Cleaning robot and service robot

Abstract

The invention relates to the field of intelligent robots for ground service, in particular to a cleaning robot and a service robot. In the prior art, in order to ensure that a cleaning robot can pass through narrow ways such as a gate and a narrow door, the body width size of the cleaning robot is small, the cleaning width is narrow, and the cleaning efficiency is low during large-area cleaning operation. Under the condition that passing ability is not affected, the machine body is lengthened in the longitudinal direction, the longitudinal length size of the bottom of the machine body is larger than the transverse width size, the redirection walking device is arranged at the bottom of the machine body, the machine body can walk in the longitudinal direction or the transverse direction or the inclined direction, and the machine body can pass through a narrow road when walking in the longitudinal direction; the cleaning width is increased, and the cleaning efficiency is correspondingly improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robots for ground services, and in particular to a cleaning robot and a service robot. Background Art

[0002] In the prior art, the autonomous driving intelligent cleaning robot used for indoor floor cleaning in residences, commercial office buildings, shopping malls, transportation hubs, etc., usually has a round, approximately round or approximately square bottom, that is, the length and width of the bottom of the body are relatively close. Two driving wheels and a universal wheel are fixedly installed under the body, and the two driving wheels are arranged at both ends of the same axis. When the two driving wheels rotate forward at the same speed, the cleaning robot is pushed to walk longitudinally to clean the floor. When the two driving wheels rotate at a differential speed or one forward and one reverse, a turn or U-turn is achieved.

[0003] Since the working environment of indoor floor cleaning involves narrow passages, for example, limited by the width of furniture intervals, narrow doors, gates and other facilities, in order to ensure passability, the body diameter and width of the cleaning robot are usually relatively small, resulting in a narrow cleaning width in the longitudinal walking direction. When cleaning a large area, the cleaning robot will have to make many back and forth movements on the working surface, the cleaning time will be long, the energy consumption will be high, and the cleaning efficiency will be low. Summary of the invention

[0004] The main purpose of the present invention is to enable the cleaning robot to pass through a narrow passage and to increase the width of the working surface to improve the working efficiency.

[0005] To achieve the above purpose, the technical solution provided by the present invention is: A cleaning robot comprises a body and a sanitary ware assembly, and is characterized in that: the longitudinal length dimension of the bottom of the body is greater than the lateral width dimension; the sanitary ware assembly is transversely arranged at the bottom of the body, and is configured to be used for cleaning the work surface when the cleaning robot walks transversely; a redirection walking device is arranged at the bottom of the body, and the redirection walking device comprises: a driving wheel group, arranged at the bottom of the body, and configured to drive the cleaning robot to walk transversely or obliquely, and to drive the cleaning robot to walk longitudinally by redirecting or switching.

[0006] Furthermore, the driving wheel group includes two groups of fixed driving wheels, each group of which is composed of two fixed driving wheels arranged at both ends of the same axis and used in conjunction with the universal wheel; the axis of one of the two groups of fixed driving wheels is perpendicular to the lateral walking direction, driving the cleaning robot to walk lateral; the axis of the other group is perpendicular to the longitudinal walking direction, driving the cleaning robot to walk longitudinally; at least one of the two groups of fixed driving wheels can be raised and lowered. When in use, when one group of fixed driving wheels contacts the ground, the other group of fixed driving wheels leaves the ground.

[0007] Furthermore, the driving wheel group includes a steering driving wheel, which can rotate along an axis perpendicular to the ground to change the walking direction; the driving wheel group consists of two steering driving wheels and is used in conjunction with a universal wheel; or, the driving wheel group consists of three or four steering driving wheels.

[0008] Furthermore, the sanitary ware assembly comprises: a first transverse roller brush, which is transversely arranged at the bottom of the body and can be used to clean the working surface when the cleaning robot moves transversely; Or it may further include: a second transverse roller brush, which is transversely arranged at the bottom of the body and arranged in a row with the first transverse roller brush in front and behind; Or it may further include: a rotating disc brush, which is arranged horizontally at the bottom of the body and can be used to clean the working surface when the cleaning robot walks horizontally; Or it may further include: a transverse wiper rubber strip, which is transversely arranged at the bottom of the fuselage and arranged laterally toward the rear side; Alternatively, the sanitary ware assembly includes any combination of the above.

