Cleaning robot

Abstract

The invention provides a cleaning robot, and relates to the technical field of intelligent robots. The cleaning robot comprises a main body, a cleaning device, a negative pressure device and a walking device. A negative pressure cavity is formed in the cleaning device, and the negative pressure cavity is vacuumized by the negative pressure device, so that the cleaning robot is adsorbed to a to-be-cleaned surface; the walking device comprises a tire body, an inflation cavity is formed in the tire body, and the walking device is used for adjusting the air pressure in the inflation cavity so as to adjust the acting force between the walking device and the to-be-cleaned face and / or adjusting the acting force between the cleaning device and the to-be-cleaned face. The cleaning robot has the following functions that the friction force between the walking device and the to-be-cleaned face can be adjusted, and therefore the phenomena of slipping, shaking and the like during walking of the cleaning robot are avoided; and / or the friction force between the cleaning device and the to-be-cleaned surface can be adjusted, so that the dirt cleaning capacity and effect of the cleaning device are improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to cleaning robots. Background Art

[0002] Balcony window enclosures, glass curtain walls, etc. are increasingly used in buildings. Due to the size of the glass and its height, when manually cleaning the surface of the glass (especially the outer surface), there are problems such as high difficulty in operation and low safety factor. The window cleaning robots on the market can walk on the glass and clean the glass surface. Among them, the window cleaning robots have the advantages of convenient operation, strong cleaning ability, and high degree of automation. In addition, because the window cleaning robots are equipped with safety structures such as safety ropes, they are also very safe. For this reason, window cleaning robots are favored by more and more home users and cleaning companies.

[0003] The window cleaning robots currently on the market may experience the following problems during their walking process: the contact area between the walking mechanism or cleaning mechanism and the glass surface is unstable due to the different dirt on the glass surface, the difference in ambient temperature, and the assembly tolerance. When the contact area is unstable, especially when the contact area becomes smaller, the friction between the walking structure or cleaning mechanism and the contact surface will decrease. When the friction between the walking structure and the contact surface is insufficient, the machine will slip and shake during walking, which will cause problems such as motor heating; when the friction between the cleaning mechanism and the contact surface is insufficient, the cleaning effect will be poor.

[0004] Application Contents

[0005] The purpose of this application is to overcome the defects of the prior art and provide a cleaning robot to solve the problems in the prior art.

[0006] To solve the above problems, an embodiment of the present application provides a cleaning robot, comprising:

[0007] main body;

[0008] A cleaning device, disposed on the main body, for cleaning the surface to be cleaned;

[0009] A negative pressure device is arranged on the main body, a negative pressure chamber is arranged in the cleaning device, and the negative pressure device pumps negative pressure into the negative pressure chamber so that the cleaning robot is adsorbed on the surface to be cleaned;

[0010] A walking device, arranged on the main body, for driving the cleaning robot to run;

[0011] The walking device includes a carcass, an air-filled cavity is arranged in the carcass, and the walking device is used to adjust the air pressure in the air-filled cavity and thus adjust the force between the walking device and the surface to be cleaned, and / or adjust the force between the cleaning device and the surface to be cleaned.

[0012] In a possible implementation manner, the walking device is used to adjust the air pressure in the inflation chamber and thereby adjust the force between the walking device and the surface to be cleaned, including:

[0013] The air pressure in the inflation cavity is adjusted to deform the tire body, so as to adjust the contact area between the tire body and the surface to be cleaned, thereby adjusting the acting force between the walking device and the surface to be cleaned.

[0014] In a possible implementation, adjusting the air pressure in the inflation cavity to deform the tire body to adjust the contact area between the tire body and the surface to be cleaned includes:

[0015] When the air pressure in the inflation cavity increases, the tire body expands, the contact area between the tire body and the surface to be cleaned decreases, and the force between the walking device and the surface to be cleaned decreases;

[0016] When the air pressure in the inflation cavity decreases, the tire body contracts, the contact area between the tire body and the surface to be cleaned increases, and the force between the walking device and the surface to be cleaned increases.

[0017] In a possible implementation, the walking device is used to adjust the air pressure in the inflation chamber and thus adjust the force between the cleaning device and the surface to be cleaned, including:

[0018] The air pressure in the inflation cavity is adjusted to deform the tire body, so as to adjust the sealing degree between the cleaning device and the surface to be cleaned, and further adjust the force between the cleaning device and the surface to be cleaned.

