each time (or each day) does not exceed 6 hours, and the interval between the end of the working time and the beginning of the next working time is the rest time reserved for the user; for example, if the daily working time is set to 6 hours, the cleaning robot will complete continuous and uninterrupted work within the 6 hours.

[0134] For another example, the working intervals for each time (or each day) are set to 9:00-12:00; 13:00-16:00, and the working time for each time (or each day) is 6 hours; among them, the time interval (15 hours) between the end of the work of this time (or day) (16:00) and the start of the work of the next time (or the next day) (9:00) is the rest time reserved for the user, and the 1 hour time between the 12:00-13:00 period can be, for example, the time interval between two times or the time reserved for the cleaning robot to return for maintenance.

[0135] In addition, it should be noted that within the above-mentioned 6-hour working time, the cleaning robot completes one cleaning task through continuous and uninterrupted work. If the cleaning task includes two cleanings, the cleaning robot completes two cleanings continuously within the above-mentioned 6 hours.

[0136] Since the working time of each time is related to the total charging time of each cleaning robot, in one embodiment, in order to limit the working time of each time to a threshold range, it can be achieved by controlling the total charging time of each cleaning; wherein, the total charging time is related to the number of charges required to complete the cleaning task and the charging time for charging the battery once (referred to as single charging time).

[0137] Therefore, in order to control the total charging time, one way to do this is to control the duration of a single charge.

[0138] In one embodiment of the present application, the single charging time is within a range of 90 minutes or less. Further, the single charging time is within a range of 45 minutes or less; preferably, the single charging time is within a range of 35 minutes or less; specifically, the single charging time is 30 minutes.

[0139] Taking into account that the length of a single charge is related to the charging method, in order to control the length of a single charge, it can be achieved through the charging method of the battery. In one embodiment of the present application, the charging method is fast charging, that is, by increasing the charging power of the battery, the length of a single charge is shortened to achieve fast charging. In other words, the battery of the cleaning robot adopts a fast-charging battery, wherein a fast-charging battery refers to a battery that can be fully charged in a short time, and the meaning of fully charged here refers to charging to the preset capacity of the battery, for example, the preset capacity is more than 70% of the rated capacity of the battery. Furthermore, the fast-charging battery can be a lithium-ion battery, a button battery, a nickel-metal hydride battery, a nickel-cadmium battery, etc.

[0140] Considering that increasing charging power can be achieved by increasing the charging voltage or the charging current, fast charging technologies are mainly divided into two categories: low-voltage, high-current fast charging and high-voltage fast charging. In one embodiment of the present application, the cleaning robot adopts constant current charging (CC), which has a faster charging speed.

[0141] In summary, the charging method and the duration of a single charge are related to the charging power. Therefore, in order to achieve fast charging or reduce the duration of a single charge, fast charging or a shorter single charge duration can be achieved by controlling the charging power. In one embodiment of the present application, the range of the charging power of the battery is greater than or equal to 40W. Furthermore, the range of the charging power of the battery is greater than or equal to 60W. Preferably, the range of the charging power of the battery is greater than or equal to 100W. Specifically, the charging power of the battery is 140W.

[0142] Since the charging power of a battery is determined by the charging current and charging voltage, the charging power can be controlled by controlling the charging current or charging voltage. In one embodiment of the present application, the charging power is controlled by controlling the charging current, wherein the charging current has a value range of 3A or greater. Furthermore, the charging current has a value range of 5A or greater; preferably, the charging current is 7A or greater.

[0143] Taking into account that fast charging has a certain impact on the life of the battery, therefore, in one embodiment of the present application, the battery adopts a long-life battery, and the battery life can be characterized by the battery charge and discharge life or the number of cycles; wherein, in one embodiment, the life of the battery is characterized by the battery charge and discharge life, and the battery charge and discharge life can be the usage time when the battery capacity drops by 80%-85% (or drops to 20%-15% of the battery capacity); in one embodiment of the present application, the battery voltage is 20V; the battery capacity is 80Wh (watt-hours).

[0144] The complete process of fully charging and then discharging a battery is called a cycle. In one embodiment of the present application, the battery life is characterized by the number of cycles, and the battery cycle number range is greater than or equal to 2000 times; preferably, the battery cycle number range is 3000-4000 times.

[0145] It should be pointed out that in order to control the total charging time, on the other hand, it can be achieved by controlling the number of charges required to complete each cleaning task. Taking into account that the number of charges required to complete each cleaning task is related to the working time of a single full charge (used to characterize the single package endurance at maximum output power), in order to control the number of charges required to complete each cleaning task, it can be achieved by controlling the working time of a single full charge. Therefore, in one embodiment of the present application, the range of values ​​for the working time of a single full charge is greater than or equal to 15 minutes. Furthermore, the range of values ​​for the working time of a single full charge is greater than or equal to 20 minutes. Preferably, the working time of a single full charge is 22-25 minutes.

[0146] It should be pointed out that the working time of a single full charge is related to the overall power and battery capacity of the cleaning robot. For example, the overall power of the cleaning robot is 175W and the battery capacity is 80Wh. The working time of a single full charge of the battery can be calculated by the following formula: T = 80*0.9 / 175*60 = 24.7min, where 0.9 is the battery working capacity coefficient, which indicates the proportion of the battery capacity that can be used for work, and the remaining 0.1 indicates the proportion of the remaining capacity when the battery needs to be returned to charge; the battery working capacity coefficient can be set according to demand, for example, it can also be set to 0.8, 0.85, etc.

[0147] Considering that existing cleaning robots do not charge during the working process because they clean once, and only charge after completing the work, the cleaning robot provided by the present application may include multiple cleanings per cleaning task, and the total cleaning area is large at this time. Therefore, it needs to return to charging during the cleaning process. Users expect that the charging time should not be too long, and the working time of a single full charge should not be too short. Because if the single charging time is much longer than the working time of a single full charge, the user may feel that the cleaning robot is working inefficiently, which reduces the user experience. Therefore, in one embodiment of the present application, the ratio of the single charging time to the working time of a single full charge is less than or equal to 2.5:1; preferably, the ratio of the single charging time to the working time of a single full charge is less than or equal to 2.3:1 or less than or equal to 2:1; in order to ensure the continuity of the cleaning robot's work, further, the ratio of the single charging time to the working time of a single full charge is less than or equal to 1:1. In order to improve the efficiency of the cleaning robot's work, preferably, the ratio of the single charging time to the working time of a single full charge is less than or equal to 1:2.

[0148] However, considering that the single charging time (or fast charging) and the battery's single working time after a full charge are related to the battery capacity, the battery capacity, battery performance and cost will also restrict the single charging time and the battery's single working time after a full charge, making it impossible for the single charging time to be much less than the battery's single working time after a full charge; therefore, in other embodiments of the present application, the ratio of the single charging time to the battery's single working time after a full charge is greater than or equal to the first ratio; the first ratio has a value range of 1:3.

[0149] In one embodiment of the present application, the single charging time is 30 minutes, and the single fully charged working time is 22 minutes, so the ratio of the single charging time to the single fully charged working time is 30:22;

[0150] In another embodiment of the present application, the single charging time is 43 minutes, and the single fully charged working time is 25 minutes. At this time, the ratio of the single charging time to the single fully charged working time is 43:25.

[0151] In addition, it should be noted that the working time each time or each day is also related to the total cleaning time and other times (such as obstacle avoidance time and recharging time). Therefore, in other embodiments, it can be considered from the perspective of the total cleaning time and other times; the total cleaning time is related to the cleaning area per unit time of the cleaning robot, the area of ​​the area to be cleaned, and the number of times it cleans each time or each day, while the cleaning area per unit time is related to the moving speed of the cleaning robot, the length of the roller brush, the number of roller brushes, whether the cleaning area overlaps when there are multiple roller brushes, the moving trajectory of the cleaning robot (whether there is reciprocating motion per unit area), etc. The obstacle avoidance time is related to the obstacle avoidance logic, and the recharging time is related to the recharging trajectory (such as the distance of the trajectory), the moving speed during return, etc. Therefore, in one embodiment of the present application, the working time each time or each day can also be controlled by controlling the moving speed of the cleaning robot.

[0152] For ease of understanding, the following briefly describes the relationship between the above parameters:

[0153] When the length of the roller brush is 190 mm = 0.19 m, the number of roller brushes is 2, the cleaning surface of the two roller brushes overlaps by 20%, and the moving speed is 0.15 m / s, the cleaning area per unit time is calculated by the following formula: 0.19 * 0.15 * (1-20%) * 60 = 1.37 m 2 / min;

[0154] The area to be cleaned is 70m 2 , the number of cleaning passes is 2, then the total cleaning time can be calculated as follows: t1 = 70*2 / 1.37 = 102 minutes; considering the time for recharging and obstacle avoidance, the cleaning time t0 = 102*1.15 = 117 minutes;

[0155] The total charging time can be obtained by subtracting the cleaning time from the working time of each time, that is, the total charging time = 4*60-117 = 123min, and the number of charging times = the total cleaning time / the working time of a single full charge minus 1 time (because the first time is a full charge of CC combined with CV after the previous work is completed). Among them, the working time of a single full charge is related to the overall power and battery capacity of the cleaning robot. When the overall power of the cleaning robot is 175W, the battery capacity is 80Wh, and the battery voltage is 20V, the single full charge of the battery is 20W. The operating time after a full charge can be calculated using the following formula: T = 80 * 0.9 / 175 * 60 = 24.7 minutes. This yields a total of three charging cycles, k = t1 / T-1 = 102 / 24.7 - 1 = 3. These three cycles are for charging during operation, so CC charging is used. After the operation is complete, CC combined with CV charging is used to prepare for the next operation. Therefore, the single charge duration = total charging time / number of charges, i.e., the single charge duration t2 = (4 * 60 - 117) / 3 = 41 minutes. The charging current is related to the battery capacity, battery voltage, and single charge duration, i.e., charging current = 80 / 20 / 41 * 60 = 5.85A. To account for some time tolerance, a charging current greater than 5.85A is used, for example, 7A.

[0156] b. Limit the cleaning effect each time.

[0157] In one embodiment of the present application, for non-standard test carpets (such as wall-to-wall carpets or wall-to-wall carpets other than standard test carpets, wherein the standard test carpet is Wilton carpet), the cleaning efficiency CE value range each time or each day is greater than or equal to 30%, further, the cleaning efficiency CE value range each time or each day is 30% to 70%; preferably, the cleaning efficiency CE value range each time or each day is 40% to 60%.

[0158] For standard test carpets, the CE value range for each or daily cleaning is greater than or equal to 80%; further, the CE value range for each or daily cleaning is 80% to 95%; preferably, the cleaning efficiency CE value range for each or daily cleaning is 85% to 90%.

[0159] In order to more intuitively reflect the cleaning effect, there is no need to distinguish the carpets. In another embodiment of the present application, the cleaning effect can also be characterized by the energy input per unit area. The energy input range per unit area or per day is greater than or equal to 5000 J / m 2 Furthermore, the energy input per unit area per day or per time is in the range of 6788±20% J / m 2 Preferably, the energy input per unit area per day or per time is in the range of 6788 ± 10% J / m2 The energy input per unit area is related to the power of the whole machine (including at least the fan power and the roller brush power) and the cleaning area per unit time. For example, the fan power is 125W, the roller brush power is 30W, and the cleaning area per unit time is 1.37m. 2 / min as an example, the energy input per unit area is calculated as: (125+30)*60 / 1.37=6788J / m 2 .

[0160] Since the overall cleaning effect of N passes is comparable to that of a handheld vacuum cleaner, the overall cleaning effect can be achieved by distributing M passes over N times. The cleaning effect of each pass is the sum of the number of passes allocated and the cleaning effect of each pass. It is understandable that the cleaning effect of each pass is related to the number of passes included in each pass and the cleaning effect of each pass. Therefore, improving the cleaning effect of one pass can be achieved by using the following two methods or a combination thereof:

[0161] Method 1: Increase the number of passes included in this round;

[0162] In one embodiment of the present application, the number of cleaning passes each time is greater than or equal to 2 times; further, the number of cleaning passes each time is in the range of 2-4 times, preferably, the number of cleaning passes each time is in the range of 2-3 times; specifically, the number of cleaning passes each time is 2 times.

[0163] Method 2: Improve the cleaning effect of at least one pass in this round; the improvement scheme can refer to the improvement method for improving the cleaning effect of each pass described above. In order to save space, it will not be described in detail here.

[0164] As for how to allocate M passes to N times, the number of passes allocated each time can be the same or different; the cleaning effect of each time is the sum of the cleaning effects corresponding to each pass in the number of cleaning passes included in the cleaning.

[0165] The following takes M=14 passes as an example to briefly describe the distribution of passes and the cleaning effect of each pass:

[0166] If M is divided into 7 times, and if the number of passes allocated each time is the same, then 2 passes are allocated each time; at this time, when the cleaning effect of each pass is the same, the cleaning effect of each time is the same; and when there is at least 1 pass with improved cleaning effect among the passes included in a certain time, then the cleaning effect of this certain time is different from the cleaning effects of other times in which there is no improvement in cleaning effect; it can be understood that if there are at least 3 times in the 7 times in which the cleaning effect is improved, then the cleaning effects of these 3 times are greater than the cleaning effects of other times in the 7 times that have not been improved in cleaning effect.

[0167] If the number of passes M is divided into 7 times, and if at least two of the times have different numbers of passes, then in one embodiment, the first to third times can each be 2 passes, the fourth to fifth times can each be 3 passes, and the sixth to seventh times can each be 1 pass. Of course, other distribution methods can also be used among the 7 times. The cleaning effect of each time is determined by the number of passes included in the time and the cleaning effect of each pass in the time. If the cleaning effect of each pass is consistent, the cleaning effect of each time is proportional to the number of passes.

[0168] Alternatively, in other embodiments, the 14 times may be divided into 8 times, 5 times, 4 times, 3 times, etc., which will not be explained one by one here.

[0169] It should be understood that the above allocation of passes is only for ease of understanding and does not represent a limitation. The number of passes allocated each time may also be other values, which is not limited in this embodiment.

[0170] It is particularly emphasized that when two passes are included each time, the traversal paths of the two passes are different, for example, the traversal paths of the two passes do not overlap or are not parallel. Therefore, in an optional embodiment, the traversal paths of the two passes are at an acute angle or a right angle to each other. That is, the angle of the traversal paths of the two passes ranges from greater than 0 degrees to less than or equal to 90 degrees. Preferably, with reference to Figure 14, the traversal paths of the two passes are perpendicular to each other, that is, the traversal paths of the two passes are at a right angle to each other; for example, when the cleaning robot performs two traversal cleanings along a rectangular room, if the first pass traverses along the width direction of the rectangular room, the second pass traverses along the length direction of the rectangular room; of course, in other embodiments, with reference to Figure 15, when the cleaning robot performs two traversal cleanings along a rectangular room, if the first pass traverses along the wide side direction of the rectangular room, the second pass traverses along an acute angle to the long side (or wide side) of the rectangular room. The above-mentioned traversal path adopts an I-shaped traversal, and in other embodiments, the traversal path may also adopt other trajectories, such as a wavy or tooth-shaped traversal, which is not limited in this embodiment.

[0171] When each pass includes more than two passes, the paths of at least two passes are different, for example, the paths of two adjacent passes are different.

[0172] Taking into account user needs (for example, the robot does not work on non-working days, or the user expects to achieve a cleaning effect before the cycle), in addition, taking into account the possible error between the actual cleaning effect of the cleaning robot and the set expected effect, it is possible to improve the cleaning effect of at least one time in N cleanings to achieve a cleaning effect equivalent to that of a handheld vacuum cleaner. For example, in one embodiment of the present application, in N times, at least one time, from the start to the end of the cleaning work, each time the CE reaches 40-60%, or the energy input per unit area reaches 6788±10% J / m 2, to achieve a cleaning effect comparable to that of a handheld vacuum cleaner.

[0173] As for how to improve the cleaning effect of at least one time, the following two methods or a combination thereof can also be adopted:

[0174] 1) Increase the number of passes included in this single pass.