[0009] A cleaning robot comprises a body and a sanitary ware assembly, characterized in that: a redirecting walking device as described in any one of the above items is arranged at the bottom of the body; the longitudinal length dimension of the bottom of the body is greater than the lateral width dimension; a sanitary ware assembly is arranged at the bottom of the body, and the sanitary ware assembly is configured to be able to be used to clean a work surface when the cleaning robot walks horizontally or vertically.

[0010] Furthermore, the sanitary ware assembly comprises: a first transverse roller brush, which is transversely arranged at the bottom of the body and can be used to clean the working surface when the cleaning robot moves transversely; a first longitudinal roller brush, which is longitudinally arranged at the bottom of the body and can be used to clean the working surface when the cleaning robot moves longitudinally; Or it may further include: a second transverse roller brush, arranged in a row with the first transverse roller brush in front of the first roller brush in the transverse direction; a second longitudinal roller brush, arranged in a row with the first longitudinal roller brush in front of the first roller brush in the longitudinal direction; Or it may also include: a rotating disc brush, which is arranged horizontally at the bottom of the body and can be used to clean the working surface when the cleaning robot walks horizontally or vertically; Or it may further include: a transverse wiper rubber strip, which is transversely arranged at the bottom of the fuselage and arranged at the rear side in the transverse direction; a longitudinal wiper rubber strip, which is longitudinally arranged at the bottom of the fuselage and arranged at the rear side in the longitudinal direction; Alternatively, the sanitary ware assembly includes any combination of the above.

[0011] A cleaning robot comprises a body and a sanitary ware assembly, characterized in that: a redirecting walking device as described in any one of the above items is arranged at the bottom of the body; the longitudinal length dimension of the bottom of the body is greater than the lateral width dimension; a sanitary ware assembly is arranged at the bottom of the body, and the sanitary ware assembly comprises: a first oblique roller brush, which is arranged at an oblique angle to the lateral walking direction or the longitudinal walking direction at the bottom of the body, and can be used to clean the work surface when the cleaning robot walks horizontally, longitudinally or obliquely; the sanitary ware assembly may also include a second oblique roller brush arranged at an oblique angle at the bottom of the body.

[0012] A cleaning robot comprises a body and a sanitary ware assembly, and is characterized in that: the longitudinal length dimension of the bottom of the body is greater than the lateral width dimension; a redirecting walking device is arranged at the bottom of the body, and the redirecting walking device comprises: at least two swivel seats, which are arranged side by side in a horizontal direction to support the entire body; the top of each swivel seat is movably connected to the bottom of the body, and each swivel seat can rotate along the axis perpendicular to the ground at the movable connection; a driving wheel group is arranged at the bottom of each swivel seat, which is configured to drive the swivel seat to rotate and walk, and can drive the cleaning robot to walk horizontally, obliquely or vertically; a sanitary ware assembly is arranged at the bottom of the swivel seat, which is configured to clean the work surface when the swivel seat is walking.

[0013] Further, the sanitary ware assembly includes: a first rotary roller brush, with the direction of the rotary seat as a longitudinal reference, the first rotary roller brush is longitudinally arranged at the bottom of the rotary seat, and can clean the working surface when the rotary seat moves; or it may also include: a second rotary roller brush, longitudinally arranged at the bottom of the rotary seat, and arranged in a row with the first rotary roller brush in a longitudinal direction, one in front of the other; Or it may also include a wiper strip: a swiping seat wiper strip, longitudinally arranged at the bottom of the swiping seat, and arranged longitudinally to the rear side; or, the wiper strip includes a transverse wiper strip, transversely arranged at the bottom of the fuselage, and arranged longitudinally to the rear side, and a longitudinal wiper strip, longitudinally arranged at the bottom of the fuselage, and arranged longitudinally to the rear side.