[0019] In a possible implementation manner, adjusting the air pressure in the inflation cavity to deform the carcass to adjust the sealing degree between the cleaning device and the surface to be cleaned includes:

[0020] When the air pressure in the inflation cavity increases, the tire body expands, the airtightness of the negative pressure cavity decreases, and the force between the cleaning device and the surface to be cleaned decreases;

[0021] When the air pressure in the inflation cavity decreases, the tire body contracts, the sealing degree of the negative pressure cavity increases, and the force between the cleaning device and the surface to be cleaned increases.

[0022] In a possible implementation, the surfaces to be cleaned include a first type of surfaces to be cleaned and a second type of surfaces to be cleaned; the first type of surfaces to be cleaned have a dirtiness less than the second type of surfaces to be cleaned;

[0023] When the surface to be cleaned is a first type of cleaning surface, the air pressure in the inflation chamber is used to preferentially meet the force requirement between the walking device and the surface to be cleaned;

[0024] When the surface to be cleaned is a second type cleaning surface, the air pressure in the inflation cavity is used to preferentially meet the force requirement between the cleaning device and the surface to be cleaned.

[0025] In a possible implementation manner, when the surface to be cleaned is a first type of surface to be cleaned, the air pressure in the inflation chamber is adjusted to a first preset air pressure range, so that the force between the walking device and the surface to be cleaned is within a first preset force range;

[0026] When the surface to be cleaned is a second type of surface to be cleaned, the air pressure in the inflation chamber is adjusted to a second preset air pressure range so that the force between the cleaning device and the surface to be cleaned is within a second preset force range;

[0027] The second preset air pressure range is smaller than the first preset air pressure range.

[0028] In a possible implementation, the surface to be cleaned includes the third type of surface to be cleaned,

[0029] When the surface to be cleaned is a third type of surface to be cleaned, the air pressure in the inflation chamber is adjusted so that the force between the walking device and the surface to be cleaned is smaller than the force required for the walking device to drive the cleaning robot to walk.

[0030] In a possible implementation, adjusting the air pressure in the inflation chamber so that the force between the walking device and the surface to be cleaned is smaller than the force required for the walking device to drive the cleaning robot to walk includes:

[0031] The air pressure in the inflation chamber is adjusted to a third preset air pressure range, so that the force between the cleaning device and the surface to be cleaned is within the third preset force range, or the force between the cleaning device and the surface to be cleaned is zero.

[0032] In a possible implementation, the walking device is connected to an air charging and discharging device, and the air charging and discharging device includes a connecting pipe and a power module;

[0033] One end of the connecting pipe is connected to the inflation chamber, and the other end is connected to the power module;

[0034] The power module is used to inflate or deflate the inflation chamber through the connecting pipe to adjust the air pressure in the inflation chamber.

[0035] The beneficial effects of this application include:

[0036] The cleaning robot proposed in the present application includes a main body, a cleaning device, a negative pressure device and a walking device, wherein the walking device includes a carcass. When the cleaning robot is working, the walking device drives the main body to move. During this process, the walking device adjusts the air pressure in the inflation chamber, thereby achieving the following adjustments:

[0037] Adjusting the force between the walking device and the surface to be cleaned, so as to adjust the friction between the walking device and the surface to be cleaned, thereby preventing the cleaning robot from slipping, shaking, etc. when walking; and / or,

[0038] The force between the cleaning device and the surface to be cleaned is adjusted, so as to adjust the friction between the cleaning device and the surface to be cleaned, thereby improving the cleaning ability and effect of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of a cleaning robot is shown;

[0041] Figure 2 Shows Figure 1 Exploded view of the cleaning robot;

[0042] Figure 3 A cross-sectional view of a cleaning robot is shown;

[0043] Figure 4 A schematic diagram of a walking device is shown;

[0044] Figure 5 A schematic diagram showing the positional relationship between a walking device and a surface to be cleaned is shown;

[0045] Figure 6 It shows that when the air pressure in the inflation chamber is high, Figure 5 Bottom view of

[0046] Figure 7 It shows that when the air pressure in the inflation chamber is low, Figure 5 Bottom view of

[0047] Figure 8 Shows Figure 4 Bottom view of .