[0175] For example, the number of passes included in this single time is greater than or equal to 2 passes.

[0176] In one embodiment of the present application, the cleaning robot traverses the area to be cleaned 2-3 times each time / daily. Preferably, the cleaning robot traverses the area to be cleaned 2 times each time, that is, each time includes two passes.

[0177] 2) Improve the cleaning effect of at least one of the times. For specific improvement plans, please refer to the above description. In order to save space, we will not go into details here.

[0178] In order to improve the user experience, in one embodiment of the present application, the cleaning effect is improved for at least 3 times out of N cleaning times. That is, in at least 3 times, the CE reaches 40-60% each time, or the energy input per unit area reaches 6788±10% J / m 2 , so that N cleanings can achieve a cleaning effect equivalent to that of a handheld vacuum cleaner.

[0179] In one embodiment of the present application, the number of passes M within a working cycle (for example, 7 natural days or 7 days) ranges from 5 to 21 passes / cycle; further, the number of passes M ranges from 5 to 14 passes / cycle; preferably, the number of passes M ranges from 7 to 14 passes / cycle.

[0180] The following uses cleaning efficiency (CE) to characterize the cleaning effect achieved in each pass as an example to illustrate the threshold range of the effect of each pass.

[0181] For non-standard test carpets (non-standard test carpets refer to carpets other than the marked test carpets), the CE value range for each pass is greater than or equal to 15%. This ensures that the CE value range within a working cycle (e.g., 7 days) is greater than or equal to 35%, which is equivalent to the cleaning effect of a handheld vacuum cleaner.

[0182] Furthermore, the value range of CE per pass is 25% to 45%, so that the value range of CE within the working cycle (for example, 7 days) is 35% to 60%, which is equivalent to the cleaning effect of a handheld vacuum cleaner; preferably, the value range of CE per pass is 30% to 40%, so that the value range of CE within the working cycle (for example, 7 days) is 40%-50%, which is equivalent to the cleaning effect of a handheld vacuum cleaner.

[0183] For carpet types that are standard test carpets, which are Wilton carpets, the CE value range for each pass is greater than or equal to 60%, ensuring that the CE value range within a working cycle (e.g., 7 days) is greater than or equal to 90%, which is equivalent to the cleaning effect of a handheld vacuum cleaner.

[0184] Furthermore, the CE value range of each pass is 60% to 70%, so that the CE value range within a working cycle (for example, 7 days) is 90% to 95%, which is comparable to the cleaning effect of a handheld vacuum cleaner.

[0185] As can be seen from the above, the cleaning effect is different for different carpets. In other words, the cleaning efficiency can be adaptively adjusted for different carpets. Of course, the cleaning efficiency can also be determined based on the carpets that are more difficult to clean (such as non-standard test carpets), and the cleaning efficiency will be better for other carpets (standard test carpets).

[0186] The following uses the example of a cleaning pass of 2 or more times per day to illustrate the cleaning effect of each time or day, and the cleaning effect is still characterized by the cleaning efficiency CE:

[0187] For non-standard test carpets, the value range of CE each time or each day is greater than or equal to 25%; further, the value range of CE each time or each day is 30% to 70%; preferably, the value range of CE each time or each day is 40% to 60%.

[0188] For standard test carpets, the CE value range for each or daily cleaning is greater than or equal to 80%. Furthermore, the CE value range for each or daily cleaning is 80% to 90%, so that the CE value range within a working cycle (for example, 7 days) is 90% to 95%, which is equivalent to the cleaning effect of a handheld vacuum cleaner.

[0189] For another example, natural days can be divided into working days and non-working days to ensure that users can rest on non-working days.

[0190] In one embodiment, the cleaning robot has an efficient cleaning mode and a normal cleaning mode, and the efficient cleaning mode and the normal cleaning mode both represent one cleaning; in order to distinguish the efficient cleaning mode from the normal cleaning mode, different cleaning modes can be defined by the number of cleaning passes or the cleaning effect (of one pass), for example, the number of cleaning passes in the efficient cleaning mode is the first number of passes, and the number of cleaning passes in the normal cleaning mode is the second number of passes, wherein the first number of passes is greater than the second number of passes; for example, the first number of passes can be set to greater than or equal to 2 times, and the second number of passes can be set to 1 time.

[0191] Alternatively, the cleaning effect of the high-efficiency cleaning mode is the first cleaning efficiency, and the cleaning effect of the normal cleaning mode is the second cleaning efficiency, wherein the first cleaning efficiency is greater than the second cleaning efficiency; wherein, the difference in cleaning efficiency can be achieved through different power, or through the speed of the roller brush, etc.; for example, the first cleaning efficiency is achieved by adjusting the fan power to high power (for example, greater than or equal to 100W, strong suction), and the second cleaning efficiency is achieved by adjusting the fan power to low power (for example, less than 100W, low suction).

[0192] In one embodiment of the present application, on non-working days, the cleaning robot does not clean or adopts a normal cleaning mode; on working days, the cleaning robot adopts a high-efficiency cleaning mode.

[0193] 13 , the user may select a mode of the cleaning robot through a control terminal (eg, a mobile phone, a control panel), so that the cleaning robot performs cleaning work according to the corresponding mode.

[0194] Secondly, in order to make the time of the cleaning robot controllable, in one embodiment of the present application, the working hours of the cleaning robot can be limited daily, for example, the working hours of the cleaning robot can be controlled within a range acceptable to the user, so that it can meet the needs of the user.

[0195] For example, the daily working hours do not exceed the scheduled working hours, or the daily working interval is controlled to be set at the corresponding period of daytime (or night) on a natural day. The scheduled working hours or daily working interval can be determined according to the user's rest time or customized by the user.

[0196] In one embodiment of the present application, the daily working hours do not exceed 8 hours. Preferably, the daily working hours do not exceed 4 hours. For example, the daily working interval can be set to 8:00-12:00, or 13:00-17:00, etc.; within the above working interval, the cleaning robot's work not only includes performing cleaning tasks on the area to be cleaned, but also includes other necessary operations such as return maintenance (charging, removing dirt, etc.) and obstacle avoidance. Preferably, the cleaning robot works continuously and uninterruptedly during the daily working hours. In particular, it should be noted that performing necessary return maintenance (charging, removing dirt, etc.) and obstacle avoidance during the working process falls within the definition of continuous and uninterrupted work. For example, if the daily working hours are set to 4 hours, the cleaning robot completes continuous and uninterrupted work within the 4 hours. In addition, it should be noted that within the above 4 hours of working time, the cleaning robot completes one cleaning task through continuous and uninterrupted work. If the task includes two cleaning passes, the cleaning robot has completed two cleaning passes continuously within the above 4 hours.

[0197] Of course, in other embodiments, a user rest time and / or a rest time for the cleaning robot can be reserved between the daily working hours. For example, the predetermined working time is set to 4 hours, and the 4 hours can be divided into different working intervals in the morning and afternoon for execution. The daily working intervals are set to, for example, 9:00-11:00 and 14:00-16:00. The time interval in between, i.e., 11:00-14:00, is reserved for the user rest time and / or the cleaning robot rest time. In this scenario, the cleaning robot completes one cleaning task in the two working intervals. If the task also includes two cleaning passes, the cleaning robot can complete one cleaning pass or half of the area to be cleaned within 2 hours in the morning, and the remaining one cleaning pass or half of the area can be completed within 2 hours in the afternoon. Of course, in other embodiments, the cleaning robot can also complete 3 / 2 cleaning passes or 2 / 3 of the area to be cleaned within 2 hours in the morning, and the remaining 1 / 2 cleaning pass or the remaining 4 / 3 of the area can be completed within 2 hours in the afternoon. It should be understood that the numerical values ​​here are only for the convenience of discussion and should not be understood as limiting the present application.

[0198] Since the daily working time is related to the total cleaning time, total charging time, and other time (such as obstacle avoidance time and recharging time) of the cleaning robot, how to limit the daily working time to the above range can be considered from at least one of the above three aspects;

[0199] The total cleaning time is proportional to the cleaning area per unit time of the cleaning robot (e.g. 1.37m 2 / min), the area of ​​the area to be cleaned (e.g. 70m 2 ); and the cleaning area per unit time is related to the moving speed of the cleaning robot (e.g. 0.15m / s), the length of the roller brush (e.g. 190mm), the moving trajectory of the cleaning robot, etc.;

[0200] The obstacle avoidance time and recharging time are related to the obstacle avoidance logic and recharging logic respectively. For example, the obstacle avoidance logic includes the obstacle avoidance response time, obstacle avoidance movement strategy (such as braking, turning or moving along the edge of the obstacle), and the movement speed before and after obstacle avoidance; the recharging logic is related to the recharging response time, recharging strategy (such as movement trajectory, trajectory length), and movement speed during return.

[0201] For example, considering that the above-mentioned total cleaning time, obstacle avoidance time, recharging time and other factors are all correlated with the moving speed, therefore, in one embodiment of the present application, the daily working hours can be controlled by controlling the moving speed of the cleaning robot.

[0202] The total charging time is related to the number of charges required to complete each cleaning and the duration of a single charge; therefore, the total charging time can be controlled based on at least one of the number of charges required to complete each cleaning and the duration of a single charge.

[0203] To control the total charging time, one approach is to control the number of charges required to complete each cleaning task. This number of charges is related to the operating time on a single full charge. Therefore, in one embodiment of the present application, the operating time on a single full charge ranges from 22 minutes to 25 minutes.

[0204] On the other hand, in order to control the total charging time each time, it can be achieved by controlling the single charging time. In one embodiment of the present application, the single charging time range is less than or equal to 45 minutes;

[0205] Taking into account the user's demand for the cleaning robot to work efficiently, that is, it is expected that the battery can work for a long time on a single full charge, while the battery charging time is short. Therefore, in one embodiment of the present application, the ratio of the single charging time to the single full charge time is less than or equal to 2:1, and further, the ratio of the single charging time to the single full charge time is less than or equal to 1:1; preferably, the ratio of the single charging time to the single full charge time is less than or equal to 1:2.

[0206] In addition, due to the battery performance of the cleaning robot (such as battery capacity, battery charging power, battery life, etc.) and battery cost, the ratio of a single charging time to the working time of a single full charge is greater than or equal to 1:3. Furthermore, the ratio of a single charging time to the working time of a single full charge is greater than or equal to 1:2; preferably, the ratio of a single charging time to the working time of a single full charge is greater than or equal to 1:1.

[0207] In order to balance user needs and the battery performance and cost of the cleaning robot, in one embodiment of the present application, the ratio of the single charging time to the single fully charged working time should be controlled within the range of 1:2 to 2:1.

[0208] Given that the duration of a single charge is related to the charging method; therefore, the duration of a single charge can be controlled by controlling the charging method; in one embodiment of the present application, the charging method is CC charging; since CC charging is related to the charging power, further, in one embodiment of the present application, the charging power of the battery has a value range of greater than or equal to 100W.

[0209] The charging power of the battery is closely related to the charging current. Therefore, in one embodiment of the present application, the charging current has a value range of greater than or equal to 5A.

[0210] Generally speaking, the charging method of the battery will affect the battery life. Therefore, in order to increase the service life of the cleaning robot, in this embodiment, the battery is selected to have a long life. The battery life can be characterized by the battery charge and discharge life or the number of cycles. Therefore, in one embodiment of the present application, the battery charge and discharge life is the life when the battery capacity decreases by 80%-85%.

[0211] Finally, the size of the cleaning robot should be controllable. On the one hand, the cleaning robot cannot be too large. For example, its size should meet the user's miniaturization requirements, otherwise it will affect its passability. On the other hand, the size of the cleaning robot is related to its own components, especially the volume of cleaning-related power components such as the fan, battery, dirt collection component (such as the dust box), and cleaning parts (including the roller brush and suction port). Therefore, in order to ensure the cleaning effect of the cleaning robot, the cleaning robot cannot be made too small.

[0212] The size of the fan is related to the fan type selection, and the fan type selection is mainly to meet the power requirement. In this embodiment, the power range of the fan is 100-200W, preferably, the fan power range is 100-125W.

[0213] The volume of the battery is related to the battery selection, and the battery selection is mainly based on the battery capacity to meet the power supply requirements while taking into account the battery life. In one embodiment of the present application, the battery is a blade battery.

[0214] The volume of the dust box is related to the set dust and dirt capacity to meet the dirt holding requirements while taking into account the number of maintenance such as removing dirt. In one embodiment of the present application, the dust box is selected

[0215] The cleaning element includes a cleaning unit for performing cleaning tasks, wherein the cleaning unit includes at least one of a roller brush, a side brush, and a dust suction port. In this embodiment, the cleaning unit includes a roller brush and a dust suction port. The volume of the cleaning element is primarily determined by the volume of the roller brush. In this embodiment, a pair of roller brushes are used, each with a length ranging from 130 mm to 280 mm. Preferably, the length of each roller brush ranges from 180 mm to 230 mm. Furthermore, the length of the roller brush ranges from 190 mm to 215 mm.

[0216] Of course, in other embodiments, the cleaning member may further include a mopping unit for performing mopping tasks. Furthermore, the mopping unit is at least partially detachably connected to the cleaning robot. This embodiment does not limit this.

[0217] In addition, the size of the cleaning robot is also affected by some sensor components, such as the Laser Direct Structuring (LDS) used for distance detection and its installation position.

[0218] In order to ensure the passability and cleaning effect, the volume (length * width * height) of the cleaning robot is further in the range of 330*310*105~340*320*110mm 3 .

[0219] Specifically, the volume of the cleaning robot is 8000cm 3 The overall power of the cleaning robot is 120-200W, and the ratio of overall power to volume ranges from 120 / 8000 to 200 / 8000 (W / cm 3 ).

[0220] Since the volume of the cleaning robot is related to its length, width, and height, the following is an explanation from the three aspects of length, width, and height:

[0221] First, considering that the size of the cleaning robot (especially in height) is restricted by the height of the indoor furniture when performing cleaning work indoors, the height of the cleaning robot's body should be less than the height of the furniture, wherein the body height refers to the distance between the top of the cleaning robot's body and the horizontal ground, and the furniture height here refers to the distance between the bottom of the furniture and the horizontal ground. Considering that the height of furniture (such as ordinary chairs, tables, etc.) is about 150mm, therefore, in one embodiment, the height of the cleaning robot's body is less than or equal to 150mm. Furthermore, considering that some special furniture (such as sofas, bedside cabinets, etc.) is relatively low, generally 115mm; further, the height of the cleaning robot's body is less than or equal to 115mm. At the same time, the cleaning robot can meet the passability in the height direction.

[0222] In addition, since the cleaning robot is restricted in the height direction by its own components (such as drive wheels, batteries, fans, roller brushes, dust boxes, etc.), the height of the cleaning robot cannot be too small. In one embodiment of the present application, the height range of the cleaning robot is greater than or equal to 80 mm; considering that the LDS is usually installed on the top of the fuselage and has a certain height, it is preferred that the height range of the cleaning robot is greater than or equal to 95 mm.

[0223] In summary, in one embodiment of the present application, the height of the cleaning robot ranges from 95 to 115 mm. Preferably, the height of the cleaning robot ranges from 105 to 110 mm.

[0224] Given that the cleaning robot is also restricted in the width direction by the furniture (tables, chairs, etc.) and doors, steps, aisles, etc. in the area to be cleaned, in order to ensure passability in the width direction, considering that the width of furniture (such as ordinary chairs, tables, etc.), doors, aisles, etc. is approximately 500mm, therefore, in one embodiment, the body width of the cleaning robot is less than or equal to 500mm; considering some special furniture with smaller width (such as sofas, bedside cabinets, etc.), further, the body width of the cleaning robot is less than or equal to 350mm.

[0225] Considering that the cleaning robot is restricted in width by its own components (e.g., drive wheels, battery, fan, roller brush, dust box, etc.), the width of the cleaning robot cannot be too small. In one embodiment of the present application, the width of the cleaning robot is greater than or equal to 270 mm. Considering some other functional requirements in the width direction, such as side brushes, anti-collision plates, etc., which occupy a certain width, the width of the cleaning robot is preferably greater than or equal to 290 mm.

