Cleaning robot

Abstract

The cleaning robot comprises a chassis, a cleaning assembly, a first sensor, a pair of walking wheels and a front collision shell, the chassis comprises a chassis front part, the cleaning assembly is detachably connected to the chassis front part, the cleaning assembly is used for cleaning the ground, the first sensor is arranged at the chassis front part, and the walking wheels are arranged at the chassis rear part; the walking wheels drive the chassis to move relative to the ground, the front collision shell is arranged along at least part of the edge of the front portion of the chassis, the front collision shell is movably arranged relative to the front portion of the chassis and extends towards the ground, and when the cleaning robot is located on the ground, the bottom end of the front collision shell is higher than the bottom ends of the walking wheels. The front collision shell makes contact with an obstacle so that the front collision shell can trigger the first sensor to generate a first signal, and the cleaning robot can control the walking wheels according to the first signal. According to the technical scheme, the cleaning efficiency of the cleaning robot can be improved, and the situation that the cleaning robot is trapped in ground obstacles can be prevented.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning equipment, and in particular to a cleaning robot. Background Art

[0002] A floor scrubber is a type of smart home appliance among cleaning robots. With the help of certain artificial intelligence, a floor scrubber can automatically complete some floor cleaning tasks, greatly improving the efficiency of cleaning work. Current floor scrubbers use a mop-front setting. The mop has a large ground contact area and ground contact pressure on ordinary floors (such as ceramic tiles or wooden floors), so that there is a certain friction between the mop and the ground, which is convenient for improving the cleaning power of the ground. However, in the prior art, when a floor scrubber encounters a carpet or a threshold, the friction between the mop of the floor scrubber and the carpet or the threshold is too large, so that the floor scrubber stays in place and cannot move, and eventually the floor scrubber is trapped on the carpet or the threshold, which is not conducive to the cleaning work of the floor scrubber, reduces the cleaning efficiency, and affects the user experience. Summary of the invention

[0003] An embodiment of the present invention provides a cleaning robot that can prevent the cleaning components of the cleaning robot from being trapped by ground obstacles due to excessive friction between the cleaning components and the ground obstacles, which is beneficial to the cleaning robot's cleaning work, improves cleaning work efficiency, and enhances user experience.

[0004] An embodiment of the present invention provides a cleaning robot. The cleaning robot includes: a chassis, a cleaning component, a first sensor, a pair of running wheels, and a front impact shell. The chassis includes a front part of the chassis facing the ground and a rear part of the chassis arranged opposite to the front part of the chassis. The cleaning component is detachably connected to the front part of the chassis, and the cleaning component is used to clean the ground. The first sensor is arranged at the front part of the chassis. A pair of running wheels is arranged at the front part of the chassis, and the pair of running wheels drives the chassis to move relative to the ground. The front impact shell is arranged along at least a portion of the edge of the front part of the chassis, and the front impact shell is at least partially arranged to move forward and backward relative to the front part of the chassis, and the bottom end of the front impact shell extends toward the ground to form a blocking structure arranged lower than the front part of the chassis. When the cleaning robot is located on the ground and moves forward, the bottom end of the front impact shell is higher than the bottom end of the running wheel, and the blocking structure collides with the obstacle so that the front impact shell triggers the first sensor to generate a first signal.