[0048] Description of main component symbols:

[0049] 100-main body; 110-cover body; 120-transmission mechanism; 200-cleaning device; 210-negative pressure chamber; 300-negative pressure device; 400-traveling device; 410-carcass; 411-inflating chamber; 420-mounting frame; 430-contact surface; 431-first face portion; 432-second face portion; 441-annular protrusion; 442-arc-shaped protrusion; 443-straight protrusion; 500-inflating and deflation device; 510-connecting pipe; 520-power module; 600-surface to be cleaned. DETAILED DESCRIPTION

[0050] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0051] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0052] Example

[0053] See also Figure 1-Figure 3 In this embodiment, a cleaning robot is proposed, including a main body 100, a cleaning device 200, a negative pressure device 300 and a walking device 400. The main body 100 is provided with a cover 110, and the components inside the main body 100 can be shielded and protected by the cover 110. It should be noted that Figure 3 In order to facilitate observation of the traveling device 400, the cleaning device 200 is not shown in the drawings.

[0054] The cleaning device 200 is disposed on the main body 100 , and the cleaning device 200 is used to clean the surface 600 to be cleaned.

[0055] The negative pressure device 300 is disposed on the main body 100. A negative pressure chamber 210 is disposed in the cleaning device 200, wherein the negative pressure device 300 pumps negative pressure into the negative pressure chamber 210 so that the cleaning robot is adsorbed on the surface to be cleaned 600. Figure 2 The cleaning device 200 is annular in structure, and the cleaning device 200 is arranged around the negative pressure chamber 210. The negative pressure device 300 includes a vacuum pump, an exhaust fan, and the like.

[0056] The walking device 400 is disposed on the main body 100, and the walking device 400 is used to drive the cleaning robot to operate. Specifically, the walking device 400 is used to drive the cleaning robot to move on the surface to be cleaned 600. Figure 1 and 2 During assembly, the walking device 400 is rotatably connected to the main body 100, and a transmission mechanism 120 is provided on the main body 100, and the walking device 400 is driven to rotate by the transmission structure. The walking device 400 is installed in the negative pressure chamber 210, thereby making the overall structure of the cleaning robot more compact and reducing the extra space occupied by the walking device 400.

[0057] The specific structure of the transmission mechanism 120 and other components can refer to the existing design and will not be described in detail in this article.

[0058] like Figure 4 As shown, the walking device 400 includes a carcass 410, and an air-filled cavity 411 is provided in the carcass 410, and the air-filled cavity 411 is an annular structure. The walking device 400 is used to adjust the air pressure in the air-filled cavity 411, thereby adjusting the force between the walking device 400 and the surface to be cleaned 600, and / or adjusting the force between the cleaning device 200 and the surface to be cleaned 600. For the convenience of description, the force between the walking device 400 and the surface to be cleaned 600 is called the first force, and the force between the cleaning device 200 and the surface to be cleaned 600 is called the second force.

[0059] In this embodiment, adjusting the air pressure in the inflation chamber 411 can achieve the adjustment of the first force and the second force, wherein the adjustment of the first force can achieve the adjustment of the friction between the walking device 400 and the surface to be cleaned 600, thereby avoiding slipping, shaking and the like when the cleaning robot is walking; the adjustment of the second force can achieve the adjustment of the friction between the cleaning device 200 and the surface to be cleaned 600, so that when the cleaning device 200 is running, the cleaning ability and effect of the cleaning device 200 can be improved. Specifically, when the air pressure in the inflation chamber 411 changes, the tire body 410 is deformed, and accordingly, the contact between the tire body 410 and the surface 600 to be cleaned changes, thereby achieving the adjustment of the first force. For example, when the air pressure in the inflation chamber 411 increases, the tire body 410 expands, and the contact area between the tire body 410 and the surface 600 to be cleaned is smaller. When the air pressure in the inflation chamber 411 decreases, the tire body 410 contracts, and the contact area between the tire body 410 and the surface 600 to be cleaned increases. At the same time, due to the deformation of the tire body 410, the tire body 410 drives the cleaning robot to move as a whole, so that the cleaning robot is The distance between the geometric center and the surface 600 to be cleaned changes, resulting in a change in the degree of sealing between the cleaning device 200 and the surface 600 to be cleaned, thereby realizing the adjustment of the second force. For example, when the air pressure in the inflation chamber 411 increases, the carcass 410 expands, so that the distance between the geometric center of the cleaning robot and the surface 600 to be cleaned increases, that is, the cleaning device 200 is lifted, and the degree of sealing between the cleaning device 200 and the surface 600 to be cleaned is reduced, the adsorption force of the cleaning robot is reduced, and the force between the cleaning device 200 and the surface 600 to be cleaned is reduced, that is, the second force is reduced, and conversely, the second force is increased.