[0226] In summary, in order to ensure that the cleaning robot can meet both functional requirements (such as cleaning effect and multi-function) and passability in the width direction, in one embodiment of the present application, the width of the cleaning robot ranges from 290 mm to 350 mm; preferably, the width of the cleaning robot ranges from 310 mm to 320 mm.

[0227] Considering that if the cleaning robot is too long in length, the structure will not be compact and it will be unfavorable for the cleaning robot to avoid obstacles and turn in narrow areas, in one embodiment of the present application, the length of the cleaning robot ranges from 310mm to 350mm; preferably, the length of the cleaning robot ranges from 330mm to 340mm.

[0228] In one embodiment of the present disclosure, a cleaning robot is provided, which performs a sufficiently large number of sweeping times M per cycle and superimposes the effects of the sweeping times to achieve a cleaning effect comparable to that of a handheld vacuum cleaner; the cleaning robot comprises: a body; a moving component, which supports and drives the cleaning robot to move on the surface of an area to be cleaned; wherein the moving component is mounted on the body and is configured to drive the cleaning robot to move, for example, to drive the cleaning robot to move within the area to be cleaned; wherein the moving component comprises at least one driving wheel and a driving motor for driving the driving wheel to move, and the output end of the driving motor is connected to the driving wheel.

[0229] The cleaning component is arranged at the bottom of the body and performs cleaning work on the surface of the area to be cleaned; the cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to the cleaning effect of a handheld vacuum cleaner; wherein the preset cleaning strategy includes at least one of the number of cleaning passes M in each working cycle and the cleaning effect of each pass; the cleaning effect is characterized by cleaning efficiency or energy input per unit area. For example, the cleaning robot includes a controller for controlling the cleaning robot to pass through the cleaning component and, driven by the moving component, clean the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to the cleaning effect of a handheld vacuum cleaner; wherein the moving component and the cleaning component are electrically connected to the control module respectively. Furthermore, the preset cleaning strategy also includes the traversal path and the moving speed, etc.

[0230] Furthermore, each working cycle is set to 7 calendar days; the cleaning effect is characterized by cleaning efficiency; and the cleaning efficiency of the cleaning robot during the working cycle is greater than or equal to 35%, especially for non-standard test carpets. Furthermore, the number of cleaning passes M per working cycle ranges from 5 to 21 passes per cycle, with the cleaning efficiency of each pass being greater than or equal to 15%, such that the cleaning efficiency within each working cycle is greater than or equal to 35%. Furthermore, each working cycle has 2-3 cleaning passes per calendar day or per time, with the cleaning efficiency of each pass being greater than or equal to 15%.

[0231] In order to make its cleaning effect equivalent to that of a handheld vacuum cleaner, the present application provides a cleaning robot adopting one of the following schemes, see Table 1 below for details. It can be understood that the high suction force in the table refers to the use of a fan with a fan power of 125W, while the power of an ordinary fan is 80W; unless it is specifically stated that the roller brush is a rubber brush, an unrestricted roller brush indicates that the roller brush can be a rubber brush, a brush with bristles, or other types of roller brushes.

[0232] Table 1:

[0233] In one embodiment of the present disclosure, a cleaning robot is further provided. The cleaning robot uses Type II batteries (soft-pack batteries) and fast charging technology to control the daily working hours of the cleaning robot within a range acceptable to users.

[0234] The terms used in this disclosure are briefly described as follows:

[0235] Cleaning Efficiency (CE): If there are 100 units of dust on the surface to be cleaned, and after one cleaning pass, 1 unit of dust is removed or the dust is reduced by 1 unit, the cleaning efficiency is defined as 1%.

[0236] Since cleaning efficiency CE is related to test conditions such as carpet type and dust distribution, the test conditions for cleaning efficiency CE are explained below:

[0237] 1.1 Carpet Type

[0238] This disclosure uses the following two types of carpets for testing:

[0239] 1) Standard test carpet:

[0240] Wilton carpet is the preferred test carpet and is used for international comparison tests.

[0241] In this test, the pile length of the Wilson carpet was approximately 8mm.

[0242] 2) Non-standard test carpet:

[0243] Wall-to-wall carpeting, which is a long-haired carpet with medium-length tufts, is generally harder to clean than Wilton carpets. In-house laboratory tests are available as well as consumer tests.

[0244] In this test, the pile length of the wall-to-wall carpet was approximately 12 mm.

[0245] 1.2 Weighing equipment

[0246] Use a weighing device to correlate the dust removal capacity to the pre-cleanliness of the test carpet to an accuracy of 0.01 g.

[0247] 1.3 Dust buried roller

[0248] The roller should be 50mm in diameter and 380mm long, at least 20mm longer than the width of the dust cloth. It should be made of polished steel and have a handle or motor to drive it. The roller mass should be 10kg / m². The roller can be installed in a dust spreader.

[0249] 1.4 Test area and run length

[0250] The running direction of the test area is consistent with the direction of the carpet pile. The length of the test area is (700±5) mm.

[0251] To improve test accuracy, the cleaning area width in this test is (B-20) mm, where B represents the cleaning head width. It should be noted that the test area width can also be set to the cleaning head width B mm in accordance with the national standard GB / T20291.1-2014 / IEC60312-1:2010, IDT.

[0252] At least 200 mm and 300 mm of running length are added to the front and rear of the test area respectively for the acceleration and deceleration of the cleaning head.

[0253] Therefore, the test area is 700mm long and the operating area is at least 1200mm long. At the beginning of the run, 200mm is used for acceleration, and the center point of the front edge of the cleaning head should be aligned with the center line of the starting edge of the acceleration zone. The cleaning head should run to the end of the operating area, when the rear edge of its effective depth exceeds the rear edge of the test area by at least 200mm, leaving an appropriate distance for deceleration. When returning to the run, the same method is still used until the front edge of the cleaning head is aligned with the starting edge of the acceleration zone in front of the test area.

[0254] The effective depth of the cleaning head should be in a straight line through the entire test area at a steady running speed of (0.50±0.02) m / s.

[0255] This test is conducted at the vacuum cleaner's own operating speed (0.15 m / s).

[0256] It should be noted that the vacuum cleaner has its own drive device and can also be operated at the specified operating speed of (0.50±0.02 (handheld vacuum cleaner operating speed)) m / s.

[0257] 1.5 Remove residual dust:

[0258] If a carpet beater is not used, the carpet should be placed flat on a rigid sand net support and beaten manually or cleaned with a powered cleaning head. After cleaning, perform one cycle of residual dust cleaning with a vacuum cleaner with good dust removal capabilities. Carpets used for passive cleaning head tests should only be cleaned on the surface with a passive cleaning head (a powered cleaning head may be used to clean the reverse side).

[0259] In this test, manual tapping is used.

[0260] 1.6 Distribution of experimental dust:

[0261] The test dust is evenly distributed at (125 ± 0.1) g / m2 and covers all test areas as evenly as possible.

[0262] In this test, the dust load is calculated using the formula (B-20) / 100 × 0.7m × 125g / m²), where B is the cleaning head width and the test area length is 0.7m. It should be noted that if the test area width is set to the cleaning head width (B mm) in the IDT according to the national standard GB / T20291.1-2014 / IEC60312-1:2010, the dust load is calculated using the formula B / 100 × 0.7m × 125g / m².

[0263] In this test, dust was spread manually using a dust sieve.

[0264] Of course, to ensure uniform dust distribution in the test area, it is recommended to use a dust spreader and adjust the dust spreader by observing the dust on the carpet.

[0265] 1.7 Dust burial on carpets:

[0266] Use the aforementioned dust-embedding roller to press the dust into the carpet by moving it back and forth 10 times in the direction of the carpet pile. Move the roller forward in the direction of the carpet pile, rolling it across the entire test area at a constant speed of (0.50 ± 0.02) m / s. Ensure the entire area is completely and evenly rolled, then allow the carpet to rest for 10 minutes.

[0267] 1.8 Determination of dust removal capability:

[0268] Before the test, weigh and record the dust spreading weight m and the dust box (dust collection mechanism) weight M1;

[0269] During the test, the cleaning head shall be raised to at least 50 mm above the test surface before the vacuum cleaner is switched off. The dust box shall not be removed until the motor has completely stopped.

[0270] Once the vacuum cleaner has completely stopped, carefully remove the dust box and weigh M2 again. Since static electricity is generated during the vacuum cleaner's dust removal process, make sure the dust box is completely stable and free of static electricity before weighing.

[0271] The dust removal capacity K is expressed as the percentage of mass change after the dust box runs on the test area after dusting.

[0272] In this test, multiple measurements are taken and K is calculated according to the following formulas (1) and (2). The number of measurements is generally at least two.

[0273] The cleaning efficiency CE can be represented by the dust removal capacity K mentioned above, and the relationship between the two is, for example, CE=K×100%.

[0274] Power: The power involved in this disclosure refers to the rated input power of energy-consuming equipment (such as fans, roller brush motors, drive motors, etc.), unless otherwise specified.

[0275] Rotational speed: The rotational speed involved in this disclosure refers to the rotational speed of the rotating equipment when it is under load; for example, the rotational speed of the cleaning roller brush refers to the rotational speed when the cleaning roller brush contacts the ground to be cleaned, unless otherwise specified.

[0276] Dust removal: means to remove at least part of the dust, hair, debris or other garbage from the floor to be cleaned or temporarily remove it.

[0277] Battery charge and discharge life: The length of time a battery can be used after its capacity drops to 80% of its capacity after being charged to 100% due to battery loss.

[0278] Battery cycle number: The complete process of charging the battery to 100% and then discharging it to 0 is called a cycle.

[0279] Currently, existing cleaning robots can clean the work area to be cleaned, which to some extent reduces the cleaning burden of users. However, their cleaning effect on the floor is average, especially on carpets or floor mats. Because soft materials such as carpets (or floor mats) usually have lint, cleaning robots do not clean carpets well. This means that users still need to use handheld vacuum cleaners (upright) to deep clean carpets or floor mats every week or two. It can be seen that existing cleaning robots cannot truly free users' hands.

[0280] In view of this, the present disclosure aims to design a cleaning robot that can be used to replace a handheld vacuum cleaner, truly freeing your hands. The cleaning robot includes a body, a moving mechanism arranged on the body, a beating mechanism arranged on the body, and a dust suction mechanism arranged on the body, wherein the moving mechanism is configured to drive the cleaning robot to move; the beating mechanism is configured to beat the surface of the ground to be cleaned, so as to beat up dust, hair, debris and other garbage on the surface of the ground to be cleaned; the dust suction mechanism is configured to vacuum the area to be cleaned, so as to suck dust, hair, debris and other garbage on the surface of the area to be cleaned into the body. The above-mentioned ground includes hard ground and soft ground, wherein the hard ground refers to the ground formed by a material with greater hardness and a relatively flat surface, such as floors, floor tiles, etc.; and the soft ground refers to the ground formed by a material with less hardness and a relatively uneven surface, such as carpets, floor mats, etc.

[0281] That is, the cleaning robot has a good cleaning effect on the surface to be cleaned, especially on carpet areas or floor mats that are more difficult to clean, and the cleaning effect of the cleaning robot is comparable to that of a handheld vacuum cleaner. The term "comparable" here can be understood as the cleaning effect of the cleaning robot reaching or substantially reaching the cleaning effect of a handheld vacuum cleaner; the term "substantially reaching" here can be understood as the cleaning effect of the cleaning robot being equal to a preset percentage of the cleaning effect of a handheld vacuum cleaner. For example, if the cleaning effect of the cleaning robot is equal to or greater than 60% of the cleaning effect of a handheld vacuum cleaner, it can be considered that the cleaning robot substantially reaches the cleaning effect of a handheld vacuum cleaner. Of course, the preset percentage can be determined based on design requirements, carpet type, and the selection of a benchmark handheld vacuum cleaner, and this embodiment does not impose any specific restrictions on this.

[0282] Considering how to reflect the cleaning effect, in one embodiment, the cleaning effect can be characterized by the cleaning efficiency CE.

[0283] Because hard and soft surfaces have different cleaning difficulties, for example, a cleaning robot is generally more efficient at cleaning soft surfaces like carpets than hard surfaces like wood floors. To better demonstrate the improved cleaning effect, in one embodiment, the cleaning efficiency CE of a vacuum cleaner (including handheld cleaners and cleaning robots) on a soft surface that is difficult to clean (such as carpet) is discussed:

[0284] First, to facilitate intuitive understanding of the cleaning effect of the handheld vacuum cleaner: the CE value of the handheld vacuum cleaner for a non-standard test carpet (such as a wall-to-wall carpet) is 45%; the CE value of the handheld vacuum cleaner for a standard test carpet (such as a Wilton carpet) is 90%.

[0285] Therefore, the cleaning effect of the cleaning robot disclosed in the present invention is equivalent to the cleaning effect of a handheld vacuum cleaner in one pass, which means that the cleaning robot needs to achieve a CE value of 45% or above, or substantially reach 45% (for example, 25%) for cleaning a non-standard test carpet within the same working cycle; or a CE value of 90% or above, or substantially reach 90% (for example, 80%) for cleaning a standard test carpet.

[0286] Regarding the issue of how to improve the cleaning efficiency (CE) of a cleaning robot to make it comparable to the CE of a handheld vacuum cleaner, on the one hand, this can be achieved by considering factors related to the cleaning efficiency (CE) (such as dust generation and dust collection); on the other hand, this can be achieved by increasing the energy input per unit area (EI) of the cleaning robot.

[0287] Regarding the first aspect:

[0288] Since the cleaning effect is related to the dust generation effect, the dust collection effect, the movement strategy of the cleaning robot, etc., the cleaning efficiency CE can be improved from at least one of the dust generation effect, the dust collection effect and the movement strategy.

[0289] Considering that the dust-raising effect is related to the above-mentioned beating mechanism for dust-raising, the dust-collecting effect is related to the above-mentioned dust-collecting mechanism for dust-collecting, and the moving strategy is related to the above-mentioned moving mechanism for driving the cleaning robot to move.

[0290] Therefore, in order to improve the cleaning efficiency of the cleaning robot, it can be improved by at least one of the following methods:

[0291] 1. From the perspective of dust removal effect.

[0292] Since the beating mechanism generates dust by beating, it is considered to improve the beating effect of the beating mechanism on the floor to be cleaned.

[0293] Considering that the dust removal effect is related to parameters such as the beating frequency, beating direction, beating force, and the length of the single beating contact with the surface to be cleaned (referred to as the single beating length) of the beating mechanism, it is possible to improve at least one aspect such as the beating frequency, beating direction, beating force, and single beating length of the beating mechanism.

[0294] The beating frequency refers to the number of times the floor to be cleaned is beated per unit time.

[0295] The above parameters of the flapping mechanism are described as follows:

[0296] A. Beating frequency

[0297] Taking into account that when the beating frequency is low, the amount of dust and other garbage picked up is small, therefore, increasing the beating frequency is conducive to picking up more garbage and improving the dust removal effect.

[0298] B flapping direction

[0299] Considering that the gaps in hard surfaces (such as floors and tiles) and the materials of soft surfaces (such as carpets and mats) are more attractive to garbage, beating from only one direction may not remove such garbage, affecting the cleaning effect. Therefore, in one embodiment, the beating direction includes at least a first direction and a second direction; preferably, the first direction is opposite to the second direction. By beating from two opposite directions, garbage in the gaps in hard surfaces, between the pile of carpets, or deep in carpets can be lifted up more effectively, thereby improving the dust collection effect.

[0300] C. Beating strength

[0301] Considering that the beating force is relatively small and is not conducive to picking up the garbage, the dust collection effect can be improved by increasing the beating force.

[0302] Since the above-mentioned tapping force is usually not easy to obtain through direct measurement, and direct measurement requires the addition of additional measurement components, resulting in increased costs, the present disclosure is designed to consider indirect characterization of the tapping force.