[0014] A service robot comprises a body, characterized in that: the longitudinal length dimension of the bottom of the body is greater than the lateral width dimension; and a redirecting walking device as described in any one of the above items is arranged at the bottom of the body. Beneficial Effects

[0015] It should be noted that in the existing technology, commercial cleaning robots used for indoor floor cleaning in commercial office buildings, shopping malls, etc. have a "cleaning width" indicator as a technical parameter. Usually, a roller brush is set at the bottom of the body to clean the floor, and the cleaning width corresponds to the width swept by the roller brush in the walking direction.

[0016] Cleaning efficiency = cleaning width × cleaning speed. Cleaning speed refers to the walking speed of the cleaning robot during operation. The industry-recognized upper limit of cleaning speed is 1~1.2 m / s. If it is too fast, the cleaning will not be thorough. If the cleaning speed is limited, the cleaning efficiency can only be improved by increasing the cleaning width.

[0017] The cleaning robot walks back and forth in a progressive manner to clean. There is a degree of overlap in the reciprocating operation. For example, the cleaning width of the outbound trip is 30 cm. Although the cleaning width of the return trip is also 30 cm, it overlaps with the outbound trip by 10 cm. Therefore, the actual width swept back and forth is not 60 cm, but 40 cm, that is, the actual cleaning width of a single trip is 20 cm. If the roller brush is short, the cleaning width swept by the roller brush in the walking direction is small. If the same area is cleaned, the number of back and forth trips is more, the number of overlapping back and forth cleanings is also more, and the walking distance is also longer, which is time-consuming and power-consuming. The battery needs to be charged frequently, and the cleaning efficiency is low. It can be seen that the cleaning efficiency can only be improved by increasing the cleaning width.

[0018] Another important technical parameter of the cleaning robot is the "narrowest passage" indicator. Taking the gate as an example, the standard indoor gate width ranges from 52 to 90 cm. According to the latest published technical parameters of various commercial cleaning robot models, the cleaning width of the model that can pass through the 52 cm wide gate is 30 cm; the cleaning width of the model that can pass through the 60 cm wide gate is 35 cm; the cleaning width of the model that can pass through the 70 cm wide gate is 40 cm; the cleaning width of the model that can pass through the 80-90 cm wide gate is 50 cm. It can be seen that the cleaning width of each model is smaller than the gate width that can pass through. The gate width determines the cleaning width, that is, the cleaning efficiency is determined by the gate width. For narrower gates, only models with small cleaning width and low cleaning efficiency can be selected. For example, if a business office building with dozens of floors, in order to evacuate the flow of people during rush hour, will choose a smaller gate width to increase the number of gate channels, and a smaller gate width can only choose a model with a smaller cleaning width, which will inevitably fail to meet the cleaning needs. Such problems have become a bottleneck in the promotion and application of commercial cleaning robots.

[0019] Different gate widths require different models, each model has hundreds of parts and they are not universal. Too many models will increase the design and manufacturing costs of the cleaning robot, making after-sales service difficult and maintenance costs high. Therefore, it is necessary to change the design ideas.

[0020] According to the published technical parameters, the above-mentioned models have a cleaning width of 30 cm and a calibrated cleaning efficiency of 700 square meters per hour; the cleaning width is 50 cm and the calibrated cleaning efficiency is 1,200 square meters per hour. The cleaning efficiency of small manned cleaning vehicles also used indoors is more than 6,000 square meters per hour, and its price is only about one-tenth to one-twentieth of that of self-driving cleaning robots. Therefore, if commercial cleaning robots want to replace manual work on a large scale, the cleaning efficiency needs to be further improved.

[0021] How to make the cleaning width not limited by the indicator of "being able to pass through the narrowest channel", that is, a model can pass through a narrow channel and have a cleaning width larger than the channel width, so as to improve the cleaning efficiency and reduce the number of models, is a practical problem to be solved by the present invention. For example, the cleaning robot of the present invention can be designed to be able to pass through a narrow gate when walking vertically, and the cleaning width when walking horizontally is greater than 50 cm. The above only takes commercial cleaning robots as an example. Similarly, residential environments are limited by the spacing of furniture, and models can also be designed according to the same technical solution.