[0060] In some other embodiments, the air pressure in the air-filled cavity 411 is adjusted to adjust only the first force or the second force. For example, when the air pressure in the air-filled cavity 411 changes, only the contact area between the tire body 410 and the surface to be cleaned 600 will change. In this way, when the air pressure in the air-filled cavity 411 is adjusted, only the first force is regulated; for another example, the contact area between the tire body 410 and the surface to be cleaned 600 remains constant. When the air pressure in the air-filled cavity 411 changes, the deformation of the air-filled cavity 411 will only affect the degree of sealing between the cleaning device 200 and the surface to be cleaned 600. In this way, when the air pressure in the air-filled cavity 411 is adjusted, only the second force is regulated.

[0061] like Figure 4As shown, the walking device 400 has a mounting frame 420 and a carcass 410, and the carcass 410 can be fixed to the mounting frame 420 by means of threaded connection, clamping, bonding, etc. After the mounting frame 420 and the carcass 410 are assembled, the gap between the mounting frame 420 and the carcass 410 is in a sealed state, wherein one side of the inflation cavity 411 is opposite to the mounting frame 420. The air pressure inside the inflation cavity 411 can be changed by inflating or exhausting air into the inflation cavity 411.

[0062] The carcass 410 can be made of elastic materials such as silicone, rubber, TPU (Chinese name: thermoplastic polyurethane elastomer), etc. The elastic material can provide a large friction force when contacting the glass surface 600 to be cleaned.

[0063] The hardness of the mounting frame 420 is greater than that of the tire body 410 . When air is inflated or exhausted into the inflation cavity 411 , the mounting frame 420 will not be deformed due to the change in air pressure.

[0064] Reference Figure 5-Figure 7 In this embodiment, the walking device 400 is used to adjust the air pressure in the inflation chamber 411 and thereby adjust the force between the walking device 400 and the surface to be cleaned 600, including: adjusting the air pressure in the inflation chamber 411 to deform the tire body 410 to adjust the contact area 430 between the tire body 410 and the surface to be cleaned 600, thereby adjusting the force between the walking device 400 and the surface to be cleaned 600. Figure 6 The shadow of a and Figure 7 The shadows b in the figure all represent the contact area between the walking device 400 and the surface to be contacted 430. It can be clearly seen that when the air pressure in the air-filled cavity 411 increases, the contact area 430 between the walking device 400 and the surface to be cleaned 600 will decrease.

[0065] Further, adjusting the air pressure in the inflation cavity 411 to deform the tire body 410 to adjust the contact surface 430 between the tire body 410 and the surface to be cleaned 600 includes:

[0066] When the air pressure in the inflation cavity 411 increases, the tire body 410 expands, the contact surface 430 between the tire body 410 and the surface to be cleaned 600 decreases, and the force between the walking device 400 and the surface to be cleaned 600 decreases;

[0067] When the air pressure in the inflation cavity 411 decreases, the tire body 410 contracts, the contact surface 430 between the tire body 410 and the surface to be cleaned 600 increases, and the force between the walking device 400 and the surface to be cleaned 600 increases.

[0068] In this embodiment, the walking device 400 is used to adjust the air pressure in the air-filled cavity 411 and thus adjust the force between the cleaning device 200 and the surface to be cleaned 600, including:

[0069] The air pressure in the inflation chamber 411 is adjusted to deform the tire body 410 to adjust the sealing degree between the cleaning device 200 and the surface to be cleaned 600, thereby adjusting the force between the cleaning device 200 and the surface to be cleaned 600.

[0070] Furthermore, adjusting the air pressure in the inflation chamber 411 to deform the tire body 410 to adjust the sealing degree between the cleaning device 200 and the surface to be cleaned 600 includes:

[0071] When the air pressure in the inflation cavity 411 increases, the tire body 410 expands, the airtightness of the negative pressure cavity 210 decreases, and the force between the cleaning device 200 and the surface to be cleaned 600 decreases;

[0072] When the air pressure in the inflation cavity 411 decreases, the tire body 410 contracts, the sealing degree of the negative pressure cavity 210 increases, and the force between the cleaning device 200 and the surface to be cleaned 600 increases.