[0005] The technical solution of the present invention is to set a front impact shell on at least part of the edge of the front part of the cleaning robot chassis, and the front impact shell extends toward the ground. When the cleaning robot moves onto a ground obstacle, the front impact shell can block the ground obstacle from entering under the cleaning component at the front side of the cleaning robot chassis. After being squeezed by the ground obstacle, the front impact shell moves to trigger the first sensor, and the first sensor generates a first signal. The cleaning robot can control the walking wheel according to the first signal so that the cleaning robot stops moving and then turns to avoid the ground obstacle. The technical solution of the present invention is conducive to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by ground obstacles, is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0006] According to the aforementioned embodiment of the present invention, the blocking structure of the front collision shell includes: a first blocking part and a second blocking part. The first blocking part is arranged on the front side of the front collision shell, and the first blocking part extends toward the ground and has a gap with the ground. The second blocking part is arranged on the rear side of the front collision shell, and the second blocking part extends toward the ground and has a gap with the ground. The second blocking part and the first blocking part are arranged at intervals to form a space for accommodating the cleaning assembly. When the cleaning robot is located on the ground and moves forward, the first blocking part or the second blocking part collides with the obstacle so that the front collision shell triggers the first sensor to generate a first signal. In the technical solution of the present invention, the first blocking part and the second blocking part can block the ground obstacles from entering the bottom of the cleaning assembly at the front side and the left and right sides of the chassis of the cleaning robot. After the first blocking part and the second blocking part are squeezed by the ground obstacles, they move and trigger the first sensor. The first sensor generates a first signal. The cleaning robot can control the walking wheel according to the first signal so that the cleaning robot stops moving forward and then turns to avoid the ground obstacles, which is conducive to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped in the ground obstacles. It is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0007] According to the aforementioned embodiment of the present invention, the blocking structure of the front collision shell also includes: a connecting rib connected between the first blocking part and the second blocking part, the connecting rib is recessed relative to the first blocking part and the second blocking part, and the side end of the cleaning component extends into the recessed part of the connecting rib.

[0008] According to the aforementioned embodiment of the present invention, the connecting rib is arranged beyond the side end portion of the cleaning component along the length direction of the cleaning component.

[0009] According to the aforementioned embodiment of the present invention, the front impact shell as a whole can also be movably arranged left and right relative to the front part of the chassis. When the cleaning robot is located on the ground and turns, the connecting ribs collide with the obstacle, causing the front impact shell to trigger the first sensor to generate a first signal.

[0010] According to the aforementioned embodiment of the present invention, the cleaning component is a rectangular plate-like structure, the cleaning component has a first edge and a second edge arranged opposite to the first edge, the first edge and the second edge are spaced apart in the front and rear directions of the cleaning robot, the first blocking portion blocks the side of the first edge away from the second edge, and the second blocking portion blocks the side of the second edge away from the first edge.

[0011] According to the aforementioned embodiment of the present invention, the side edge portion of the first blocking portion close to the first edge is recessed to form a gap, and the cleaning robot includes a ground detector arranged at the front of the chassis, the signal transceiver end of the ground detector is arranged toward the bottom surface, and the signal transceiver path of the ground detector passes through the gap.

[0012] According to the aforementioned embodiment of the present invention, the front impact shell includes: a bottom shell, a middle shell, and a top shell. The bottom shell, the middle shell, and the top shell are sequentially connected and arranged along the height direction of the chassis. The middle shell is covered on the side edge of the front part of the chassis, the top shell cover is arranged on the side of the front part of the chassis away from the ground, the bottom shell is connected to the side of the middle shell away from the top shell, and the bottom shell is provided with a blocking structure. In the technical solution of the present invention, a front impact shell is arranged at least part of the edge of the front part of the chassis of the cleaning robot, and the front impact shell extends toward the ground to form a first blocking part and a second blocking part. When the cleaning robot moves to a ground obstacle, the first blocking part and the second blocking part can block the ground obstacle from entering the cleaning component around the chassis of the cleaning robot. After the first blocking part and the second blocking part are squeezed by the ground obstacle, they move to trigger the first sensor, and the first sensor generates a first signal. The cleaning robot can control the walking wheel according to the first signal so that the cleaning robot stops moving forward and then turns to avoid the ground obstacle, which is conducive to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped in the ground obstacle. It is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0013] According to the aforementioned embodiment of the present invention, the top shell includes: a trigger rib. The trigger rib is arranged on the side of the top shell close to the ground. When the front impact shell is in contact with the obstacle, the front impact shell moves, and the trigger rib abuts against the first sensor so that the first sensor sends a first signal. In the technical solution of the present invention, the front impact shell can block ground obstacles from entering under the cleaning component at the front side of the chassis of the cleaning robot. The front impact shell moves after being squeezed by the ground obstacles and drives the trigger rib to move and trigger the first sensor. The first sensor generates a first signal. The cleaning robot can control the walking wheels according to the first signal so that the cleaning robot stops moving and then turns to avoid ground obstacles, which is beneficial to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by ground obstacles, is beneficial to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0014] According to the aforementioned embodiment of the present invention, the gap between the blocking structure of the front impact shell and the ground is 0.8 mm to 1.3 mm. In the technical solution of the present invention, by setting the gap between the front impact shell and the ground to 0.8 mm to 1.3 mm, the gap distance between the front impact shell and the ground is less than the height of general ground obstacles, which can prevent ground obstacles from entering under the cleaning component. The front impact shell can be squeezed by the ground obstacle and then move to trigger the first sensor. The first sensor generates a first signal. The cleaning robot can control the walking wheel according to the first signal so that the cleaning robot stops moving and then turns to avoid the ground obstacle, which is beneficial to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped by ground obstacles. It is beneficial to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 A side view of an embodiment of the cleaning robot of the present invention;