[0022] The cleaning robot of the present invention has its body lengthened in the longitudinal direction without affecting its passability, and the cleaning ware components at the bottom of the body, such as the roller brush, are lengthened accordingly, so that when walking horizontally for cleaning operations, the cleaning width is greatly increased accordingly. The increased cleaning width allows a larger area to be cleaned in the same walking distance, thereby reducing the number of round trips, shortening the cleaning time, reducing energy consumption, and improving cleaning efficiency.

[0023] Compared with the prior art, the present invention has the beneficial effect that the cleaning robot can pass through narrow passages and increase the width of the working surface to improve work efficiency.

[0024] Similarly, some other service robots used indoors may also encounter similar problems of reduced working surface size and affected use effects due to the width of facilities such as gates. The redirecting walking device of the present invention can also be applied to other service robots, for example, advertising guide robots, the size of the display screen above them is usually designed to be smaller so that they can pass through narrow passages such as narrow doors and gates. In the application of the present invention, the size of the display screen is not limited to the width of the narrow passage, and the size of the display screen can be increased to enhance the use effect. The advertising guide robot can walk vertically through the narrow passage, and when it reaches a wide venue, it can walk horizontally for advertising display. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a bottom bottom view schematic diagram of an embodiment of the present invention: the longitudinal length dimension of the bottom of the fuselage is greater than the lateral width dimension, and the redirection walking device includes two sets of fixed driving wheels; Figure 2 yes Figure 1 The P-direction front view is a schematic diagram of a liftable fixed driving wheel; Figure 3 yes Figure 2 SS-direction cross-sectional view, schematic diagram of the redirecting walking device driving the cleaning robot to walk laterally; Figures 4 to 13 1 is a bottom bottom view of an embodiment of the present invention, wherein: Figure 4 As shown, two sets of fixed driving wheels are used in conjunction with the universal wheels respectively; Figure 5 As shown, the redirection walking device is composed of two steering drive wheels and two universal wheels. The two steering drive wheels are respectively installed at the diagonal areas at the bottom of the approximately rectangular fuselage. In the figure, the two steering drive wheels are oriented longitudinally; Figure 6 and Figure 5 Same settings, Figure 6 As shown, the two steering drive wheels are oriented in the horizontal direction; Figure 7 As shown, the redirection walking device is composed of four steering drive wheels; Figure 8 As shown, the redirection walking device is composed of three steering drive wheels; Fig. 9 As shown, the redirection walking device is composed of two steering drive wheels and a universal wheel, and the sanitary ware assembly at the bottom of the fuselage includes a roller brush, a side brush and a wiper rubber strip; Fig.10 As shown, the sanitary ware assembly at the bottom of the fuselage includes a first longitudinal roller brush, a second longitudinal roller brush, a first transverse roller brush, and a second transverse roller brush; Fig.11 As shown, the sanitary ware assembly at the bottom of the body includes a first oblique rolling brush; Fig.12 As shown, the sanitary ware assembly at the bottom of the body includes a first oblique rolling brush and a second oblique rolling brush, and the shape of the bottom of the body is a polygon; Fig.13 As shown, the sanitary ware assembly at the bottom of the fuselage includes a turntable brush and a scraper rubber strip; Fig.14 is a schematic diagram of a steering drive wheel according to an embodiment of the present invention; Figure 15 to Figure 18 The redirection walking device of the embodiment of the present invention includes a swivel seat schematic diagram, wherein: Fig.15 It is a schematic diagram of the front view: the redirection walking device at the bottom of the fuselage includes two swivel seats; Fig.16 yes Fig.15 F-direction upward view, the two swivel seats are arranged side by side horizontally at the bottom of the fuselage; Fig.17 and Fig.16 Same settings, Fig.17As shown, the two swivel seats move in an oblique direction; Fig.18 It is a bottom-up schematic diagram, and the two swivel seats move in the horizontal direction.