[0073] The gas filled in the gas-filled cavity 411 includes an inert gas, carbon dioxide or air, etc. In this embodiment, in order to reduce the cost, the gas filled in the gas-filled cavity 411 is air.

[0074] In this embodiment, an air pressure detection device may be provided in the air-filled cavity 411. Specifically, the air pressure detection device includes an air pressure sensor. The air pressure detection device is used to detect the air pressure inside the air-filled cavity 411. The air pressure detection device is connected to the main control module of the cleaning robot in communication, so that the cleaning robot can sense the change of the air pressure in the air-filled cavity 411. The air pressure detection device and the main control module can be connected by wired communication connection or wireless communication connection. Wherein, the communication connection can be realized by a Bluetooth module, a Wi-FI module, etc.

[0075] In other embodiments, the air pressure inside the inflation cavity 411 may be indirectly detected by a size detection module, wherein the size detection module includes a linear sensor, etc. The size detection module measures the diameter and other dimensions of the outer surface of the tire body 410 to determine the air pressure inside the inflation cavity 411.

[0076] like Figure 8 As shown, in this embodiment, the surface of the carcass 410 of the walking device 400 that contacts the surface to be cleaned 600 is the contact surface 430 .

[0077] The contact surface 430 is provided with an anti-skid structure, wherein the anti-skid structure includes an anti-skid layer or anti-skid lines. By providing the anti-skid structure, the friction between the walking device 400 and the surface to be cleaned 600 can be increased.

[0078] The anti-slip layer includes a nano layer, etc. The nano layer includes a nano coating, wherein the nano coating is used for spraying on the contact surface 430 ; the nano layer includes a covering layer made of nano material, wherein the covering layer is used for covering or wrapping on the contact surface 430 .

[0079] like Figure 8 As shown, the anti-slip pattern includes an annular protrusion, wherein the contact surface 430 is annular, the annular protrusion 441 is arranged around the inner circle of the contact surface 430, and the annular protrusion 441 is located between the outer circle and the inner circle of the contact surface 430. The contact surface 430 is divided into a first face portion 431 and a second face portion 432 by the annular protrusion 441, wherein the first face portion 431 is located between the outer circle of the contact surface 430 and the annular protrusion 441, and the second face portion 432 is located between the inner circle of the contact surface 430 and the annular protrusion 441. Figure 8 , w represents the outer circle of the contact surface 430 , and n represents the inner circle of the contact surface 430 .

[0080] The first surface 431 is provided with arc-shaped protrusions 442 , and there are a plurality of arc-shaped protrusions 442 distributed in a circular array; the second surface 432 is provided with linear protrusions 443 , and there are a plurality of linear protrusions 443 distributed in a circular array.

[0081] The arc-shaped protrusions 442 and the linear protrusions 443 can be provided to achieve drainage. For example, when there is a lot of water attached to the surface 600 to be cleaned, as the walking device 400 rotates, the contact surface 430 and the surface 600 to be cleaned will rotate relative to each other. At this time, the linear protrusions 443 will guide the water below the contact surface 430 to the arc-shaped protrusions 442, and the arc-shaped protrusions 442 will drain the water out of the contact surface 430, thereby preventing the walking device 400 from slipping.

[0082] In this embodiment, the surfaces to be cleaned 600 include a first type of surface to be cleaned and a second type of surface to be cleaned. The first type of surface to be cleaned has a lower degree of dirtiness than the second type of surface to be cleaned.

[0083] When the surface 600 to be cleaned is a first type cleaning surface, the air pressure in the inflation chamber 411 is used to preferentially meet the force requirement between the walking device 400 and the surface 600 to be cleaned, thereby ensuring the stability of the cleaning robot during movement.

[0084] When the surface 600 to be cleaned is a second type cleaning surface, the air pressure in the inflation chamber 411 is used to preferentially meet the force requirement between the cleaning device 200 and the surface 600 to be cleaned, thereby ensuring that the surface 600 to be cleaned is fully cleaned.