[0017] Figure 2 This is a schematic diagram of the overall structure of an embodiment of a cleaning robot of the present invention;

[0018] Figure 3 This is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention in which a cleaning component is separated from a main body;

[0019] Figure 4 A schematic diagram of the explosion structure of the front collision shell of an embodiment of the cleaning robot of the present invention;

[0020] Figure 5 It is a bottom cross-sectional view of an embodiment of the cleaning robot of the present invention.

[0021] Description of Figure Numbers:

[0022] Chassis-100, cleaning assembly-200, first sensor-300, running wheel-400, front impact shell-500;

[0023] Chassis front part-110, front side spring sheet-120, side spring sheet-130, second sensor-140, third sensor-150, fourth sensor-160, chassis rear part-170, first edge-210, second edge-220, bottom shell-510, middle shell-520, top shell-530;

[0024] The first blocking part 511, the second blocking part 512, the connecting rib 513, the air avoidance part 514, and the trigger rib piece 531;

[0025] Space for accommodating cleaning components - S1.

[0026] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] A floor scrubber is a type of smart home appliance among cleaning robots. With the help of certain artificial intelligence, a floor scrubber can automatically complete some floor cleaning tasks, greatly improving the efficiency of cleaning work. Current floor scrubbers use a mop-front setting. The mop has a large ground contact area and ground contact pressure on ordinary floors (such as ceramic tiles or wooden floors), so that there is a certain friction between the mop and the ground, which is convenient for improving the cleaning power of the ground. However, in the prior art, when a floor scrubber encounters a carpet or a threshold, the friction between the mop of the floor scrubber and the carpet or the threshold is too large, so that the floor scrubber stays in place and cannot move, and eventually the floor scrubber is trapped on the carpet or the threshold, which is not conducive to the cleaning work of the floor scrubber, reduces the cleaning efficiency, and affects the user experience.

[0031] like Figures 1 to 4 As shown, an embodiment of the present invention provides a cleaning robot. The cleaning robot includes: a chassis 100, a cleaning component 200, a first sensor 300, a pair of running wheels 400 and a front collision shell 500. The chassis 100 includes a chassis front portion 110 facing the ground and a chassis rear portion arranged opposite to the chassis front portion. The cleaning component 200 is detachably connected to the chassis front portion 110, and the cleaning component 200 is used to clean the ground. The first sensor 300 is arranged at the chassis front portion 110. A pair of running wheels 400 are arranged at the chassis front portion 110, and the running wheels 400 drive the chassis 100 to move relative to the ground. The front impact shell 500 is arranged along at least a portion of the edge of the front part 110 of the chassis, and the front impact shell 500 is at least partially movable forward and backward relative to the front part 110 of the chassis, and the bottom end of the front impact shell 500 extends toward the ground to form a blocking structure lower than the front part 110 of the chassis. When the cleaning robot is located on the ground and moves forward, the bottom end of the front impact shell 500 is higher than the bottom end of the walking wheel 400, and the blocking structure collides with the obstacle, causing the front impact shell 500 to trigger the first sensor 300 to generate a first signal.