[0303] In one embodiment, the beating force can be characterized by the interference fit generated by the beating working head of the beating mechanism in contact with the ground to be cleaned on the ground to be cleaned, where the interference fit can be understood as the distance between the head of the beating working head away from the fuselage chassis and the surface of the ground to be cleaned.

[0304] D Single beat length

[0305] Considering that the length of a single beating is short and the amount of garbage picked up is less, the dust collection effect can be improved by increasing the length of a single beating.

[0306] It should be noted that the length of a single stroke will affect the size of the cleaning robot. That is to say, when the size of the designed cleaning robot is determined, the length of a single stroke needs to take into account the size limitation of the cleaning robot.

[0307] In one embodiment of the present disclosure, the beating mechanism includes a cleaning roller brush.

[0308] Of course, in other embodiments, the beating mechanism may also be a stick, a rod, a shovel or other objects, as long as they can beat the floor to be cleaned.

[0309] In order to facilitate understanding of the above-mentioned parameters related to the beating mechanism, the following parameters are described as follows, taking the beating mechanism as a cleaning roller brush, which includes a brush body and a cleaning portion or a cleaning working head located on the brush body (such as a rubber strip, bristles, etc. mounted on the brush body) as an example:

[0310] First, the beating frequency is related to the rotation speed of the cleaning roller brush, the number of the cleaning roller brushes, and the number of cleaning parts (such as brush heads) on the cleaning roller brush that contact the ground to be cleaned.

[0311] In one embodiment, the number of beats is approximately equal to the product of the rotation speed, the number of roller brushes, and the number of brush heads. The beating frequency can be calculated based on the inverse relationship between the beating frequency and the number of beats.

[0312] To increase the frequency of tapping, you can do one of the following or a combination of them:

[0313] (a1) Increase the speed of the cleaning roller brush;

[0314] (a2) Increase the number of cleaning roller brushes;

[0315] (a3) Increase the number of brush heads on the cleaning roller brush.

[0316] Therefore, in one embodiment of the present disclosure, the cleaning robot can increase the beating frequency by increasing the rotation speed of the cleaning roller brush, thereby improving the dust removal effect, which is beneficial to improving the cleaning effect.

[0317] Since the rotational speed of the roller brush is related to the (motor) power of the roller brush, the rotational speed of the roller brush can be increased by increasing the power of the roller brush.

[0318] In one embodiment, the rotation speed of the roller brush is greater than or equal to 1200 r / min. The power of the roller brush disclosed herein ranges from 25 to 50 W. Preferably, the roller brush power is 30 W.

[0319] In another embodiment of the present disclosure, in order to increase the beating frequency, enhance the dust removal effect, and thus improve the cleaning effect, the number of cleaning roller brushes can be improved. For example, the cleaning robot uses a double roller brush for cleaning. The double roller brush includes a first cleaning roller brush and a second cleaning roller brush. The first cleaning roller brush and the second cleaning roller brush act on the ground to be cleaned to beat up dust and other garbage so that it can be absorbed by the dust suction mechanism.

[0320] In order to achieve cleaning of both hard and soft floors and to further improve the cleaning effect, in one embodiment, one of the dual roller brushes is a hard roller brush, and the other is a bristle roller brush; the hard roller brush is a rubber roller brush, and the bristle roller brush includes at least bristles; that is, in the dual roller brushes, one of the cleaning roller brushes is a rubber roller brush, and the other cleaning roller brush can be a roller brush including bristles, such as a pure bristle roller brush or a rubber-bristle roller brush including both rubber and bristles.

[0321] In order to reduce hair entanglement, the setting position of the cleaning roller brush can be improved, for example, along the forward direction of the fuselage, the hard roller brush is set in the front and the bristle roller brush is set in the back.

[0322] It should be noted that the rotational speeds of the first cleaning roller brush and the second cleaning roller brush may be the same, for example, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are equal and both are greater than or equal to 1500 r / min.

[0323] Of course, in other embodiments, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush may also be different. For example, when the first cleaning roller brush is a hard roller brush and the second cleaning roller brush is a bristle roller brush, the rotational speed of the hard roller brush located at the front of the body may be greater than the rotational speed of the bristle roller brush located at the rear of the body, so as to improve the beating effect on the carpet fluff and facilitate dust removal.

[0324] When driving the first cleaning roller brush and the second cleaning roller brush to rotate, two roller brush motors can be used to drive them separately, or a single roller brush motor combined with a transmission mechanism (such as a gear transmission mechanism) can be used to drive the first cleaning roller brush and the second cleaning roller brush. Considering cost issues, in one embodiment, a single roller brush motor is used to drive the first cleaning roller brush and the second cleaning roller brush.

[0325] Secondly, in order to improve the dust removal effect, the beating direction of the cleaning roller brush can be improved.

[0326] In one embodiment, when there is only one cleaning roller brush, in order to improve the dust removal effect, the cleaning roller brush is controlled to beat in two directions. For example, for the same position, the cleaning roller brush beats in a first direction, then changes direction, and beats again in the second direction after the change, wherein the first direction is opposite to the second direction.

[0327] In one embodiment, if there are two cleaning roller brushes, the two cleaning roller brushes can beat in the same direction, for example, both beat in a first direction, wherein the first direction is toward the suction port of the dust suction mechanism so that the dust suction mechanism can suck in.

[0328] In order to improve the cleaning effect, the dust suction port is further located between the first cleaning roller brush and the second cleaning roller brush, the rotation direction of the first cleaning roller brush is a first direction, and the rotation direction of the second cleaning roller brush is a second direction, wherein the first direction is opposite to the second direction, and the first direction and the second direction are both toward the dust suction port of the dust suction mechanism.

[0329] Again, in order to improve the dust removal effect, the beating force of the cleaning roller brush can be improved, wherein the beating force is characterized by the interference fit of the brush head on the cleaning roller brush.

[0330] Finally, in order to improve the dust removal effect, the width of the cleaning roller brush (i.e. the length of the ground to be cleaned in a single stroke) can be improved, where the width of the cleaning roller brush refers to the length of the brush head or brush body along the axis of rotation of the cleaning roller brush.

[0331] For example, in one embodiment, the length of the brush head is equal to the length of the brush body.

[0332] In one embodiment, the width of the cleaning roller brush ranges from 185 mm to 205 mm. Further, the width of the cleaning roller brush is 195 mm.

[0333] 2. From the perspective of dust collection effect.

[0334] The dust collection mechanism can suck up garbage on the ground to be cleaned through suction, thereby cleaning the garbage. Therefore, the dust collection effect can be improved by increasing the suction force of the dust collection mechanism, thereby improving the cleaning efficiency.

[0335] Considering that the suction force of the dust suction mechanism is related to the fan power of the dust suction mechanism, in one embodiment of the present disclosure, the dust suction effect can be improved by improving the fan power of the dust suction mechanism.

[0336] In one embodiment, the power of the fan is greater than or equal to 65W.

[0337] Furthermore, the power of the fan is greater than or equal to 65W and less than 120W.

[0338] In one embodiment, the power of the fan is 80W.

[0339] In another embodiment of the present disclosure, the cleaning robot may adopt a high-suction vacuum mechanism for vacuuming, wherein the high-suction vacuum mechanism may be realized, for example, by a high-power fan, where the high-power fan refers to a fan with a power greater than or equal to 100W.

[0340] Among them, the fan power is related to the vacuum degree and the flow rate. For example, in one embodiment, the relationship between the three is basically as follows: W (fan power) = P (vacuum degree) × Q (flow rate); From this relationship, it can be seen that the required fan power can be obtained by considering both the vacuum degree and the flow rate. That is, for the same fan power, a fan with high vacuum degree and low flow rate can be selected, or a fan with high flow rate and low vacuum degree can be selected. The high flow rate here refers to the flow rate at the fan inlet being greater than or equal to 1.2m 3 / min, low flow means the flow at the fan inlet is less than 1.2m 3 / min; high vacuum degree means that the static pressure at the fan inlet is greater than 15KPa when the fan is fully blocked, and low vacuum degree means that the static pressure at the fan inlet is less than or equal to 15KPa when the fan is fully blocked.

[0341] In one embodiment, considering the size, noise and other requirements of the cleaning robot, the power range of the fan is 100W to 200W; preferably, the power range of the fan is 100W to 150W; further, the power selected by the fan is 125W.

[0342] When selecting a fan, a high flow fan can be selected (the flow rate at the fan inlet is between 1.2 and 1.6 m 3 / min), low vacuum (the static pressure at the fan inlet is between 10 and 15 kPa when the fan is fully blocked); or the fan uses a low flow rate (the flow rate at the fan inlet is between 0.8 and 1.2 m 3 / min), high vacuum degree (the static pressure at the fan inlet is between 15 and 20 kPa when the fan is fully blocked).

[0343] The aerodynamic equation shows that the force of dust flow is proportional to the square of the airflow velocity, or in other words, the square of the flow rate. Therefore, a high-flow fan is ideal for better dust collection. Furthermore, considering that vacuum levels have little effect on dust flow, a low-vacuum fan is ideal for energy conservation. Therefore, a high-flow, low-vacuum fan is ideal.

[0344] As the fan power increases, the fan volume will also increase, so it is necessary to control the volume of the fan or the volume ratio of the fan to the cleaning robot.

[0345] Considering that the noise generated will increase as the power of the fan increases, the fan should be a high-power, low-noise fan.

[0346] 3. Improve dust collection and / or suction performance from the perspective of mobile strategies.

[0347] Taking into account the lower moving speed, the number of times the beating mechanism beats the floor to be cleaned per unit time can be increased, especially the number of times each tuft of carpet fibers or pile is beaten, thereby improving the dust removal effect.

[0348] Considering that the speed of movement is too fast, the suction mechanism will stay at each location on the floor to be cleaned for a short time, which is particularly not conducive to the suction of each tuft of carpet fibers or pile, thus affecting the suction effect. Therefore, the suction effect can be improved by increasing the speed of movement.

[0349] In one embodiment, the moving distance per unit time or the cleaning area per unit time can be controlled by controlling the moving speed of the cleaning robot. For example, the floor to be cleaned can be cleaned at a smaller moving speed, such as 0.1m / s-0.2m / s. In particular, the moving speed of the cleaning robot on soft floors such as carpets can be reduced to improve the dust removal and / or suction effect.

[0350] In order to improve the cleaning efficiency, it can also be achieved by controlling the ratio of the sum of the power of the dust suction mechanism (such as the fan) and the power of the dust raising mechanism (such as the roller brush) of the cleaning robot to the moving speed.

[0351] In one embodiment, the power of the dust suction mechanism (eg, fan) ranges from 65W to 150W; further, the power of the dust suction mechanism (eg, fan) ranges from 80W to 120W.

[0352] In one embodiment, the power of the dust-generating mechanism (such as a roller brush) is in the range of 25-45 W. Furthermore, the power of the dust-generating mechanism (such as a roller brush) is in the range of 30-40 W.

[0353] In order to improve the cleaning efficiency, it can also be achieved by controlling the ratio of the power to the moving speed of the cleaning robot.

[0354] In one embodiment, the power of the cleaning robot ranges from 100W to 160W; further, the power of the cleaning robot ranges from 120W to 135W.

[0355] Considering that a reduced moving speed will affect the working efficiency of the cleaning robot, the moving speed of the cleaning robot cannot be too slow; and an increased moving speed will reduce the number of times the floor to be cleaned is patted or the vacuuming effect, affecting the cleaning effect of the cleaning robot, so the moving speed of the cleaning robot cannot be too fast.

[0356] In order to balance cleaning effect and work efficiency, the moving speed of the cleaning robot needs to be controlled within a certain range. In one embodiment, the moving speed ranges from 0.12 to 0.18 m / s.

[0357] In one embodiment, the power of the cleaning robot ranges from 105W to 220W.

[0358] Furthermore, the power of the cleaning robot ranges from 130W to 200W.

[0359] Regarding the second aspect:

[0360] The present disclosure can also improve the cleaning efficiency CE by increasing the energy input per unit area.

[0361] The energy input per unit area (EI) is the energy input per unit cleaning area by the cleaning robot. The input energy is related to the robot's power (P0) and the cleaning time (t). The robot's power (P0) is related to the power (p1) of the suction mechanism (e.g., fan), the power (p2) of the beating mechanism (e.g., roller brush), the power (p3) of the moving mechanism (e.g., drive motor), and the power (p4) of other components. The cleaning area (S) is related to the robot's moving speed (v), the cleaning time (t), and the length (B) of the beating mechanism's contact with the floor (e.g., roller brush width) during a single stroke.

[0362] In one embodiment, the relationship between the above parameters may be, for example: EI=P0t / S=(p1+p2+p3+p4)t / (vt×kB)≈(p1+p2+p3)t / (vt×kB)=(p1+p2+p3) / (v×kB).

[0363] Wherein k is the non-overlap coefficient, which is used to characterize whether there is overlap in the cleaning area between the roller brushes (especially when there are multiple roller brushes), and the non-overlap amount after excluding the overlap amount.

[0364] It should be pointed out that since p4 is usually a constant and is smaller than the sum of p1+p2+p3, p4 is omitted in the above formula for ease of calculation.

[0365] As can be seen from the above formula, EI is related to machine parameters such as the power p1 of the dust collection mechanism (such as the fan), the power p2 of the flapping mechanism (such as the roller brush), the power p3 of the moving mechanism (such as the drive motor for driving the drive wheel), the moving speed v, and the length B of the floor to be cleaned during a single flap. It is unrelated to test conditions such as carpet type. Therefore, EI can more intuitively reflect the cleaning efficiency CE, thereby characterizing the cleaning effect.

[0366] It should be noted that, in other embodiments, the cleaning effect of each pass can also be characterized by an efficiency ratio; the efficiency ratio is used to characterize the ratio of cleaning efficiency and energy input per unit area, for example, efficiency ratio r = cleaning efficiency CE / energy input per unit area EI; therefore, based on the corresponding value range of each cleaning efficiency and energy input per unit area, the efficiency ratio of each time can be obtained, and this embodiment will not go into details about this.

[0367] In addition, it can be understood that when there is only one roller brush, there is no overlapping cleaning area, so the k value is 1.

[0368] In one embodiment, the energy input per unit area EI of a single pass of the cleaning robot is greater than or equal to 4000 J / m 2 ; Further, the energy input per unit area ranges from 4000-6000J / m 2 ; Preferably, the energy input per unit area ranges from 4500 to 5500 J / m 2 .

[0369] For ease of understanding, the following briefly describes the calculation process of energy input per unit area, assuming a fan power of 80W, a roller brush power of 30W, a drive motor power of 5W, a roller brush width of 195mm = 0.195m, two roller brushes, a 20% overlap in the cleaning area between the two roller brushes, and a moving speed of 0.15m / s.

[0370] The cleaning area per unit time S can be calculated by the following formula: 0.195×0.15×(1-20%)×60=1.4m 2 / min;

[0371] Energy input per unit area: EI≈(80+30+5) / 60 / 1.4=1.4Wh / m 2 =5040J / m 2 .

[0372] The fan energy consumption per unit area is 80 / 60 / 1.37=0.974Wh / m 2 .

[0373] Of course, in order to accurately calculate the input per unit area, p4 can also be taken into account. Here, the sum of the power of other components of the cleaning robot is 15W; then the energy input per unit area is: EI = (80 + 30 + 5 + 15) / 60 / 1.4 = 1.6Wh / m 2 .

[0374] In one embodiment, the energy input per unit area EI of a single pass of the cleaning robot is greater than or equal to 5500 J / m 2 ; Further, the energy input per unit area ranges from 5500-8500 J / m 2 ; Preferably, the energy input per unit area ranges from 6000 to 8000 J / m 2 .

[0375] The following briefly describes the calculation process of energy input per unit area, taking the fan power of 125W, the roller brush power of 30W, the drive motor power of 5W, the roller brush width of 190mm = 0.19m, the number of roller brushes, the overlapping cleaning area of ​​the two roller brushes by 20%, and the moving speed of 0.15m / s as an example:

[0376] The cleaning area per unit time S can be calculated by the following formula: 0.19 × 0.15 × (1-20%) × 60 = 1.37 m 2 / min;

[0377] Energy input per unit area: EI≈(125+30+5) / 60 / 1.37=1.95Wh / m 2 =7000J / m 2 .