[0085] Specifically, the cleaning robot can adaptively adjust the air pressure in the air-filled chamber 411 according to the environment in which it is located. For example, the air pressure in the air-filled chamber 411 is adjusted according to the degree of dirtiness of the surface to be cleaned. The environment in which the cleaning robot is located may include a first type of surface to be cleaned and a second type of surface to be cleaned. The first type of surface to be cleaned may be a relatively clean surface to be cleaned, or a surface to be cleaned with a small degree of dirtiness, such as a surface to be cleaned with only a small amount of dust. The second type of surface to be cleaned may be a surface to be cleaned with a large degree of dirtiness, such as a surface to be cleaned with a large amount of dust or stubborn stains such as bird droppings. The first type of surface to be cleaned and the second type of surface to be cleaned may be specifically set according to actual cleaning needs. For example, when the degree of dirtiness of the surface to be cleaned is less than a preset degree of dirtiness, the surface to be cleaned is determined to be a first type of surface to be cleaned. When the degree of dirtiness of the surface to be cleaned is greater than the preset degree of dirtiness, the surface to be cleaned is determined to be a second type of surface to be cleaned. In addition, an identification device can be pre-set to determine the degree of dirtiness of the surface to be cleaned, such as obtaining the degree of dirtiness of the surface to be cleaned through a visual identification device, or determining the degree of dirtiness based on the operating status of the walking device. The specific principle is: when the degree of dirtiness of the surface to be cleaned is small, the walking resistance of the walking device is small, the working current of the walking device is small, and the surface to be cleaned is determined to be a first-class surface to be cleaned; when the degree of dirtiness of the surface to be cleaned is large, the walking resistance of the walking device is large, the working current of the walking device is large, and the surface to be cleaned is determined to be a second-class surface to be cleaned. In short, the identification device can identify the dirtiness of the surface to be cleaned, and there is no specific restriction on what kind of identification device to use.

[0086] When it is determined that the surface to be cleaned is of the first type, it means that the degree of dirt on the surface to be cleaned is relatively low. At this time, the cleaning robot can clean the surface by normal cleaning. At this time, the focus can be placed on improving the walking stability of the cleaning robot, that is, the air pressure in the inflation chamber is used to preferentially meet the force requirements between the walking device and the surface to be cleaned. When it is determined that the surface to be cleaned is of the second type, it means that the degree of dirt on the surface to be cleaned is relatively high, and a higher cleaning force is required to clean the surface to be cleaned. At this time, the focus will be placed on improving the cleaning ability of the cleaning robot to ensure that the cleaning robot can clean the surface to be cleaned. The cleaning robot of this embodiment intelligently selects cleaning strategies in different cleaning environments, so that the cleaning robot can ensure walking stability while ensuring the cleaning effect.

[0087] Furthermore, when the surface 600 to be cleaned is a first type of surface 600 to be cleaned, the air pressure in the inflation chamber 411 is adjusted to a first preset air pressure range, so that the force between the walking device 400 and the surface 600 to be cleaned is within the first preset force range; when the surface 600 to be cleaned is a second type of surface 600 to be cleaned, the air pressure in the inflation chamber 411 is adjusted to a second preset air pressure range, so that the force between the cleaning device 200 and the surface 600 to be cleaned is within the second preset force range.

[0088] The second preset air pressure range is smaller than the first preset air pressure range.

[0089] In this embodiment, the surface to be cleaned 600 also includes a third type of surface to be cleaned 600. The third type of cleaning surface includes the surface to be cleaned 600 that needs to be cleaned at a fixed point, for example: the surface to be cleaned 600 at the corner; the position where the program control or manual control machine needs to be cleaned at a fixed point. When cleaning the third type of cleaning surface, the walking device 400 cannot drive the cleaning robot to walk.

[0090] When the surface 600 to be cleaned is the third type of surface 600 to be cleaned, the air pressure in the inflation chamber 411 is adjusted so that the force between the walking device 400 and the surface 600 to be cleaned is smaller than the force required for the walking device 400 to drive the cleaning robot to walk.

[0091] Further, adjusting the air pressure in the inflation chamber 411 so that the force between the walking device 400 and the surface to be cleaned 600 is smaller than the force required for the walking device 400 to drive the cleaning robot to walk includes:

[0092] The air pressure in the inflation chamber 411 is adjusted to a third preset air pressure range, so that the force between the cleaning device 200 and the surface to be cleaned 600 is within the third preset force range, or the force between the cleaning device 200 and the surface to be cleaned 600 is zero.