[0032] The technical solution of the present invention is to set a front impact shell 500 on at least part of the edge of the front part 110 of the cleaning robot chassis. The front impact shell 500 extends toward the ground to form a blocking structure. When the cleaning robot moves onto a ground obstacle, the front impact shell 500 can block the ground obstacle from entering under the cleaning component 200 at the front side of the chassis 100 of the cleaning robot. The ground obstacle is usually an obstacle slightly higher than the ground, such as a carpet or a threshold. After the front impact shell 500 is squeezed by the ground obstacle, it moves to trigger the first sensor 300. The first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving and then turns to avoid the ground obstacle. The technical solution of the present invention is conducive to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped in a ground obstacle, is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0033] In the embodiment of the present invention, the first sensor 300 is a collision sensor. After the front collision shell 500 triggers the first sensor 300, the first sensor 300 generates a first signal, which is a friction signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving forward and then turns to avoid ground obstacles, which is beneficial to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by ground obstacles, is beneficial to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0034] In the embodiment of the present invention, there are two running wheels 400, which are respectively arranged at symmetrical positions of the front part 110 of the chassis to drive the chassis 100 to move relative to the ground. In other embodiments, the running wheels 400 may also be in other forms, such as transmission tracks, etc. to achieve the effect of driving the chassis 100 to move relative to the ground. The present invention does not limit the form of the running wheels 400, and those skilled in the art can determine the form of the running wheels 400 according to actual needs to drive the chassis 100 to move relative to the ground.

[0035] In the embodiment of the present invention, the cleaning robot chassis 100 part has no function of detecting collision obstacles, and the distance between the lowest plane of the front part 110 of the cleaning robot chassis and the ground is greater than the distance between the front collision shell 500 and the ground. The distance between the lowest plane of the front part 110 of the chassis and the ground is about 5 mm, which facilitates the running wheels 400 to extend a sufficient distance, so that the cleaning robot still has sufficient obstacle crossing ability during the cleaning process, which is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0036] In the embodiment of the present invention, the front impact shell 500 can be movably arranged in the forward direction of the cleaning robot, and can also be movably arranged in the left and right directions. The front impact shell 500 does not interfere with the cleaning member bracket in the forward and backward movement and the left and right movement. The cleaning member can be flush with the side of the front impact shell 500 in the left and right directions, and can clean the corners, which is conducive to improving the cleaning work efficiency.

[0037] Figure 2Schematic diagram of the overall structure of an embodiment of the cleaning robot of the present invention. The blocking structure of the front collision shell 500 includes: a first blocking portion 511 and a second blocking portion 512. The first blocking portion 511 is arranged on the front side of the front collision shell 500, and the first blocking portion 511 extends toward the ground and has a gap with the ground. The second blocking portion 512 is arranged on the rear side of the front collision shell 500, and the second blocking portion 512 extends toward the ground and has a gap with the ground. The second blocking portion 512 and the first blocking portion 511 are arranged at intervals to form a space S1 for accommodating the cleaning component 200. When the cleaning robot is located on the ground and moves forward, the first blocking portion 511 or the second blocking portion 512 collides with an obstacle so that the front collision shell 500 triggers the first sensor 300 to generate a first signal. In the technical solution of the present invention, a front collision shell 500 is set on at least a part of the edge of the front part 110 of the cleaning robot chassis. The front collision shell 500 extends toward the ground to form a first blocking part 511 and a second blocking part 512. When the cleaning robot moves onto a ground obstacle, the first blocking part 511 and the second blocking part 512 can block the ground obstacles from entering under the cleaning component 200 around the chassis 100 of the cleaning robot. After the first blocking part 511 and the second blocking part 512 are squeezed by the ground obstacles, they move to trigger the first sensor 300. The first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving and then turns to avoid the ground obstacles. This is beneficial to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by ground obstacles, is beneficial to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0038] In the embodiment of the present invention, the cleaning assembly 200 includes a cleaning member and a cleaning member bracket, the cleaning member is detachably arranged on the cleaning member bracket, and the cleaning member bracket is detachably arranged on the chassis 100. The front part 110 of the chassis is provided with a space S1 for accommodating the cleaning assembly 200, and the cleaning member bracket is arranged in the space S1 for accommodating the cleaning assembly 200. The front impact shell 500 is arranged along at least part of the edge of the space S1 for accommodating the cleaning assembly 200 and protrudes from the periphery of the space S1 for accommodating the cleaning assembly 200.