[0378] Of course, in order to accurately calculate the input per unit area, p4 can also be taken into account. Here, the sum of the power of other components of the cleaning robot is 20W, so the energy input per unit area is: EI = (125 + 30 + 5 + 20) / 60 / 1.4 = 2.14Wh / m 2 .

[0379] In one embodiment, the height of the cleaning robot ranges from 95 to 115 mm. Further, the height of the cleaning robot ranges from 105 to 110 mm.

[0380] In one embodiment, the volume of the cleaning robot ranges from 7000 to 11000 cm 3 Furthermore, the volume of the cleaning robot ranges from 8000 to 10000 cm 3.

[0381] The cleaning robot designed by the present inventors should improve cleaning efficiency while ensuring passability. For example, the cleaning robot can clean under furniture. Therefore, in one embodiment, the ratio of the energy input per unit area of ​​the cleaning robot to the height of the cleaning robot is greater than or equal to 4000 / 0.095 J / m 3 (i.e. 11.7Wh / m 3 ); or, the ratio of the energy input per unit area of ​​the cleaning robot to the volume of the cleaning robot is greater than or equal to 4000 / 0.007J / m 5 (i.e. 158.7Wh / m 5 ).

[0382] Regarding the question of how to improve the energy input per unit area EI of the cleaning robot, it can be improved by at least one of the following methods:

[0383] 1) Start from the power of the flapping mechanism.

[0384] Taking into account that the power of the flapping mechanism will affect the dusting effect, and the dusting effect is related to parameters such as the flapping frequency, flapping direction, flapping force, and the length of contact between a single flap and the surface to be cleaned, the dusting effect can be improved from at least one of the aspects that affect the power of the flapping mechanism, such as the flapping frequency, flapping direction, flapping force, and the length of contact between a single flap and the surface to be cleaned (single flapping length for short). In other words, the power of the flapping mechanism is invested in the above-mentioned flapping frequency, flapping force, flapping direction, and the length of contact between a single flap and the surface to be cleaned; it is understandable that the flapping direction (such as reversing flapping or flapping in at least two directions) can affect the flapping frequency, and therefore can indirectly affect the power of the flapping mechanism.

[0385] In one embodiment of the present disclosure, the beating mechanism adopts a cleaning roller brush.

[0386] The following briefly describes the above parameters using an example in which the beating mechanism uses a cleaning roller brush, which includes a brush body and a cleaning portion or a cleaning working head located on the brush body:

[0387] The beating frequency is related to the rotation speed of the cleaning roller brush, the number of the cleaning roller brushes, and the number of brush heads on the cleaning roller brush that contact the floor to be cleaned.

[0388] In one embodiment, the beating frequency is approximately equal to the inverse of the product of the rotation speed, the number of roller brushes, and the number of brush heads.

[0389] In order to increase the number of beats and thus the beat frequency, this can be achieved by one of the following methods or a combination thereof: increasing the rotation speed of the cleaning roller brush, increasing the number of cleaning roller brushes, or increasing the number of brush heads on the cleaning roller brush.

[0390] In one embodiment of the present disclosure, the cleaning robot can increase the beating frequency by increasing the rotation speed of the cleaning roller brush, thereby improving the dust removal effect.

[0391] In one embodiment, the rotation speed of the roller brush is greater than or equal to 1200 r / min. Further, the rotation speed of the roller brush is in the range of 1200-1900 r / min.

[0392] In order to achieve the above rotation speed, in one embodiment, the power of the roller brush disclosed herein is in the range of 25-45 W. Preferably, the power of the roller brush is 30-35 W.

[0393] In another embodiment of the present disclosure, in order to increase the beating frequency and enhance the dust removal effect, the number of cleaning roller brushes can be improved. For example, the cleaning robot uses a double roller brush for cleaning. The double roller brush includes a first cleaning roller brush and a second cleaning roller brush. The first cleaning roller brush and the second cleaning roller brush act on the ground to be cleaned to beat up dust and other garbage so that they can be absorbed by the dust suction mechanism.

[0394] It should be noted that the rotational speeds of the first cleaning roller brush and the second cleaning roller brush may be the same, for example, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush are equal and both are greater than or equal to 1500 r / min.

[0395] Of course, in other embodiments, the rotational speeds of the first cleaning roller brush and the second cleaning roller brush may also be different. For example, when the first cleaning roller brush is a hard roller brush and the second cleaning roller brush is a bristle roller brush, the rotational speed of the hard roller brush located at the front of the body may be greater than the rotational speed of the bristle roller brush located at the rear of the body, so as to improve the beating effect on the carpet fluff and facilitate dust removal.

[0396] In order to improve the dust removal effect, the beating direction of the cleaning roller brush can be improved.

[0397] For example, when there is only one cleaning roller brush, the cleaning roller brush can be controlled to beat in two directions to improve the dust removal effect. For example, for the same position, the cleaning roller brush beats in a first direction, then changes direction, and beats again in the second direction after the change, where the first direction is opposite to the second direction.

[0398] When there are two cleaning roller brushes, the dust suction port at the bottom of the body is set between the two cleaning roller brushes, the rotation direction of one cleaning roller brush is a first direction, and the rotation direction of the other cleaning roller brush is a direction opposite to the first direction, wherein the first direction and the second direction are both toward the dust suction port.

[0399] Again, in order to increase dust removal, the beating force can be improved. Since the beating force is not easy to measure, the beating force is represented by the interference fit of the brush head on the cleaning roller brush.

[0400] Finally, in order to improve the dust removal effect, the width of the cleaning roller brush (i.e. the length of the ground to be cleaned in a single stroke) can be improved, where the width of the cleaning roller brush refers to the length of the brush head or brush body along the axis of rotation of the cleaning roller brush.

[0401] For example, in one embodiment, the length of the brush head is equal to the length of the brush body.

[0402] In one embodiment, the width of the cleaning roller brush ranges from 185 mm to 205 mm. Further, the width of the cleaning roller brush ranges from 190 mm to 195 mm.

[0403] 2) Start from the power of the dust collection mechanism.

[0404] In one embodiment, the dust collection mechanism includes a fan, and thus the dust collection effect can be improved by improving the power of the fan.

[0405] In one embodiment, the power of the fan is greater than or equal to 65W.

[0406] Furthermore, the power of the fan is greater than or equal to 65W and less than 120W.

[0407] In one embodiment, the power of the fan is 80W.

[0408] In another embodiment of the present disclosure, the cleaning robot may use a relatively high-power fan, where the relatively high-power fan refers to a fan with a power greater than or equal to 100W.

[0409] In one embodiment, considering the size, noise and other requirements of the cleaning robot, the power range of the fan is 100W to 200W; preferably, the power range of the fan is 100W to 150W; further, the power selected by the fan is 125W.

[0410] When selecting a fan, a high flow fan can be selected (the flow rate at the fan inlet is between 1.2 and 1.6 m 3 / min), low vacuum (the static pressure at the fan inlet is between 10 and 15 kPa when the fan is fully blocked); or the fan uses a low flow rate (the flow rate at the fan inlet is between 0.8 and 1.2 m 3 / min), high vacuum degree (the static pressure at the fan inlet is between 15 and 20 kPa when the fan is fully blocked).

[0411] The aerodynamic equation shows that the dynamics of dust and other particles flowing is proportional to the square of the flow rate. To improve dust collection, a high-flow fan is ideal. Furthermore, given that a low vacuum level has little effect on dust flow, a low-vacuum fan is ideal to conserve energy. Therefore, in one embodiment of the present disclosure, a high-flow, low-vacuum fan is used.

[0412] It should be pointed out that, considering that the power of the dust suction mechanism affects the dust suction effect, the dust suction effect can be improved by increasing the power of the dust suction mechanism.

[0413] In view of the possible noise problem caused by the increase in fan power, when selecting the fan, a high-power, low-noise fan can be used.

[0414] 3) Starting from the power of the moving mechanism.

[0415] Considering that the power of the moving mechanism will affect the dust-raising effect and / or the dust-collecting effect; and the dust-raising effect and / or the dust-collecting effect are related to parameters such as the speed of the driving motor of the moving mechanism, and the speed of the driving motor will affect the difference in the moving speed. Therefore, the dust-raising effect and / or the dust-collecting effect can be improved by considering the factors such as the moving speed that affect the power of the moving mechanism. In other words, the power of the moving mechanism is invested in aspects such as the moving speed; it is understandable that when the moving speed is low, the number of times the beating mechanism beats the floor to be cleaned per unit time can be increased, especially the number of times each cluster of fibers or fluff on the soft floor (such as carpet) is beaten, thereby improving the dust-raising effect.

[0416] When the moving speed is too fast, the suction mechanism stays at each suction position on the floor to be cleaned for a short time, which is particularly detrimental to the suction of dust adhering to each fiber or pile of the carpet, affecting the suction effect. Therefore, the suction effect can be improved by increasing the moving speed.

[0417] In one embodiment, the moving distance per unit time or the cleaning area per unit time can be controlled by controlling the moving speed of the cleaning robot. For example, the floor to be cleaned can be cleaned at a smaller moving speed, such as 0.1m / s-0.2m / s. In particular, the moving speed of the cleaning robot on soft floors such as carpets can be reduced to improve the dust removal and / or suction effect.

[0418] In one embodiment, the power of the cleaning robot ranges from 100W to 250W.

[0419] Furthermore, the power of the cleaning robot ranges from 100W to 200W.

[0420] In one embodiment, the power of the fan is in the range of 65-120 W. Furthermore, the power of the fan is in the range of 80-100 W.

[0421] In one embodiment, the power of the roller brush is in the range of 25-50W, and further, the power of the fan is in the range of 30-35W.

[0422] In one embodiment, the sum of the power of the fan and the power of the roller brush ranges from 90W to 170W.

[0423] Furthermore, the sum of the power of the fan and the power of the roller brush is in the range of 110-135W.

[0424] Considering that a reduced moving speed will affect the working efficiency of the cleaning robot, the moving speed of the cleaning robot cannot be too slow; and an increased moving speed will reduce the number of times the floor to be cleaned is patted or the vacuuming effect, affecting the cleaning effect of the cleaning robot, so the moving speed of the cleaning robot cannot be too fast.

[0425] In order to balance cleaning effect and work efficiency, the moving speed of the cleaning robot needs to be controlled within a certain range. In one embodiment, the moving speed ranges from 0.12 to 0.18 m / s. Furthermore, the moving speed ranges from 0.15 m / s.

[0426] In one embodiment, the power of the cleaning robot ranges from 100W to 250W.

[0427] Furthermore, the power of the cleaning robot ranges from 100W to 200W.

[0428] In one embodiment, the power of the fan is in the range of 65-150 W. Furthermore, the power of the fan is in the range of 100-120 W.

[0429] In one embodiment, the power of the roller brush is in the range of 25-50W, and further, the power of the fan is in the range of 30-35W.

[0430] In one embodiment, the sum of the power of the fan and the power of the roller brush ranges from 90W to 200W.

[0431] Furthermore, the sum of the power of the fan and the power of the roller brush is in the range of 130-155W.

[0432] The present disclosure improves the cleaning effect by using at least one of the above-mentioned improving means, so that the cleaning effect of the cleaning robot is better than that of a traditional cleaning robot, and further makes the cleaning effect of the cleaning robot comparable to that of a handheld vacuum cleaner.

[0433] Furthermore, the combination of the above-mentioned improvement methods can achieve better improvement results than relying on only one method.

[0434] As can be seen from the above, the cleaning effect of the cleaning robot is closely related to components such as the fan, roller brush, and moving mechanism. Therefore, when the fan power increases or the roller brush speed increases (which means the roller brush power increases), this puts higher requirements on the power supply mechanism of the cleaning robot; and the reduction in the moving speed of the cleaning robot will also lead to an increase in the cleaning time of the same area to be cleaned relative to a higher speed, which also puts higher requirements on the power supply mechanism.

[0435] In summary, in order to adapt to the improvement of cleaning effect, the power supply mechanism needs to be improved.

[0436] In one embodiment, in order to meet the endurance requirements of the cleaning robot, on the one hand, a requirement is put forward on the battery capacity. For example, the battery can support the cleaning robot to clean an area of ​​not less than a large area (for example, not less than 60m2) after one charge. 2 ) to be cleaned once. Therefore, it is necessary to improve the battery, such as using a higher capacity battery to power the cleaning robot, thereby improving the endurance of the cleaning robot and reducing the number of charging times.

[0437] In one embodiment, the power of the cleaning robot ranges from 100W to 200W.

[0438] In one embodiment, the volume of the cleaning robot ranges from 7000 to 10000 cm 3 .

[0439] In one embodiment, the weight of the cleaning robot ranges from 4 kg to 6 kg.

[0440] In one embodiment, the volume of the cleaning robot is 7000-10000 cm 3 Furthermore, the volume of the cleaning robot is 7500-8000cm 3 .

[0441] In one embodiment, the height of the cleaning robot is 95-115 mm; further, the height of the cleaning robot is 105-110 mm.

[0442] It should be pointed out that the volume (or weight) of the cleaning robot should be controllable during design. On the one hand, the volume (or weight) of the cleaning robot should not be too large. For example, its volume (or weight) should meet the user's miniaturization (or lightweight) requirements, otherwise it will affect the passability (or user experience). On the other hand, the volume (or weight) of the cleaning robot is related to its own components, especially the volume (or weight) of power components related to the cleaning effect, such as the dust collection device (such as a fan) and the flapping device (such as a roller brush). It is also affected by the volume (or weight) of the energy device (such as a battery) that supports the cleaning robot to perform cleaning work. Therefore, in order to ensure the cleaning effect of the cleaning robot, the cleaning robot cannot be made too small.

[0443] Among them, the volume (or weight) of the fan is related to the fan selection, and the fan selection is mainly to meet the power requirements.

[0444] In one embodiment of the present disclosure, the power range of the fan is greater than or equal to 65W, preferably, the power range of the fan is 65 to 150W.

[0445] In another embodiment of the present disclosure, the power of the cleaning robot is 100-200W, and the fan power accounts for 65%-75% of the total power of the robot.

[0446] The beating device includes a cleaning unit for performing cleaning tasks, wherein the cleaning unit includes at least one of a roller brush and a side brush. In this embodiment, the cleaning unit includes a roller brush, and the volume of the beating device mainly depends on the volume of the roller brush. In one embodiment of the present disclosure, the roller brush adopts a double roller brush, and the width of each roller brush ranges from 130mm to 280mm. Preferably, the width of each roller brush ranges from 180mm to 230mm. Furthermore, the width of the roller brush is 190mm to 215mm.

[0447] Of course, in other embodiments, the cleaning robot may further include a mopping unit for performing the mopping task. Further, the mopping unit is at least partially detachably connected to the cleaning robot. This embodiment does not limit this.

[0448] The volume of the battery is related to the battery selection, and the battery selection is mainly based on the battery capacity, in order to meet the power supply and endurance requirements while taking into account the battery life. In one embodiment of the present disclosure, the battery is a large-capacity 18650 battery, where large capacity refers to a battery with a capacity greater than 140Wh.

[0449] In addition, the size of the cleaning robot is also affected by some sensor mechanisms, such as the laser direct structure (LDS) used for distance detection and its installation position.

[0450] In order to take into account both passability and cleaning effect, the volume (length × width × height) of the cleaning robot is 330 × 310 × 105 ~ 340 × 320 × 110 mm. 3 .