[0093] By adjusting the air pressure of the inflatable chamber to the third preset air pressure range, the inflatable chamber is contracted, so that the tire body is no longer in contact with the surface to be cleaned or the tire body is in contact with the surface to be cleaned, but the force between the tire body and the surface to be cleaned cannot drive the cleaning robot to walk. In this state, the cleaning device can clean the surface to be cleaned, but the cleaning robot does not walk on the surface to be cleaned, so that the cleaning robot can achieve the function of fixed-point cleaning. In this way, the third type of surface to be cleaned is a surface to be cleaned that requires fixed-point cleaning, such as the corners of the surface to be cleaned. In particular, in the prior art, the cleaning device and the walking device are driven by the same driving device. When the walking device of the cleaning robot stops running, the cleaning device also stops running, that is, the function of fixed-point cleaning cannot be achieved. In this embodiment, by adjusting the air pressure of the inflatable chamber to the third preset air pressure range, when the driving device of the cleaning robot is running, even if the walking device is in a rotating state, it will not drive the cleaning robot to walk on the surface to be cleaned, and the cleaning device can rotate to clean the surface to be cleaned, so that the cleaning robot has the function of fixed-point cleaning.

[0094] like Figure 3 As shown, the walking device 400 is connected to the gas charging and discharging device 500, and the gas charging and discharging device 500 includes a connecting pipe 510 and a power module 520. The connecting pipe 510 can be a hose, and the power module 520 includes an air pump.

[0095] One end of the connecting tube 510 is connected to the inflation chamber 411 , and the other end is connected to the power module 520 , wherein the power module 520 is used to inflate or deflate the inflation chamber 411 through the connecting tube 510 to adjust the air pressure in the inflation chamber 411 .

[0096] The cleaning robot includes a plurality of walking devices 400. Considering practicability and manufacturing cost, two walking devices 400 are provided on the cleaning robot.

[0097] In this embodiment, each walking device 400 is equipped with a connecting pipe 510, wherein two connecting pipes 510 are connected to the same power module 520. In this way, not only the cost is reduced, but also the air pressure in the air chamber 411 of each walking device 400 is synchronously controlled.

[0098] When the air pressure in the inflation chamber 411 is too high, the contact surface 430 between the walking device 400 and the surface to be cleaned 600 will be reduced, causing the pressure per unit area of ​​the tire body 410 to increase, resulting in the following situations: increased wear of the tire body 410; the cleaning robot cannot move in the predetermined direction; the cleaning robot shakes during operation, etc.

[0099] When the air pressure in the inflation chamber 411 is too low, the contact surface 430 between the walking device 400 and the surface to be cleaned 600 will increase, which will lead to the following situations: when the walking device 400 is running, the temperature in the inflation chamber 411 increases abnormally, causing the tire body 410 to deform seriously and age rapidly, resulting in a reduced life of the tire body 410; the motor that drives the walking device 400 to rotate will have an increased current, causing the motor to heat up and be damaged, etc., and will increase energy consumption.

[0100] To this end, in this embodiment, the cleaning robot can adjust the air pressure inside the inflation chamber 411 through the power module 520 according to the actual working conditions, based on the type of the surface 600 to be cleaned and the temperature of the working environment, so as to achieve a preset optimal working air pressure, thereby optimizing the walking state and posture of the cleaning robot, and increasing the service life of the walking device 400 and the cleaning device 200, so as to achieve the purpose of improving the cleaning effect.

[0101] The cleaning robot may be provided with an environment perception module. Specifically, the environment perception module includes a visual detection module and a temperature detection module, wherein the visual detection module is used to detect the type of the surface to be cleaned 600, and the temperature detection module is used to detect the ambient temperature. The visual detection module includes a visual sensor, and the temperature detection module includes a temperature sensor.

[0102] When the cleaning robot is working, the power module 520 can be controlled through the environmental perception module, thereby dynamically adjusting the air pressure inside the inflation chamber 411 to adapt to complex working conditions.