[0039] In the embodiment of the present invention, there are two second blocking parts 512, which are respectively arranged at the front part 110 of the chassis. When the cleaning robot moves onto a ground obstacle, a second blocking part 512 and a first blocking part 511 can cooperate with each other to block the ground obstacle from entering under the cleaning assembly 200 on the left or right side of the chassis 100 of the cleaning robot. The first blocking part 511 and the second blocking part 512 are squeezed by the ground obstacle and move to trigger the first sensor 300. The first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving forward and then turns to avoid the ground obstacle, which is conducive to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by the ground obstacle, is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0040] In the embodiment of the present invention, the first blocking portion 511 is a blocking bar, and the second blocking portion 512 is a blocking block.

[0041] like Figure 2 As shown, the blocking structure of the front collision shell also includes: a connecting rib 513 connected between the first blocking part 511 and the second blocking part 512, the connecting rib 513 is recessed relative to the first blocking part 511 and the second blocking part 512, and the side end of the cleaning component 200 extends into the recessed part of the connecting rib 513.

[0042] In the embodiment of the present invention, the connecting rib 513 is arranged beyond the side end of the cleaning component 200 along the length direction of the cleaning component 200 .

[0043] like Figure 2 As shown, the front collision shell 500 as a whole can also be movably arranged relative to the front part 110 of the chassis. When the cleaning robot is on the ground and turns, the connecting rib 513 collides with the ground obstacle so that the front collision shell 500 triggers the first sensor 300 to generate a first signal. When the cleaning robot moves onto a ground obstacle, the second blocking portion 512 and the first blocking portion 511 can cooperate with each other to block the ground obstacle from entering the bottom of the cleaning component 200 on the left or right side of the chassis 100 of the cleaning robot. The connecting rib 513 collides with the obstacle so that the front collision shell 500 triggers the first sensor 300, and the first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving forward and then turns to avoid the ground obstacle, which is conducive to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped in the ground obstacle, which is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0044] like Figure 2As shown, the cleaning component 200 is a rectangular plate-like structure, and the cleaning component 200 has a first edge and a second edge arranged relative to the first edge. The first edge and the second edge are spaced apart in the front and rear directions of the cleaning robot. The first blocking portion 511 blocks the side of the first edge away from the second edge, and the second blocking portion 512 blocks the side of the second edge away from the first edge.

[0045] In the embodiment of the present invention, the cleaning member is a mop. In other embodiments, other forms of cleaning members, such as a sweeping brush, may also be used to achieve the effect of cleaning the floor. The present invention does not limit the form of the cleaning member. Those skilled in the art can determine the form of the cleaning member according to actual needs to achieve a better cleaning effect on the floor.

[0046] like Figure 2 As shown, the side edge of the first blocking portion 511 close to the first edge is recessed to form a clearance portion, and the cleaning robot includes a ground detector arranged at the front part 110 of the chassis, the signal transceiver end of the ground detector is arranged toward the bottom surface, and the signal transceiver path of the ground detector passes through the clearance portion 514. In the technical solution of the present invention, by providing the clearance portion 514, it is convenient for the signal transceiver path of the ground detector to pass, which is convenient for monitoring the surrounding environment during the working process of the cleaning robot, and improving the working efficiency of the cleaning robot.

[0047] like Figure 3 to Figure 4 As shown, the ground detection includes: a second sensor 140, a third sensor 150 and a fourth sensor 160. The second sensor 140 is arranged on the side of the chassis 100. The third sensor 150 is arranged on the front part 110 of the chassis and on the same side as the first blocking part 511. The first blocking part 511 is provided with a gap 514. The position of the gap 514 corresponds to the third sensor 150 so that the light emitted by the third sensor 150 can pass through the front collision shell 500. The fourth sensor 160 is arranged at the front part 110 of the chassis close to one end of the front collision shell 500. In the technical solution of the present invention, by arranging the second sensor 140, the third sensor 150 and the fourth sensor 160, it is beneficial to monitor the surrounding environment during the operation of the cleaning robot and improve the working efficiency of the cleaning robot.