[0451] Since the volume of the cleaning robot is related to its length L, width W, and height H, the following is an explanation from the three aspects of length L, width W, and height H:

[0452] First, considering that the size of the cleaning robot (especially in height) is restricted by the height of the indoor furniture when performing cleaning work indoors, the height of the cleaning robot's body should be less than the height of the furniture, wherein the body height refers to the distance between the top of the cleaning robot's body and the horizontal ground, and the furniture height here refers to the distance between the bottom of the furniture and the horizontal ground. Considering that the height of furniture (such as ordinary chairs, tables, etc.) is about 150mm, therefore, in one embodiment, the height of the cleaning robot's body is less than or equal to 150mm. Furthermore, considering that some special furniture (such as sofas, bedside cabinets, etc.) is relatively low, generally 115mm; further, the height of the cleaning robot's body is less than or equal to 115mm. At the same time, the cleaning robot can meet the passability in the height direction.

[0453] In addition, since the cleaning robot is restricted in the height direction by its own components (such as drive wheels, batteries, fans, roller brushes, dust boxes, etc.), the height of the cleaning robot cannot be too small. In one embodiment, the height range of the cleaning robot is greater than or equal to 80 mm; considering that the LDS is usually installed on the top of the fuselage and has a certain height, it is preferred that the height range of the cleaning robot is greater than or equal to 95 mm.

[0454] In summary, in one embodiment, the height of the cleaning robot ranges from 95 to 115 mm. Preferably, the height of the cleaning robot ranges from 105 to 110 mm.

[0455] Given that the cleaning robot is also restricted in the width direction by the furniture (tables, chairs, etc.) on the ground to be cleaned, as well as doors, steps, aisles, etc., in order to ensure passability in the width direction, considering that the width of furniture (such as ordinary chairs, tables, etc.), doors, aisles, etc. is approximately 500mm, therefore, in one embodiment, the body width of the cleaning robot is less than or equal to 500mm; considering some special furniture with smaller width (such as sofas, bedside cabinets, etc.), further, the body width of the cleaning robot is less than or equal to 350mm.

[0456] Considering that the cleaning robot is restricted in width by its own components (e.g., drive wheels, battery, fan, roller brush, dust box, etc.), the width of the cleaning robot cannot be too small. In one embodiment, the width of the cleaning robot is greater than or equal to 270mm. Considering other functional requirements in the width direction, such as side brushes, anti-collision plates, etc., which occupy a certain width, the width of the cleaning robot is preferably greater than or equal to 290mm.

[0457] In summary, in order to ensure that the cleaning robot can meet both functional requirements (such as cleaning effect and multi-function) and passability in the width direction, in one embodiment, the width of the cleaning robot ranges from 290 mm to 350 mm; preferably, the width of the cleaning robot ranges from 310 mm to 330 mm.

[0458] Taking into account that if the cleaning robot is too long in length, the structure will not be compact and it will be unfavorable for the cleaning robot to avoid obstacles and turn in narrow areas, in one embodiment, the length of the cleaning robot ranges from 310mm to 350mm; preferably, the length of the cleaning robot ranges from 330mm to 340mm.

[0459] In one embodiment of the present disclosure, the volume of the cleaning robot is 8000 cm 3 The overall power of the cleaning robot is 120 to 200W, and the power-to-volume ratio ranges from 120 / 8000 to 200 / 8000 (W / cm 3 ).

[0460] In another embodiment, the power range of the cleaning robot is 100-200W; the volume range of the cleaning robot is 7000-10000cm 3 Therefore, the ratio of the power to volume of the whole machine (referred to as the power volume ratio) is in the range of 100 / 10000W / cm 3 ~200 / 7000W / cm 3 .

[0461] For ease of understanding, the cleaning robot provided by the present disclosure is described below with reference to the accompanying drawings:

[0462] The present disclosure provides a cleaning robot that achieves a cleaning effect higher than that of existing cleaning robots through a structure of dual roller brushes combined with a high-power fan.

[0463] Referring to Figures 1 and 2, a cleaning robot 100 is used to clean a surface to be cleaned. The cleaning robot 100 includes a body 10; a dust box 7 for collecting debris cleaned by the cleaning robot 100. In this embodiment, the dust box 7 is disposed within the body 10 and is removable relative to the body 10 to facilitate removal of debris from the dust box 7. In other embodiments, the dust box 7 may also be disposed externally to the body 10; at least one drive wheel 21 for supporting and driving the cleaning robot 100 to move across the surface to be cleaned; a cleaning roller brush comprising at least a first cleaning roller brush 11 and a second cleaning roller brush 12, disposed at the bottom of the body 10 and at least partially exposed from the bottom surface of the body 10. When the first cleaning roller brush 11 and the second cleaning roller brush 12 rotate, they sweep debris from the surface to be cleaned by the cleaning robot 100 into the body 10; and a fan 8 for creating a negative pressure within the dust box 7 to draw debris into the dust box 7. In one embodiment, the power of the fan 8 is not less than 80W.

[0464] The cleaning robot 100 further includes a control module to perform targeted control when the cleaning robot 100 faces different working situations.

[0465] The cleaning robot 100 is provided with at least a first cleaning roller brush 11 and a second cleaning roller brush 12 to pat and clean the garbage on the surface to be cleaned, which is equivalent to patting and cleaning the surface to be cleaned at least twice, effectively preventing the omission of garbage. At the same time, with the help of a fan 8 with a power of more than 80W, the garbage swept up by the cleaning roller brush is quickly and effectively sucked into the dust box 7. Compared with only providing a single cleaning roller brush, the cleaning efficiency of the cleaning robot 100 is greatly improved, and a better cleaning effect is obtained, especially for carpets or floor mats.

[0466] Referring to the experimental data of FIG. 8 , when the power of the fan 8 is the same, the cleaning robot 100 having two cleaning roller brushes has a better cleaning efficiency on the carpet than having only a single cleaning roller brush.

[0467] When the cleaning robot 100 is provided with two cleaning rollers, as the power of the fan 8 increases, the cleaning efficiency of the cleaning robot 100 gradually increases, until the power of the fan 8 increases to 250W, the cleaning efficiency of the cleaning robot 100 can reach 67.97%. Therefore, the cleaning robot 100 is provided with two cleaning rollers and is used with a fan 8 having a power greater than or equal to 100W to achieve a better cleaning effect. In addition, when the cleaning robot 100 is provided with two cleaning rollers, after the power of the fan 8 increases to 250W, and then the power of the fan 8 continues to increase, the cleaning efficiency of the cleaning robot 100 increases more slowly; considering the performance and price of the fan, as well as the noise problem that may be generated by increasing the fan power, the fan with a power of 200W or less should be selected.

[0468] Furthermore, the body 10 also includes a dust suction port 13, which is arranged at the bottom of the body 10, between the first cleaning roller brush 11 and the second cleaning roller brush 12, and is connected to the dust box 7. The first cleaning roller brush 11 and the second cleaning roller brush 12 are parallel to each other and rotate in opposite directions to gather garbage and sweep it into the dust suction port 13 between the two cleaning roller brushes. In this embodiment, the first cleaning roller brush 11 and the second cleaning roller brush 12 are arranged perpendicular to the traveling direction of the cleaning robot 100. Preferably, the first cleaning roller brush 11 and the second cleaning roller brush 12 have the same width B (along the direction of the rotation axis) and are both symmetrical with respect to the central axis of the body 10. The parallel arrangement of the first cleaning roller brush 11 and the second cleaning roller brush 12 can make the cleaning robot more stable during movement. The first cleaning roller brush 11 and the second cleaning roller brush 12 rotate in opposite directions. Through the counter-rotation of the first cleaning roller brush 11 and the second cleaning roller brush 12, the carpet fluff can be beaten in two directions, and the dust collection effect is better. At the same time, it can more effectively prevent garbage from being missed, and the garbage eventually enters the dust box 7 after passing through the dust suction port 13.

[0469] Furthermore, the cleaning robot 100 also includes a side brush 3 arranged at the bottom of the body 10. With the moving direction of the cleaning robot 100 as the front, the side brush 3 is arranged at the front side of the body 10. The side brush 3 is used to sweep the garbage on the surface to be cleaned toward the first cleaning roller brush 11 and the second cleaning roller brush 12.

[0470] In one embodiment, the cleaning robot 100 includes a first driving component for driving the first cleaning roller brush 11 and / or the second cleaning roller brush 12 to rotate. In this embodiment, the first driving component drives the first cleaning roller brush 11 to rotate, and the first cleaning roller brush 11 drives the second cleaning roller brush 12 to rotate. Further, please refer to Figures 3a and 3b. The first driving assembly includes a first motor 14, a first transmission gear 141, a second transmission gear 142 and a third transmission gear 143. The output shaft of the first motor 14 engages with the first transmission gear 141 to transmit torque to the first transmission gear 141, the first transmission gear 141 engages with the second transmission gear 142, the second transmission gear 142 engages with the first cleaning roller brush 11 to drive the first cleaning roller brush 11 to rotate, and the second transmission gear 142 engages with the third transmission gear 143, and the third transmission gear 143 drives the second cleaning roller brush 12 to rotate, and finally the torque output by the first motor 14 is transmitted to the first cleaning roller brush 11 and the second cleaning roller brush 12 respectively, so as to realize the reverse rotation of the first cleaning roller brush 11 and the second cleaning roller brush 12.

[0471] Alternatively, in another embodiment, referring to Figures 4a and 4b, the output shaft of the first motor 14 is directly engaged with the second transmission gear 142, the second transmission gear 142 is engaged with the third transmission gear 143, and the second transmission gear 142 and / or the third transmission gear 143 are not directly engaged with the first cleaning roller brush 11 and the second cleaning roller brush 12, and can respectively drive the first cleaning roller brush 11 and the second cleaning roller brush 12 to rotate through the transmission belt 144 to achieve the reverse rotation of the first cleaning roller brush 11 and the second cleaning roller brush 12. Of course, in other embodiments, the first motor 14 can directly drive the first cleaning roller brush 11 and the second cleaning roller brush 12 to rotate at the same time, or the first drive assembly can include two drive motors to drive the first cleaning roller brush 11 and the second cleaning roller brush 12 respectively.

[0472] In one embodiment, the first cleaning roller brush 11 is a hard roller brush, the second cleaning roller brush 12 is a hair roller brush, or the first cleaning roller brush 11 and the second cleaning roller brush 12 are both hard roller brushes, or the first cleaning brush 11 and the second cleaning brush 12 are both hair roller brushes; further, the hard roller brush is a rubber roller brush, or the hard roller brush can also include other hard materials, such as non-woven fabrics, and the hair roller brush at least includes bristles. The hair roller brush can have only bristles, or it can have both hard materials such as rubber and non-woven fabrics and bristles; preferably, the rubber roller brush includes a rubber brush body and a rubber sheet extending from one end of the rubber brush body to the other end, and the rubber sheet extends from one end of the rubber brush body to the other end. The rubber sheet is divided into multiple sections, and an angle is formed between each two adjacent rubber sheets. When the rubber roller brush rotates, the rubber sheets scrape across the surface to be cleaned; when the hair roller brush only has bristles, the hair roller brush includes a brush body, and the bristles are distributed between the two ends of the brush body and extend outward from the brush body. The bristles are divided into multiple sections, and an angle is formed between each two adjacent bristle sections. When the hair roller brush rotates, at least some of the bristles do not sweep across part of the surface to be cleaned; if the hair roller brush has both hard materials such as rubber and non-woven fabric and bristles, the hair roller brush includes a roller brush body, and the rubber, non-woven fabric and bristles arranged on the roller brush body are the same as the above method, which will not be repeated here.

[0473] Preferably, the bristles include hard bristles, and the surface to be cleaned includes a first type of surface and / or a second type of surface. When the cleaning robot cleans the first type of surface, the hard bristles do not contact the surface to be cleaned. The first type of surface can be a surface that is easily scratched or worn, such as a wooden floor. The hard bristles do not contact the first type of surface to avoid scratching or wearing it. The hard bristles do not contact the first type of surface in a way that the length of the hard bristles is slightly shorter than that of other materials in the cleaning roller brush, so that when the cleaning robot 100 moves on the wooden floor, the hard bristles do not contact the wooden floor; when the cleaning robot 100 cleans the second type of surface, the hard bristles contact the surface to be cleaned. The second type of surface can be a surface that is difficult to clean, such as a carpet or a mat. The hard bristles contact the second type of surface, and the garbage in the difficult-to-clean carpet or mat is patted and cleaned out. When the cleaning robot 100 moves on the carpet or the ground, the driving wheel 21 sinks into the carpet or the mat, and the other materials and hard bristles in the cleaning roller brush can contact the carpet or the mat, and the garbage in the difficult-to-clean carpet or the mat is patted and cleaned out. Of course, the bristles can include soft bristles, such as fluff, etc. The bristles can be made of only one material or can be a combination of bristles of various materials. The soft bristles have less wear on the first type of surface and can contact the first type of surface and the second type of surface. The hard bristle part of the bristles does not contact the first type of surface, but contacts and pats to clean the second type of surface.

[0474] Preferably, with the moving direction of the cleaning robot 100 as the front, when the first cleaning roller brush 11 is a hard roller brush and the second cleaning roller brush 12 is a bristle roller brush, the first cleaning roller brush 11 and the second cleaning roller brush 12 are arranged in sequence front to back. In this embodiment, the first cleaning roller brush 11 is a rubber roller brush and the second cleaning roller brush 12 is a bristle roller brush including hard bristles. The bristle roller brush has a better cleaning effect on hair than the hard roller brush, but the hair is more easily entangled on the bristle roller brush and is difficult to clean. During the movement of the cleaning robot 100, most of the garbage on the surface to be cleaned is swept by the hard roller brush to the dust suction port 13 and enters the dust box 7, and the remaining small part of the garbage is swept by the bristle roller brush to the dust suction port 13 and enters the dust box 7. Therefore, most of the hair can be entangled on the hard roller brush, which not only improves the cleaning efficiency of the cleaning robot 100, but also reduces the entanglement rate of hair on the cleaning roller brush, making it easier to clean the cleaning robot 100.

[0475] Please refer to the experimental data in Figure 11. Taking 30CM long hair as the experimental object, when the power of the fan 8 is the same, the cleaning robot 100 is provided with two rubber roller brushes compared to only providing a single rubber roller brush, and the hair cleaning rate of the cleaning robot 100 is better; the rubber roller brush and the hard bristle / non-woven roller brush are arranged in sequence front and back, the hair cleaning rate can reach 100%, and the hair entanglement rate is 48%; the rubber roller brush and the soft bristle roller brush are arranged in sequence front and back, the hair cleaning rate can reach 100%, and the hair entanglement rate is 25%. The cleaning effects of the two settings are better and the hair entanglement rate is lower; considering that the hard material in the cleaning roller brush has a better cleaning effect on dust, large particles of garbage, etc. on the surface to be cleaned, the hard bristle / non-woven roller brush has a better cleaning effect on dust, large particles of garbage, etc. on the surface to be cleaned than the soft bristle roller brush. Therefore, this embodiment adopts the method of arranging the rubber roller brush and the hard bristle / non-woven roller brush in sequence front and back.

[0476] In one embodiment, the cleaning robot 100 further includes a floating device (not shown), which is connected to at least one of the first cleaning roller brush 11 and the second cleaning roller brush 12 and causes at least one of the first cleaning roller brush 11 and the second cleaning roller brush 12 to float relative to the body 10. When the cleaning robot 100 travels over an uneven surface to be cleaned, the floating device can enable the first cleaning roller brush 11 and / or the second cleaning roller brush 12 to better conform to the surface to be cleaned, thereby improving the cleaning efficiency of the cleaning robot 100.

[0477] For example, the floating device connects the first cleaning brush 11 and the second cleaning brush 12 and allows at least the first cleaning brush 11 and the second cleaning brush 12 to float relative to the body 10. When the cleaning robot 100 travels to an uneven surface to be cleaned, the floating device can make the first cleaning brush 11 and the second cleaning brush 12 fit more closely to the surface to be cleaned.