[0103] In some embodiments, the user can control the cleaning robot so that the cleaning robot works according to the set mode. When the set mode is inconsistent with the situation determined by the environment perception module, the cleaning robot can adjust itself to adjust the air pressure inside the inflation cavity 411 according to the actual situation, thereby improving the cleaning effect.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0105] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: main body; A cleaning device, disposed on the main body, for cleaning the surface to be cleaned; A negative pressure device is arranged on the main body, a negative pressure chamber is arranged in the cleaning device, and the negative pressure device pumps negative pressure into the negative pressure chamber so that the cleaning robot is adsorbed on the surface to be cleaned; A walking device, arranged on the main body, for driving the cleaning robot to run; The walking device includes a carcass, in which an air-filled cavity is arranged. The walking device is used to adjust the air pressure in the air-filled cavity and thereby adjust the force between the walking device and the surface to be cleaned, and / or adjust the force between the cleaning device and the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The walking device is used to adjust the air pressure in the inflation cavity and thus adjust the force between the walking device and the surface to be cleaned, including: The air pressure in the inflation cavity is adjusted to deform the tire body, so as to adjust the contact area between the tire body and the surface to be cleaned, thereby adjusting the acting force between the walking device and the surface to be cleaned.

3. The cleaning robot according to claim 2, characterized in that: Adjusting the air pressure in the inflation cavity to deform the tire body to adjust the contact area between the tire body and the surface to be cleaned includes: When the air pressure in the inflation cavity increases, the tire body expands, the contact area between the tire body and the surface to be cleaned decreases, and the force between the walking device and the surface to be cleaned decreases; When the air pressure in the inflation cavity decreases, the tire body contracts, the contact area between the tire body and the surface to be cleaned increases, and the force between the walking device and the surface to be cleaned increases.

4. The cleaning robot according to claim 1, characterized in that: The walking device is used to adjust the air pressure in the inflation chamber and thus adjust the force between the cleaning device and the surface to be cleaned, and includes: The air pressure in the inflation cavity is adjusted to deform the tire body, so as to adjust the sealing degree between the cleaning device and the surface to be cleaned, and further adjust the force between the cleaning device and the surface to be cleaned.

5. The cleaning robot according to claim 4, characterized in that: Adjusting the air pressure in the inflation chamber to deform the carcass to adjust the airtightness between the cleaning device and the surface to be cleaned includes: When the air pressure in the inflation cavity increases, the tire body expands, the airtightness of the negative pressure cavity decreases, and the force between the cleaning device and the surface to be cleaned decreases; When the air pressure in the inflation cavity decreases, the tire body contracts, the sealing degree of the negative pressure cavity increases, and the force between the cleaning device and the surface to be cleaned increases.

6. The cleaning robot according to claim 1, characterized in that: The surfaces to be cleaned include a first type of surfaces to be cleaned and a second type of surfaces to be cleaned; the first type of surfaces to be cleaned have a dirtiness less than the second type of surfaces to be cleaned; When the surface to be cleaned is a first type of cleaning surface, the air pressure in the inflation chamber is used to preferentially meet the force requirement between the walking device and the surface to be cleaned; When the surface to be cleaned is a second type cleaning surface, the air pressure in the inflation cavity is used to preferentially meet the force requirement between the cleaning device and the surface to be cleaned.

7. The cleaning robot according to claim 6, characterized in that: When the surface to be cleaned is a first type of surface to be cleaned, the air pressure in the inflation chamber is adjusted to a first preset air pressure range so that the force between the walking device and the surface to be cleaned is within a first preset force range; When the surface to be cleaned is a second type of surface to be cleaned, the air pressure in the inflation chamber is adjusted to a second preset air pressure range so that the force between the cleaning device and the surface to be cleaned is within a second preset force range; The second preset air pressure range is smaller than the first preset air pressure range.

8. The cleaning robot according to claim 1, characterized in that: The surface to be cleaned includes the third type of surface to be cleaned, When the surface to be cleaned is a third type of surface to be cleaned, the air pressure in the inflation chamber is adjusted so that the force between the walking device and the surface to be cleaned is smaller than the force required for the walking device to drive the cleaning robot to walk.

9. The cleaning robot according to claim 8, characterized in that: Adjusting the air pressure in the inflation chamber so that the force between the walking device and the surface to be cleaned is smaller than the force required for the walking device to drive the cleaning robot to walk comprises: The air pressure in the inflation chamber is adjusted to a third preset air pressure range, so that the force between the cleaning device and the surface to be cleaned is within the third preset force range, or the force between the cleaning device and the surface to be cleaned is zero.

10. The cleaning robot according to claim 1, characterized in that: The walking device is connected to a gas charging and discharging device, and the gas charging and discharging device includes a connecting pipe and a power module; One end of the connecting pipe is connected to the inflation chamber, and the other end is connected to the power module; The power module is used to inflate or deflate the inflation chamber through the connecting pipe to adjust the air pressure in the inflation chamber.

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