[0026] List of symbols in the attached drawings: 1─ fuselage, 2─ fixed drive wheel, 21─ liftable fixed drive wheel, 211─ lift mechanism, 22─ steering drive wheel, 221─ wheel, 222─ drive motor, 223─ wheel bracket, 224─ steering gear, 225─ thrust bearing, 226─ steering motor, 227─ steering gear, 3-Universal wheel, 31-Universal wheel, 4─ sanitary ware assembly, 41─ first horizontal roller brush, 42─ second horizontal roller brush, 43─ first longitudinal roller brush, 44─ second longitudinal roller brush, 45─ first oblique roller brush, 46─ second oblique roller brush, 47─ turntable brush, 48─ side brush, 49─ first rotary roller brush, 410─ second rotary roller brush, 5─ horizontal wiper rubber strip, 6─ vertical wiper rubber strip, 7─ swivel seat, 8─ swivel seat wiper rubber strip, L─longitudinal length dimension, W─lateral width dimension, D─diagonal length dimension, A─cleaning width, B─cleaning width, C─cleaning width Implementation

[0027] Embodiment 1: Two sets of fixed driving wheels are used in conjunction with universal wheels to form a redirecting walking device.

[0028] like Figure 1 As shown, it is a bottom upward schematic diagram of an embodiment of the present invention. As shown in the figure, the bottom of the fuselage 1 is a rectangle with rounded corners, and the longitudinal length dimension L is greater than the transverse width dimension W. The redirection walking device arranged at the bottom of the fuselage includes two sets of driving wheel groups, one of which is composed of two fixed driving wheels 2 installed at both ends of the same axis, the axis of the group is perpendicular to the transverse walking direction, and the two fixed driving wheels 2 are used in conjunction with the universal wheel 3 to drive the cleaning robot to walk in the transverse direction as shown in the figure; the other set is composed of two liftable fixed driving wheels 21 installed at both ends of another axis, the axis of the group is perpendicular to the longitudinal walking direction, and the two liftable fixed driving wheels 21 are used in conjunction with the universal wheel 31 to drive the cleaning robot to walk in the longitudinal direction as shown in the figure. Because the two sets of fixed driving wheels face different directions, in order to prevent one set of wheels from rotating to drive the cleaning robot to walk, while the other set of wheels rubs against the ground, at least one of the two sets of fixed driving wheels can be lifted to achieve switching. The sanitary ware assembly 4 at the bottom of the fuselage 1 is arranged in a transverse direction, so that the cleaning robot can clean the working surface when walking in the transverse direction.

[0029] Figure 2 yes Figure 1The P-direction front view is a schematic diagram of a liftable fixed drive wheel. As shown in the figure, the lifting mechanism 211 composed of an electric push rod is connected to the fuselage 1 at the top and to the liftable fixed drive wheel 21 at the bottom. The lifting mechanism 211 pushes the liftable fixed drive wheel 21 to rise and fall. The direction of the liftable fixed drive wheel is fixed. When in use, the drive wheel group composed of two liftable fixed drive wheels 21 contacts the ground under the push of the lifting mechanism 211. If the lifting mechanism 211 continues to push, the reaction force lifts the fuselage 1, and another group of fixed drive wheels 2 installed at the bottom of the fuselage 1 is lifted off the ground along with the fuselage 1. The two liftable fixed drive wheels 21 cooperate with the universal wheel 31 to support the entire fuselage 1 to drive the cleaning robot to walk in the longitudinal direction shown in the figure. The universal wheel 3 is a passive universal wheel, which does not affect the cleaning robot's walking in any direction, so there is no need to lift it.

[0030] Figure 3 yes Figure 2 The SS-direction cross-sectional view is a schematic diagram of the redirection walking device driving the cleaning robot to walk horizontally. As shown in the figure, the driving wheel group composed of two fixed driving wheels 2 cooperates with the universal wheel 3 to support the entire body 1 to drive the cleaning robot to walk in the horizontal direction shown in the figure. A sanitary ware assembly 4 is set at the bottom of the body 1 to clean the floor.

[0031] Figure 4 and Figure 1 The settings are similar, both use two sets of fixed drive wheels in conjunction with universal wheels. The difference is that Figure 4 As shown, the two liftable fixed driving wheels 21 driving the cleaning robot to move in the longitudinal direction shown in the figure are used in conjunction with the two universal wheels 31. Figure 1 There is only one universal wheel 31 shown, which is arranged on the longitudinal front side of the bottom of the fuselage.