[0478] In one embodiment, when the cleaning robot 100 is working, the first cleaning brush 11 has a preset first speed, and the second cleaning brush 12 has a preset second speed. The preset first speed and the preset second speed are related to the type of the first cleaning brush 11 and the second cleaning brush 12 and / or the power of the fan 8. In this embodiment, the preset first speed and the preset second speed are between 1500r / min and 2500r / min; preferably, the preset first speed and the preset second speed are both 1500r / min. When the cleaning robot 100 is working, the speed of the first cleaning brush 11 and / or the second cleaning brush 12 can be adjusted. When the cleaning robot 100 detects that its own travel speed is reduced, the speed of the first cleaning brush 11 and / or the second cleaning brush 12 is reduced. When the cleaning robot 100 detects that its own travel speed is increased, the speed of the first cleaning brush 11 and / or the second cleaning brush 12 is increased. This setting can reduce the power consumption of the cleaning robot 100 while ensuring the cleaning effect of the cleaning robot 100, thereby extending the working time of the cleaning robot 100. The rotation speed adjustment of the first cleaning roller brush 11 and / or the second cleaning roller brush 12 may be achieved through PWM technology, which will not be elaborated in this disclosure.

[0479] Referring to the experimental data of Figures 10a-10d, when the power of the fan 8 is the same, the cleaning robot 100 has better cleaning efficiency on the carpet when two cleaning rollers are provided compared to only one cleaning roller. The change in the speed of the single cleaning roller has little effect on the cleaning efficiency of the cleaning robot 100, while the speed of the two cleaning rollers has a greater impact on the cleaning efficiency of the cleaning robot 100. As the speed of the two cleaning rollers increases, the cleaning efficiency of the cleaning robot 100 also gradually increases. After the speed of the two cleaning rollers reaches or substantially reaches 2500r / min, the cleaning efficiency of the cleaning robot 100 increases slowly. Different types of the two cleaning rollers or different powers of the fan 8 result in different preferred speeds of the cleaning rollers, that is, different preset first speeds and different preset second speeds. The difference between the first speed and the second speed can be achieved by configuring the two cleaning rollers with different transmission ratios. In one embodiment, when the first cleaning roller brush 11 is a hard roller brush and the second cleaning roller brush 12 is a bristle roller brush, the first cleaning roller brush 11 and the second cleaning roller brush 12 are arranged in sequence front and back, and the first rotation speed of the first cleaning roller brush 11 is greater than the second rotation speed of the second cleaning roller brush 12, so as to improve the beating effect on the carpet fluff, which is conducive to dust removal.

[0480] In one embodiment, the power of the fan 8 is adjustable, and the power of the fan 8 is preferably in the range of 100W to 300W. The cleaning robot 100 identifies the type of the surface to be cleaned and adjusts the power of the fan 8 according to the type of the surface to be cleaned; the cleaning robot 100 includes a ground type sensor 5, such as an ultrasonic sensor, and the ground type sensor 5 is arranged at the bottom of the body 10 for detecting the type of the surface to be cleaned; the cleaning robot 100 identifies that the surface to be cleaned is a first type of surface, and the first type of surface includes a hard ground, such as a floor or a floor tile. The cleaning robot 100 sets the power of the fan 8 to 100W, and the cleaning robot 100 identifies that the surface to be cleaned is a second type of surface, and the second type of surface can be a surface that is difficult to clean, such as a carpet or a mat. The cleaning robot 100 sets the power of the fan 8 to 200W. Since there are gaps in carpets or mats that are difficult to clean, the power of the fan 8 is increased, that is, the suction capacity of the fan 8 is increased, and at the same time, the first cleaning roller brush 11 and the second cleaning roller brush 12 are used to pat and clean the carpet or mat, which can significantly improve The cleaning effect of the cleaning robot 100 on carpets or floor mats is different. The combination of the first cleaning roller brush 11 and the second cleaning roller brush 12 of different materials has different cleaning effects on carpets or floor mats. Please refer to the experimental data of Figure 9. When the power of the fan 8 is the same and the rotation speed of the cleaning roller brush is the same, the cleaning robot 100 is provided with two cleaning roller brushes compared to only providing a single cleaning roller brush. The cleaning efficiency on the carpet is better. When the power of the fan 8 is the same and the rotation speed of the first cleaning roller brush 11 and the second cleaning roller brush 12 is the same, the cleaning efficiency on the carpet is better. The first cleaning brush 11 and the second cleaning brush 12 are provided with hard bristles and velvet, and the second cleaning brush 12 is provided with hard bristles and non-woven fabric. This combination of the first cleaning brush 11 and the second cleaning brush 12 has a higher cleaning efficiency on carpets. Considering the hair entanglement rate on the cleaning brushes, in this embodiment, the first cleaning brush 11 is a rubber brush and the second cleaning brush 12 is a hair brush including hard bristles. When the cleaning robot 100 cleans floors or floor tiles, the power of the fan 8 is set to 100W, and the cleaning efficiency of the cleaning robot 100 can reach or substantially reach 95%. Please refer to the experimental data in Figure 12. When the cleaning robot is equipped with two cleaning brushes, the power of the fan 8 is set to 100W, and the speed of the two cleaning brushes is set to 2500r / min, the cleaning efficiency on the floor can reach 100%. Please refer to the experimental data in Figure 8. When the cleaning robot 100 is equipped with two cleaning brushes and the power of the fan 8 is set to 200W, the cleaning efficiency of the cleaning robot 100 when cleaning carpets or floor mats can substantially reach 60%.

[0481] Further, please refer to Figure 7. In order to achieve higher cleaning efficiency, the cleaning robot 100 cleans the surface to be cleaned more than twice, and the moving paths of the cleaning robot 100 on the second type of surface each time intersect with each other. For example, the cleaning robot 100 cleans the surface to be cleaned twice. When the cleaning robot 100 recognizes that the surface to be cleaned is the second type of surface, it moves on the second type of surface along path one S1. When the cleaning robot 100 again recognizes that the surface to be cleaned is the second type of surface, it moves on the second type of surface along path two S2. Path one S1 and path two S2 intersect and stagger with each other. Path one S1 and path two S2 can intersect vertically or at other angles. The moving paths of the cleaning robot 100 on the second type of surface each time intersect with each other. The first cleaning roller brush 11 and the second cleaning roller brush 12 can slap and clean the second type of surface from different directions, and the second type of surface can be cleaned more thoroughly.

[0482] Furthermore, when the cleaning robot 100 detects that it cannot continue to move, it reduces the power of the fan 8. For example, when the cleaning robot 100 encounters an obstacle or is stuck and cannot move, reducing the power of the fan 8 or directly turning off the fan 8 can reduce the energy consumption of the cleaning robot 100; when the power of the fan 8 is too large, it may cause the cleaning robot 100 to slip or get stuck. When the cleaning robot 100 detects that it is slipping or getting stuck, it reduces the power of the fan 8 and can also increase the driving force of the drive wheel 21 at the same time.

[0483] In one embodiment, when the cleaning robot 100 identifies the surface to be cleaned as a first type of surface, it identifies the degree to be cleaned of the first type of surface and sets the power of the fan 8 corresponding to the degree to be cleaned of the first type of surface. The first type of surface includes a hard floor, such as a floor or floor tile. When the cleaning robot 100 identifies the surface to be cleaned as a second type of surface, it identifies the degree to be cleaned of the second type of surface and sets the power of the fan 8 corresponding to the degree to be cleaned of the second type of surface. The second type of surface may be a surface that is difficult to clean, such as a carpet or a floor mat. The cleaning robot 100 includes a visual sensor (not shown), which identifies the type of surface to be cleaned and the degree to be cleaned of the surface to be cleaned. The visual sensor identifies the degree to be cleaned of the floor or floor tile, which may be the degree of dirtiness of the floor or floor tile. The cleaning robot 100 sets the power of the fan 8 according to the degree of dirtiness of the floor or floor tile. The dirtier the floor or floor tile, the higher the power of the fan 8. The visual sensor identifies the degree of cleaning of the carpet or mat, and the visual sensor identifies the degree of dirtiness of the carpet or mat. The cleaning robot 100 sets the power of the fan 8 according to the degree of dirtiness of the carpet or mat. The dirtier the carpet or mat, the higher the power of the fan 8. Alternatively, the visual sensor can also identify the length of the pile of the carpet or mat, and the cleaning robot 100 adjusts the power of the fan 8 according to the length of the pile of the carpet or mat. For example, when the carpet or mat is a short-hair carpet or a short-hair mat, the cleaning robot 100 sets the power of the fan 8 to 150W; when the carpet or mat is a medium-hair carpet or a medium-hair mat, the cleaning robot 100 sets the power of the fan 8 to 200W; if the carpet or mat is a long-hair carpet or a long-hair mat, the cleaning robot 100 sets the power of the fan 8 to 250W. This setting can better reduce power consumption and noise pollution while ensuring the cleaning effect of the cleaning robot 100.

[0484] In one embodiment, referring to FIG1 , the driving wheels 21 include two, each having the same rotation axis L2. The rotation axis of the first cleaning roller brush 11 and the rotation axis of the second cleaning roller brush 12 are at the same vertical distance from a virtual straight line L1, and the vertical distance H1 between the rotation axis L2 and the virtual straight line L1 does not exceed 50 mm. This configuration improves the balance of the cleaning robot 100 during movement. On the other hand, the suction force generated by the fan 8 at the suction port 13 during suction is applied to the cleaning robot 100. The two driving wheels 21 are close to the suction port 13, which can disperse more suction force to the two driving wheels 21. The two driving wheels 21 are subjected to downward pressure, which can reduce the possibility of the two driving wheels 21 slipping on the surface to be cleaned. The driving wheels 21 are driven by a second driving assembly, which includes a second motor 41 and a third motor 42. The two driving wheels 21 are driven to rotate by the second motor 41 and the third motor 42, respectively.

[0485] In one embodiment, the cleaning robot 100 further includes a first elastic device (not shown), which is connected to at least one driving wheel 21 so that at least one driving wheel 21 can move up and down relative to the body 10. This arrangement facilitates the cleaning robot 100 to overcome obstacles.

[0486] In one embodiment, please refer to Figure 5. The body 10 includes a bottom surface, a top surface, and a side surface connecting the bottom surface and the top surface. Taking into account the problem of obstacle avoidance and the problem of inhalation of large particles of dust, the vertical distance between the bottom surface of the body 10 and the surface to be cleaned is at least 12 mm; further, the bottom surface is tilted relative to the surface to be cleaned, and an excessive chamfer is formed from the bottom surface adjacent to the cleaning roller brush to the junction of the bottom surface and the side surface. The vertical distance H2 from the junction of the bottom surface and the side surface to the surface to be cleaned is at least 15 mm, and the cleaning robot 100 can achieve a better obstacle crossing effect.

[0487] In one embodiment, referring to Figures 5 and 6, the cleaning robot 100 is powered by a rechargeable battery 9 disposed inside the body 10 to move and clean the surface to be cleaned. Preferably, the battery 9 is a chip battery, such as a chip soft-pack lithium battery.

[0488] 5 and 6 , the present disclosure further schematically illustrates a base station 200 for docking the cleaning robot 100 and providing at least a charging service, which is a fast charging service, including wired charging or wireless charging. Preferably, the base station 200 charges the cleaning robot 100 with a charging current of 2A or greater. Due to the high power of the fan 8 , the cleaning robot 100 consumes a large amount of power. To reduce the charging time of the cleaning robot 100 and improve its operating efficiency, the base station 200 provides a fast charging service for the cleaning robot 100.

[0489] Furthermore, when the base station 200 performs wired charging on the cleaning robot 100, a larger contact force is required at the interface between the cleaning robot 100 and the base station 200. The base station 200 includes a base station charging terminal 201, which is in contact with the charging terminal 101 of the cleaning robot. Preferably, the charging terminal 101 of the cleaning robot and / or the base station charging terminal 201 adopts a new type of terminal, such as a POGO PIN.

[0490] In one embodiment, referring to Figure 5, the base station 200 is further provided with a second elastic device 202. The second elastic device 202 is subjected to external force from the cleaning robot 100, so that the charging end 101 of the cleaning robot fits more closely with the charging end 201 of the base station. In this embodiment, the charging end 101 of the cleaning robot is arranged on the bottom surface of the fuselage 10; the cleaning robot 100 also includes auxiliary wheels 22 arranged at the bottom of the fuselage 10, which are used to support the fuselage 10 on the surface to be cleaned and assist the fuselage 10 in steering. When the cleaning robot 100 is docked at the base station 200 for charging, at least one of the auxiliary wheels 22 and the driving wheels 21 presses against the second elastic device 202, and the second elastic device 202 is deformed. The cleaning robot 100 relies on its own gravity to press the charging end 101 of the cleaning robot against the charging end 201 of the base station. Furthermore, the base station 200 also includes a pressure structure. When the cleaning robot 100 docks at the base station 200 for charging, the pressure mechanism applies external force to the cleaning robot 100 so that the charging end of the cleaning robot 100 fits more closely with the charging end 201 of the base station. In this embodiment, the pressure structure includes a force arm 203 that can move relative to the base station 200. When the cleaning robot 100 docks at the base station 200 for charging, the force arm 203 applies external force to the cleaning robot 100 so that the charging end 101 of the cleaning robot is pressed against the charging end 201 of the base station. For example, when the cleaning robot 100 does not need to be charged, the force arm 203 is in a raised state. When the cleaning robot 100 docks at the base station 200 for charging, the force arm 203 is in a lowered state, pressing on the cleaning robot 100, providing the charging end 101 of the cleaning robot with a force pressing against the charging end 201 of the base station. Of course, in addition to increasing the contact force by pressing down with the force arm 203 as mentioned above, an upward force can also be provided to the base station charging end 201 by a motor (not shown), so that the base station charging end 201 is pressed tightly against the charging end 101 of the cleaning robot; for example, the motor can be arranged below the base station charging end 201.

[0491] In another embodiment, the second elastic device can also be replaced by a V-shaped lever (not shown), one end of the lever is connected to the auxiliary wheel 22, and the other end of the lever is connected to the base station charging end 201. When the auxiliary wheel 22 presses the lever, the other end is subjected to force so that the base station charging end 201 is pressed tightly against the charging end 101 of the cleaning robot.

[0492] In other embodiments, in order to increase the contact force between the terminals, magnets may be further provided at preset positions of the charging terminal 101 of the cleaning robot and the charging terminal 201 of the base station, so as to increase the contact force through the attraction of the magnets.

[0493] In one embodiment, referring to Figure 6, the base station 200 recycles the garbage in the cleaning robot 100. The base station 200 includes a suction device, which is docked with the dust box 7 of the cleaning robot 100 to suck and collect the garbage in the dust box 7. The base station 200 can also use other methods to recycle the garbage in the dust box 7, such as dumping the garbage in the dust box 7 back to the base station 200; preferably, the base station 200 recycles the garbage in the cleaning robot 100 at least when the cleaning robot 100 is docked at the base station 200 for charging.

[0494] Furthermore, the base station 200 collects the garbage from the cleaning robot 100 after the cleaning robot 100 has cleaned for a preset time or a preset number of times. When the cleaning robot 100 frequently cleans the surface to be cleaned or when there is a lot of garbage on the surface to be cleaned, the base station 200 needs to increase the frequency of garbage collection from the cleaning robot 100 to avoid overloading the dust box 7. For example, during animal shedding season, the amount of garbage on the surface to be cleaned will increase significantly, and the dust box 7 of the cleaning robot 100 will fill up with garbage more quickly than usual. After the cleaning robot 100 has cleaned for a preset time, it will return to the base station 200 to collect the garbage from the dust box 7. Alternatively, after the cleaning robot 100 has cleaned the surface to be cleaned a preset number of times, it will return to the base station 200 to collect the garbage from the dust box 7.

[0495] The present disclosure also provides a cleaning robot, the cleaning effect of which is comparable to that of upright.

[0496] 16 and 17 , the cleaning robot 100 includes:

[0497] a fuselage 10 having a front end 110;

[0498] The moving mechanism includes at least one driving wheel 21, which is configured to support and drive the cleaning robot to move on the ground to be cleaned; further, the moving mechanism also includes an auxiliary wheel 22 located at the front end of the body.