[0048] In the embodiment of the present invention, the second sensor 140 is a wall sensor, the third sensor 150 is a cliff sensor, and the fourth sensor 160 is a proximity sensor. Under the action of the wall sensor, the cleaning robot in the working state will always maintain a certain fixed distance (about 10 mm) from the wall in the process of cleaning the gaps along the wall, and the dust in the gaps along the wall can be completely cleaned up by cooperating with the side brush to rotate at high speed. The function of the cliff sensor is to determine whether there is a "cliff" (such as steps, high platforms, etc.) in front, so as to control the walking wheel 400 to stop the cleaning robot from moving forward. The proximity sensor can detect the movement information and existence information of the approaching object. In other embodiments, the second sensor 140, the third sensor 150 and the fourth sensor 160 can also be set as other types of sensors to facilitate the work of the cleaning robot. The present invention does not limit the form of the second sensor 140, the third sensor 150 and the fourth sensor 160. Those skilled in the art can determine the form of the second sensor 140, the third sensor 150 and the fourth sensor 160 according to actual needs to achieve a better working cleaning effect of the cleaning robot.

[0049] like Figure 2 As shown, the front crash shell 500 includes: a bottom shell 510, a middle shell 520, and a top shell 530. The bottom shell 510, the middle shell 520, and the top shell 530 are sequentially connected and arranged along the height direction of the chassis 100. The middle shell 520 covers the side edge of the front part 110 of the chassis, the top shell 530 is covered on the side of the front part 110 of the chassis away from the ground, the bottom shell 510 is connected to the side of the middle shell 520 away from the top shell 530, and the bottom shell 510 is provided with a blocking structure. When the cleaning robot moves onto a ground obstacle, the blocking structure arranged on the bottom shell 510 can block the ground obstacle from entering under the cleaning component 200. The connecting rib 513 collides with the obstacle so that the front collision shell 500 triggers the first sensor 300. The first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving and then turns to avoid the ground obstacle, which is beneficial to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by ground obstacles, is beneficial to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and enhances the user experience.

[0050] like Figure 3 As shown, the middle shell 520 is a light-transmitting member, and the emission light of the second sensor 140, the third sensor 150, and the fourth sensor 160 can pass through the middle shell 520. In the technical solution of the present invention, by providing the light-transmitting middle shell 520, it is convenient for the emission light of the second sensor 140, the third sensor 150, and the fourth sensor 160 to pass through the front impact shell 500, so that the cleaning robot can monitor the surrounding environment during work, thereby improving the working efficiency of the cleaning robot.

[0051] In the embodiment of the present invention, the light-transmitting member of the middle shell 520 is made of polycarbonate (PC) material, so that the emitted light of the second sensor 140, the third sensor 150, and the fourth sensor 160 can pass through. In other embodiments, other materials of the light-transmitting member may also be used, such as acrylic (PMMA) material, so that the emitted light of the second sensor 140, the third sensor 150, and the fourth sensor 160 can pass through. Those skilled in the art can determine the material of the light-transmitting member according to actual needs to achieve the effect that the emitted light of the second sensor 140, the third sensor 150, and the fourth sensor 160 can be better transmitted.

[0052] In the embodiment of the present invention, both the top case 530 and the bottom case 510 are non-light-transmitting members.

[0053] like Figure 2 As shown, the top shell 530 includes: a trigger rib 531. The trigger rib 531 is arranged on the side of the top shell 530 close to the ground. When the front impact shell 500 is in contact with the obstacle, the front impact shell 500 moves, and the trigger rib 531 abuts against the first sensor 300 so that the first sensor 300 sends a first signal. The blocking structure of the front impact shell 500 in the technical solution of the present invention can block the ground obstacles from entering the bottom of the cleaning component 200 at the front side of the chassis 100 of the cleaning robot. After being squeezed by the ground obstacles, the front impact shell 500 moves and drives the trigger rib 531 to move and trigger the first sensor 300. The first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving forward and then turns to avoid the ground obstacles, which is conducive to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped by the ground obstacles. It is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0054] like Figure 2 As shown, the first sensor 300 is obliquely arranged at the front part 110 of the chassis relative to the front side of the chassis 100. In the technical solution of the present invention, the first sensor 300 is obliquely arranged at the front part 110 of the chassis relative to the front side of the chassis 100, so that when the front impact shell 500 is squeezed by a ground obstacle and moves forward and backward or left and right, the trigger rib 531 can trigger the first sensor 300, and the first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving forward and then turns to avoid the ground obstacle, which is conducive to improving the cleaning efficiency of the cleaning robot, can prevent the cleaning robot from being trapped by the ground obstacle, is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0055] In the embodiment of the present invention, the first sensor 300 is obliquely arranged at the front part 110 of the chassis relative to the front side of the chassis 100 so that when the front impact shell 500 is squeezed by a ground obstacle and moves forward and backward or left and right, the trigger rib 531 can trigger the first sensor 300. In other embodiments, the first sensor 300 can also be arranged in other ways, such as adjusting the inclination angle of the first sensor 300 relative to the front side of the chassis 100, or increasing the number of the first sensors 300 so that the trigger rib 531 is easy to trigger the first sensor 300. The present invention does not limit the arrangement of the first sensor 300, and those skilled in the art can determine the arrangement of the first sensor 300 according to actual needs to achieve the effect that the trigger rib 531 is easy to trigger the first sensor 300.