[0032] Beneficial effect: The redirecting walking device arranged at the bottom of the fuselage switches the walking direction by lifting and lowering two sets of fixed driving wheels, so that the cleaning robot can walk both longitudinally and transversely. The longitudinal walking can pass through narrow roads, and when reaching a wide place, the transverse walking can increase the cleaning width.

[0033] Embodiment 2: A steering drive wheel or a steering drive wheel and a universal wheel are used together to form a redirection walking device.

[0034] Figures 5 to 8 As shown, the redirecting walking device includes a steering drive wheel. Figure 5As shown, the driving wheel group consists of two steering driving wheels 22, which together with two universal wheels 3 form a redirecting walking device. The two steering driving wheels 22 are respectively installed at the diagonal areas at the bottom of the approximately rectangular fuselage. Each steering driving wheel can rotate along its own axis perpendicular to the ground to change the walking direction. The walking direction can be longitudinal, transverse or oblique. The two steering driving wheels shown in the figure are oriented longitudinally. Figure 6 and Figure 5 Same settings, Figure 6 As shown, after the two steering drive wheels 22 are rotated, their orientation is changed to the horizontal direction.

[0035] Figure 7 As shown, the redirecting walking device is composed of four steering drive wheels 22 to form a driving wheel group, which is a four-wheel drive. Each steering drive wheel can rotate, and the four wheels cooperate with each other to change the walking direction of the cleaning robot to realize the conversion of longitudinal walking and horizontal or oblique walking.

[0036] Figure 8 Shown, the redirecting walking device is composed of three steering drive wheels 22 to form a driving wheel group, which is a three-wheel drive. Each steering drive wheel can rotate to realize the conversion of the walking direction.

[0037] Beneficial effect: The steering drive wheel group is used for steering, and there is no need to set a driving wheel group lifting mechanism. Each steering drive wheel can rotate along an axis perpendicular to the ground to change the walking direction, so that the cleaning robot can walk both longitudinally and horizontally or obliquely.

[0038] Embodiment 3: A redirecting walking device and a sanitary ware assembly are arranged at the bottom of the machine body. The sanitary ware assembly can realize multi-directional cleaning operations on the working surface, i.e., the ground, according to different arrangement schemes.

[0039] Fig. 9 As shown, the redirecting walking device includes a driving wheel group composed of two steering driving wheels 22 and a universal wheel 3, and each steering driving wheel can rotate in a direction to realize the conversion between longitudinal walking and lateral or oblique walking. The sanitary ware assembly includes a combination of a roller brush, a side brush and a water scraping rubber strip arranged horizontally at the bottom of the fuselage 1. The side of the cleaning robot moving forward is recorded as the front side, and the side away from the cleaning robot moving direction is recorded as the rear side. According to the figure, the first transverse roller brush 41 and the second transverse roller brush 42 are arranged in a row one after the other in the transverse direction, and are used to clean the ground when the cleaning robot walks horizontally. The transverse cleaning width is A. A side brush 48 is arranged at the left and right sides of the front side in the transverse direction, which is used to sweep dust from the corners and other places to the roller brush cleaning area. The transverse water scraping rubber strip 5 arranged horizontally at the bottom of the fuselage 1 is arranged horizontally on the rear side as shown in the figure, and is used to scrape and clean the ground when the cleaning robot walks horizontally.

[0040] Fig.101 is a bottom upward schematic diagram of an embodiment of the present invention. As shown in the figure, a redirecting walking device and a sanitary ware assembly are arranged at the bottom of the fuselage. The sanitary ware assembly includes a first transverse roller brush 41 and a second transverse roller brush 42 arranged transversely at the bottom of the fuselage 1, and a first longitudinal roller brush 43 and a second longitudinal roller brush 44 arranged longitudinally at the bottom of the fuselage 1. The side in the forward walking direction of the cleaning robot is recorded as the front side, and the side away from the walking direction of the cleaning robot is recorded as the rear side. According to the figure, the first transverse roller brush 41 and the second transverse roller brush 42 are arranged in a row one after the other in the transverse direction, and are used for cleaning the ground when the cleaning robot walks transversely, and the transverse cleaning width is A; according to the figure, the first longitudinal roller brush 43 and the second longitudinal roller brush 44 are arranged in a row one after the other in the longitudinal direction, and are used for cleaning the ground when the cleaning robot walks longitudinally, and the longitudinal cleaning width is B, which is smaller than the transverse cleaning width A.