[0499] The cleaning mechanism includes a roller brush 30 and is configured to perform cleaning work on the floor to be cleaned;

[0500] The dust collection mechanism includes a fan 8 and is configured to suck the garbage cleaned by the cleaning mechanism into the body;

[0501] The dust collecting mechanism includes a dust box 7 and is configured to collect the garbage sucked into the body;

[0502] The power supply mechanism includes a rechargeable battery 9 and is configured to provide energy for the cleaning robot;

[0503] A controller is configured to control the cleaning robot to move on the floor to be cleaned, so as to achieve autonomous cleaning of the floor to be cleaned;

[0504] The roller brushes include at least a first cleaning roller brush 11 and a second cleaning roller brush 12, which are disposed at the bottom of the robot body and at least partially exposed from the body. The first and second cleaning roller brushes are configured to rotate to sweep debris from the floor to be cleaned, thereby facilitating suction by the vacuum mechanism. The rotational axis L1 of the first cleaning roller brush and the rotational axis L2 of the second cleaning roller brush are parallel to each other and perpendicular to the forward direction of the cleaning robot.

[0505] The fan is arranged inside the fuselage, and the power of the fan is greater than or equal to 65W.

[0506] Furthermore, the rotation speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r / min. Furthermore, the rotation speeds of the first cleaning roller brush and the second cleaning roller brush are both greater than or equal to 1500 r / min and less than or equal to 1900 r / min.

[0507] Furthermore, the power of the fan is greater than or equal to 80W and less than or equal to 150W.

[0508] Furthermore, the fuselage 10 includes a chassis 40 , and the height of the chassis at the location where the fan is located is lower than the height of the chassis at other locations of the fuselage where no fan is installed.

[0509] Furthermore, the chassis height h1 at the location where the fan is located ranges from 8 mm to 12 mm; the chassis height h2 at other locations of the fuselage where no fan is installed ranges from 12 mm to 18 mm.

[0510] Furthermore, the cleaning mechanism includes a roller brush motor configured to drive the first cleaning roller brush and the second cleaning roller brush to rotate, and the power of the roller brush motor ranges from 30W to 35W.

[0511] Furthermore, the dust suction mechanism also includes a dust suction port, which is arranged at the bottom of the body; the first cleaning roller brush and the second cleaning roller brush both rotate toward the dust suction port to pick up the garbage in the cleaning area; the fan sucks the picked up garbage into the interior of the body through the dust suction port and is collected by the dust box.

[0512] Furthermore, the suction port is located between the first cleaning roller brush and the second cleaning roller brush, the rotation direction of the first cleaning roller brush is a first direction, the rotation direction of the second cleaning roller brush is a second direction, and the first direction is opposite to the second direction.

[0513] Furthermore, the first cleaning roller brush and the second cleaning roller brush are arranged along the forward direction of the machine body, and a length B of at least one of the first cleaning roller brush and the second cleaning roller brush in the direction along the rotation axis ranges from 180 to 195 mm.

[0514] Furthermore, the first cleaning roller brush is a hard roller brush, and the second cleaning roller brush is a bristle roller brush. The hard roller brush is a rubber roller brush, and the bristle roller brush at least includes bristles.

[0515] Furthermore, the interference fit of the first cleaning roller brush ranges from -2mm to 4mm; the interference fit of the second cleaning roller brush ranges from 0 to 6mm; wherein, the interference fit refers to the depth to which the cleaning portion of the roller brush extends into the ground surface to be cleaned.

[0516] Furthermore, along the forward direction of the fuselage, the first cleaning roller brush is located in front of the second cleaning roller brush.

[0517] Furthermore, the capacity of the battery is greater than or equal to 140Wh. Further, the capacity of the battery is 140Wh-200Wh. Preferably, the capacity of the battery is 170Wh.

[0518] Furthermore, the power of the cleaning robot is at least 100 W. Furthermore, the power of the cleaning robot is 100-200 W. Preferably, the power of the cleaning robot is 130-170 W.

[0519] Furthermore, the ratio of the power of the cleaning robot to the volume of the cleaning robot is at least 0.01 W / cm 3 .

[0520] Furthermore, the ratio of the battery capacity to the volume of the cleaning robot is 0.017-0.024Wh / cm3; or, the ratio of the battery capacity to the height of the cleaning robot is 1.2-2.1Wh / mm.

[0521] Furthermore, for a cleaning robot with a rated input power PE greater than or equal to 100W, the battery cycle number is 640-960 times.

[0522] Furthermore, the ratio of the volume of the battery to the volume of the cleaning robot is at least 1 / 25.

[0523] Furthermore, the battery 9 is cylindrical and is arranged on the body along an installation direction during installation, wherein the installation direction refers to a direction in which the axis X of the battery is perpendicular to a horizontal plane.

[0524] Furthermore, the moving mechanism is configured to: drive the cleaning robot to move at a preset moving speed; wherein the preset moving speed has a value range of 0.1 m / s-0.2 m / s.

[0525] Furthermore, the cleaning robot also includes a driving motor, which is arranged in the body and is configured to drive the moving mechanism to rotate.

[0526] Furthermore, the energy input per unit area of ​​the cleaning robot is at least 4000 J / m 2 .

[0527] Furthermore, for standard test carpets, the cleaning robot has a cleaning efficiency greater than or equal to 80%;

[0528] Furthermore, for standard test carpets, the cleaning efficiency of the cleaning robot ranges from 80% to 95%;

[0529] Furthermore, the cleaning robot has a hard floor cleaning mode and a soft floor cleaning mode; wherein, the power of the cleaning robot in the hard floor cleaning mode is less than or equal to the power of the cleaning robot in the soft floor cleaning mode.

[0530] The above-described embodiments merely represent several implementation methods of the present disclosure, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present disclosure. It should be noted that a person skilled in the art can make various modifications and improvements without departing from the concept of the present disclosure, and that the above-described features, unless otherwise specified, can be combined with each other to form new implementation methods as long as there are no contradictions, and all of these fall within the scope of protection of the present disclosure.

Claims

1. A cleaning robot, characterized in that: include: body; A moving component supports and drives the cleaning robot to move on the surface of the area to be cleaned; A cleaning component is provided at the bottom of the machine body and performs cleaning work on the surface of the area to be cleaned; The cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to that of a handheld vacuum cleaner; The preset cleaning strategy includes at least one of the number of cleaning passes M in each working cycle and the cleaning effect of each pass; The cleaning effect is characterized by cleaning efficiency or energy input per unit area.

2. The cleaning robot according to claim 1, characterized in that: Each of the working cycles is set to 7 natural days; The cleaning effect is characterized by cleaning efficiency; for a non-standard test carpet, the cleaning efficiency of the cleaning robot during the working cycle is greater than or equal to 35%.

3. The cleaning robot according to claim 2, characterized in that: The number of cleaning passes M in each working cycle ranges from 5 to 21 passes / cycle, and the cleaning efficiency of each pass is greater than or equal to 15%, so that the cleaning efficiency in each working cycle is greater than or equal to 35%.

4. The cleaning robot according to claim 3, characterized in that: The preset cleaning strategy also includes: dividing the number of cleaning passes M in each working cycle into N times, where N is greater than 1.

5. The cleaning robot according to claim 4, characterized in that: The time interval between two adjacent times is greater than the time interval between two adjacent times.

6. The cleaning robot according to claim 4, characterized in that: The time interval between two consecutive events is greater than or equal to 1 hour.

7. The cleaning robot according to claim 4, characterized in that: Between two adjacent passes, the cleaning robot is charged using a constant current charging CC combined with a constant voltage charging CV charging method; between two adjacent passes, the cleaning robot is charged using a constant current charging CC charging method.

8. The cleaning robot according to claim 4, characterized in that: A maximum of one cleaning session is allocated per natural day within each of the stated working cycles.

9. The cleaning robot according to claim 8, characterized in that: The working time for each cleaning shall not exceed 8 hours.

10. The cleaning robot according to claim 9, characterized in that: The cleaning robot includes a rechargeable battery, and the single charging time of the rechargeable battery ranges from less than or equal to 45 minutes.

11. The cleaning robot according to claim 9, characterized in that: The cleaning robot includes a rechargeable battery, and the charging power of the rechargeable battery has a value range of greater than or equal to 100W.

12. The cleaning robot according to claim 9, characterized in that: The cleaning robot includes a rechargeable battery, and the working time of the rechargeable battery after a single full charge is in the range of greater than or equal to 20 minutes.

13. The cleaning robot according to claim 9, characterized in that: The cleaning robot includes a rechargeable battery, and a ratio of a single charging time of the rechargeable battery to a single fully charged working time of the rechargeable battery is in a range of less than or equal to 2.3:

1.

14. The cleaning robot according to claim 9, characterized in that: The cleaning robot includes a rechargeable battery, and the battery cycle number of the rechargeable battery is greater than or equal to 2000 times.

15. The cleaning robot according to claim 11, characterized in that: The charging current of the rechargeable battery is in the range of greater than or equal to 5A.

16. The cleaning robot according to claim 15, characterized in that: The battery capacity of the rechargeable battery is 80Wh.

17. The cleaning robot according to claim 4, characterized in that: The cleaning robot has a high-efficiency cleaning mode, in which the cleaning efficiency of the cleaning robot is a first cleaning efficiency; The cleaning robot further has a normal cleaning mode. In the normal cleaning mode, the cleaning efficiency of the cleaning robot is a second cleaning efficiency, wherein the first cleaning efficiency is greater than the second cleaning efficiency.

18. The cleaning robot according to claim 17, characterized in that: The cleaning robot performs cleaning in the high-efficiency cleaning mode on working days within each cycle; The cleaning robot performs cleaning in the normal cleaning mode or does not perform cleaning on non-working days within each cycle.

19. The cleaning robot according to claim 17, characterized in that: In the high-efficiency cleaning mode, the cleaning robot performs cleaning passes greater than or equal to 2 times; in the normal cleaning mode, the cleaning robot performs cleaning passes once.

20. The cleaning robot according to claim 17, characterized in that In the high-efficiency cleaning mode, the fan power of the cleaning robot is greater than or equal to 100W; in the normal cleaning mode, the fan power of the cleaning robot is less than 100W.

21. The cleaning robot according to claim 4, characterized in that: In the N times, the cleaning efficiency of at least one time is greater than or equal to 25%, or the energy input per unit area of ​​at least one time is greater than or equal to 5000 J / m 2 .

22. The cleaning robot according to claim 21, characterized in that Among the N times, the cleaning efficiency of at least three times is greater than or equal to 25%, or the energy input per unit area of ​​at least three times is greater than or equal to 5000 J / m 2 .

23. The cleaning robot according to claim 4, characterized in that: Among the N times, at least one cleaning pass is greater than or equal to 2 passes.

24. The cleaning robot according to claim 4, characterized in that: The cleaning assembly includes a cleaning roller brush, which includes at least a first cleaning roller brush and a second cleaning roller brush, which are arranged at the bottom of the body, and the first cleaning roller brush and the second cleaning roller brush clean the garbage on the surface of the area to be cleaned when they rotate; The cleaning robot performs each cleaning pass using the first cleaning roller brush and the second cleaning roller brush.

25. The cleaning robot according to claim 24, characterized in that: The first cleaning roller brush is a hard roller brush, and the second cleaning roller brush is a bristle roller brush, or both the first cleaning roller brush and the second cleaning roller brush are hard roller brushes, or both the first cleaning brush and the second cleaning brush are bristle roller brushes.

26. The cleaning robot according to claim 25, characterized in that The hard roller brush is a rubber roller brush, and the bristle roller brush at least includes bristles.

27. The cleaning robot according to claim 4, characterized in that The cleaning robot performs each cleaning on the surface of the area to be cleaned at a first moving speed, and the value range of the first moving speed is 0.13m / s-0.2m / s.

28. The cleaning robot according to claim 1, characterized in that The overall power of the cleaning robot is greater than or equal to 100W.

29. A cleaning robot, characterized in that: The cleaning robot has a high-efficiency cleaning mode. In the high-efficiency cleaning mode, the cleaning robot performs cleaning passes greater than or equal to 2 times.

30. The cleaning robot according to claim 29, characterized in that The cleaning robot has a normal cleaning mode. In the normal cleaning mode, the cleaning robot performs one cleaning pass. 31 . The cleaning robot according to claim 29 , comprising a communication module configured to receive instructions sent by a user, wherein the instructions are used to indicate a time point selected by the user for executing the high-efficiency cleaning mode. 32 . The cleaning robot according to claim 31 , wherein the time node for executing the high-efficiency cleaning mode includes at least one day from Monday to Sunday.

33. A cleaning robot, characterized in that: The cleaning robot has a high-efficiency cleaning mode, in which the cleaning efficiency of the cleaning robot is a first cleaning efficiency; The cleaning robot further has a normal cleaning mode. In the normal cleaning mode, the cleaning efficiency of the cleaning robot is a second cleaning efficiency, wherein the first cleaning efficiency is greater than the second cleaning efficiency.

34. The cleaning robot according to claim 33, characterized in that The cleaning robot has an efficient cleaning mode, in which the cleaning robot cleans twice or more in the efficient cleaning mode; The cleaning robot also has a normal cleaning mode. In the normal cleaning mode, the cleaning robot performs one cleaning pass.

35. The cleaning robot according to claim 33, characterized in that The cleaning robot has a high-efficiency cleaning mode. In the high-efficiency cleaning mode, the fan power of the cleaning robot is greater than or equal to 100W; The cleaning robot has a normal cleaning mode. In the normal cleaning mode, the fan power of the cleaning robot is less than 100W.

36. A cleaning robot, characterized in that: include: body; A moving component supports and drives the cleaning robot to move on the surface of the area to be cleaned; A cleaning component is provided at the bottom of the machine body and performs cleaning work on the surface of the area to be cleaned; The cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to that of a handheld vacuum cleaner; The cleaning effect is characterized by cleaning efficiency or energy input per unit area; the preset cleaning strategy includes the daily working hours in each working cycle, and the daily working hours of the cleaning robot do not exceed 8 hours.

37. The cleaning robot according to claim 36, characterized in that The cleaning robot includes a rechargeable battery, and the cleaning robot is charged using a constant current charging (CC) method.

38. The cleaning robot according to claim 36, characterized in that The cleaning robot includes a rechargeable battery, and the number of cycles of the rechargeable battery is greater than or equal to 2000 times.

39. A cleaning robot, characterized in that: include: body; A moving component supports and drives the cleaning robot to move on the surface of the area to be cleaned; A cleaning component is provided at the bottom of the machine body and performs cleaning work on the surface of the area to be cleaned; The cleaning robot, through the cleaning component and driven by the moving component, cleans the surface of the area to be cleaned according to a preset cleaning strategy, so that the cleaning effect of the cleaning robot in each working cycle is equivalent to that of a handheld vacuum cleaner; The cleaning effect is characterized by cleaning efficiency or energy input per unit area; the preset cleaning strategy includes the number of cleaning passes per day in each working cycle, and the number of cleaning passes per day of the cleaning robot is greater than or equal to 2 times.

40. The cleaning robot according to claim 39, characterized in that The cleaning effect is characterized by the energy input per unit area, and the energy input per unit area per pass is greater than or equal to 5000 J / m 2 .

41. A cleaning robot, characterized in that: include: body; A dust box, used to collect garbage cleaned by the cleaning robot; at least one driving wheel, supporting and driving the cleaning robot to move on the surface of the area to be cleaned; A cleaning roller brush, comprising at least a first cleaning roller brush and a second cleaning roller brush, which are arranged at the bottom of the body and at least partially exposed from the bottom surface of the body, and the first cleaning roller brush and the second cleaning roller brush, when rotating, sweep garbage from the surface to be cleaned that the cleaning robot walks on into the body; The fan forms a negative pressure inside the dust box to suck the garbage into the dust box; the power of the fan is greater than or equal to 100W.

42. The cleaning robot according to claim 41, characterized in that For a standard test carpet, the cleaning efficiency of the cleaning robot is greater than or equal to 80%.

43. The cleaning robot according to claim 42, characterized in that For the standard test carpet, the cleaning robot performs at least two cleaning passes, so that the cleaning efficiency of the cleaning robot is greater than or equal to 80%.

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