[0056] like Figure 1 As shown, the gap between the blocking structure of the front impact shell 500 and the ground is 0.8 mm to 1.3 mm. In the technical solution of the present invention, by setting the gap between the front impact shell 500 and the ground to 0.8 mm to 1.3 mm, the gap distance between the front impact shell 500 and the ground is less than the height of general ground obstacles, which can prevent ground obstacles from entering under the cleaning component 200. The front impact shell 500 can be squeezed by the ground obstacles and then move to trigger the first sensor 300. The first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving and then turns to avoid the ground obstacles, which is conducive to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped by ground obstacles, which is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0057] In the embodiment of the present invention, the gap between the front impact shell 500 and the ground is 1 mm, which is less than the height of general ground obstacles (such as carpets or door thresholds). The distance between the lowest plane of the front part 110 of the cleaning robot chassis and the ground is greater than the distance between the front impact shell 500 and the ground. The distance between the lowest plane of the front part 110 of the chassis and the ground is about 5 mm, which facilitates the walking wheel 400 to extend a sufficient distance, so that the cleaning robot still has sufficient obstacle crossing ability during the cleaning process, which is conducive to the cleaning robot's cleaning work, improves the cleaning work efficiency, and enhances the user experience.

[0058] like Figure 3 to Figure 4As shown, the chassis 100 includes: a front spring clip 120 and a side spring clip 130. The front spring clip 120 is movably arranged on one side of the forward direction of the chassis 100. The side spring clip 130 is movably arranged on the side of the chassis 100, and the front spring clip 120 and the side spring clip 130 enable the front collision shell 500 to be movably arranged on the front part 110 of the chassis. In the technical solution of the present invention, by setting the front spring clip 120 and the side spring clip 130, the front spring clip 120 can be elastically arranged in the forward direction of the cleaning robot, and the side spring clip 130 can be elastically arranged in the left and right side directions of the cleaning robot, so that the front collision mechanism can trigger the first sensor 300, and the first sensor 300 generates a first signal. The cleaning robot can control the walking wheel 400 according to the first signal so that the cleaning robot stops moving forward and then turns to avoid ground obstacles, which is conducive to improving the cleaning efficiency of the cleaning robot, and can prevent the cleaning robot from being trapped in ground obstacles, which is conducive to the cleaning work of the cleaning robot, improves the cleaning work efficiency, and improves the user experience.

[0059] like Figure 4 As shown, the chassis 100 includes one or more first sensors 300 , second sensors 140 , third sensors 150 , and fourth sensors 160 .

[0060] In the embodiment of the present invention, the chassis 100 includes two first sensors 300, which are symmetrically arranged at the front part 110 of the chassis; two second sensors 140, which are symmetrically arranged at the two sides of the chassis 100; two third sensors 150, which are symmetrically arranged at the front part 110 of the chassis near the first blocking part 511; two fourth sensors 160, which are symmetrically arranged at the front part 110 of the chassis. In other embodiments, other numbers of first sensors 300, second sensors 140, third sensors 150 and fourth sensors 160 can also be used to achieve the working effect of the cleaning robot. The present invention does not limit the number of the first sensor 300, the second sensor 140, the third sensor 150 and the fourth sensor 160. Those skilled in the art can determine the number of the first sensor 300, the second sensor 140, the third sensor 150 and the fourth sensor 160 according to actual needs to achieve a better working cleaning effect of the cleaning robot.

[0061] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: A chassis, the chassis comprising a chassis front portion facing the ground and a chassis rear portion disposed opposite to the chassis front portion; A cleaning assembly, the cleaning assembly is detachably connected to the bottom surface of the front portion of the chassis, and the cleaning assembly is used to clean the floor; a first sensor, the first sensor being disposed at the front of the chassis; A pair of running wheels, the pair of running wheels are arranged at the rear of the chassis, and the pair of running wheels drive the chassis to move relative to the ground; and A front impact shell, wherein the front impact shell is arranged along at least a portion of the edge of the front part of the chassis, the front impact shell is at least partially movably arranged forward and backward relative to the front part of the chassis, and the bottom end of the front impact shell extends toward the ground to form a blocking structure arranged lower than the front part of the chassis, when the cleaning robot is located on the ground and moves forward, the blocking structure collides with an obstacle so that the front impact shell triggers the first sensor to generate a first signal.

2. The cleaning robot according to claim 1, characterized in that: The blocking structure of the front crash shell comprises: A first blocking portion, the first blocking portion being disposed at a front side of the front crash shell, the first blocking portion extending toward the ground and having a gap between the ground and the first blocking portion; and a second blocking portion, the second blocking portion being arranged at the rear side of the front collision shell, the second blocking portion extending toward the ground and having a gap with the ground, the second blocking portion and the first blocking portion being arranged at intervals to form a space for accommodating the cleaning component, When the cleaning robot is located on the ground and moves forward, the first blocking portion or the second blocking portion collides with an obstacle so that the front collision shell triggers the first sensor to generate a first signal.

3. The cleaning robot according to claim 2, characterized in that: The blocking structure of the front crash shell also includes: A connecting rib is connected between the first blocking portion and the second blocking portion, the connecting rib is recessed relative to the first blocking portion and the second blocking portion, and the side end portion of the cleaning component extends into the recessed portion of the connecting rib.

4. The cleaning robot according to claim 3, characterized in that: The connecting rib is arranged along the length direction of the cleaning component and exceeds the side end portion of the cleaning component.

5. The cleaning robot according to claim 4, characterized in that: The entire front collision shell can also be movably arranged left and right relative to the front part of the chassis. When the cleaning robot is located on the ground and turns, the connecting rib collides with an obstacle, causing the front collision shell to trigger the first sensor to generate a first signal.

6. The cleaning robot according to claim 2, characterized in that: The cleaning component is a rectangular plate-shaped structure, having a first edge and a second edge arranged opposite to the first edge, the first edge and the second edge are spaced apart in the front-rear direction of the cleaning robot, the first blocking portion blocks the side of the first edge away from the second edge, and the second blocking portion blocks the side of the second edge away from the first edge.

7. The cleaning robot according to claim 6, characterized in that: The side edge portion of the first blocking portion close to the first edge is recessed to form a gap. The cleaning robot includes a ground detector arranged at the front of the chassis. The signal transceiver end of the ground detector is arranged toward the bottom surface, and the signal transceiver path of the ground detector passes through the gap.

8. The cleaning robot according to claim 2, characterized in that: The front collision shell includes a bottom shell, a middle shell, and a top shell. The bottom shell, the middle shell, and the top shell are connected and arranged in sequence along the height direction of the chassis. The middle shell covers the side edge of the front part of the chassis, and the top shell cover is arranged on the side of the front part of the chassis away from the ground. The bottom shell is connected to the side of the middle shell away from the top shell, and the bottom shell is provided with the blocking structure.

9. The cleaning robot according to claim 8, characterized in that: The top shell comprises: A trigger rib is provided on the side of the top shell close to the ground. When the front impact shell is in contact with an obstacle, the front impact shell moves, and the trigger rib abuts against the first sensor so that the first sensor sends a first signal.

10. The cleaning robot according to claim 1, characterized in that: The gap between the blocking structure of the front collision shell and the ground is 0.8 mm to 1.3 mm.

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