[0041] When walking longitudinally, the first longitudinal roller brush 43 and the second longitudinal roller brush 44 descend to contact the ground and clean the ground. At this time, the first transverse roller brush 41 and the second transverse roller brush 42 rise off the ground to reduce the resistance of longitudinal walking. When walking transversely, the first transverse roller brush 41 and the second transverse roller brush 42 descend to contact the ground and clean the ground. At this time, the first longitudinal roller brush 43 and the second longitudinal roller brush 44 rise off the ground to reduce the resistance of transverse walking. If walking obliquely, each group of roller brushes can also not be raised, and can all contact the ground to clean the ground, but each group of roller brushes cleans the ground obliquely. The lifting mechanism of the roller brush is an existing mature technology. For example, when the cleaning robot needs to return to the base station to charge, the roller brush needs to be raised off the ground on the return journey.

[0042] Fig.11 As shown, the longitudinal length dimension L of the bottom of the fuselage 1 is greater than the transverse width dimension W. The sanitary ware assembly includes a first oblique roller brush 45, which is arranged at an oblique angle to the longitudinal walking direction and the transverse walking direction at the bottom of the fuselage 1, and can be used to clean the working surface when the cleaning robot walks transversely, longitudinally or obliquely. When walking obliquely as shown in the figure, the first oblique roller brush 45 is facing the oblique direction, the cleaning width is equal to the length of the first oblique roller brush, and the cleaning width is maximum. When walking transversely as shown in the figure, the transverse cleaning width is A, the first oblique roller brush 45 is obliquely facing the cleaning working surface for cleaning, and the cleaning width is related to the oblique angle. When walking longitudinally as shown in the figure, the first oblique roller brush 45 is also obliquely facing the cleaning working surface. The longitudinal cleaning width is B, which is smaller than the transverse cleaning width A. The redirecting walking device at the bottom of the fuselage 1 is composed of a driving wheel group composed of two steering drive wheels 22 and two universal wheels 3.

[0043] Fig.12As shown, the bottom of the fuselage is in the shape of a polygon. As shown, the longitudinal length dimension L and the oblique length dimension D of the bottom of the fuselage 1 are both greater than the transverse width dimension W. The sanitary ware assembly includes a first oblique roller brush 45, which is arranged at an oblique angle to the longitudinal walking direction and the transverse walking direction at the bottom of the fuselage 1, and also includes a second oblique roller brush 46 arranged at an oblique angle at the bottom of the fuselage. According to the oblique direction shown in the figure, the first oblique roller brush 45 and the second oblique roller brush 46 are arranged in a row one after the other in an oblique direction. The redirection walking device at the bottom of the fuselage 1 is composed of a driving wheel group composed of two steering driving wheels 22 and a universal wheel 3. When the redirection walking device drives the cleaning robot to walk horizontally, longitudinally or obliquely, the roller brush can be used to clean the working surface. When walking in the oblique direction shown in the figure, the roller brush is facing the walking direction, and the cleaning width C is the largest. When walking in the longitudinal direction shown in the figure, because the width dimension W is small, it can pass through a narrow road. Since the bottom of the fuselage is in the shape of a polygon, the longitudinal, transverse or oblique direction shown in the figure is only for the convenience of expression. In other words, the oblique direction can also be regarded as the transverse direction, and the rest is analogous.

[0044] Fig.13 As shown, the sanitary ware assembly at the bottom of the fuselage includes a turntable brush and a water scraping rubber strip. The longitudinal length dimension L of the bottom of the fuselage 1 is greater than the transverse width dimension W. A redirecting walking device is set at the bottom of the fuselage 1: including a driving wheel group composed of two steering driving wheels 22 and a universal wheel 3. The sanitary ware assembly includes three turntable brushes 47, which are combined in a herringbone shape and are horizontally arranged at the bottom of the fuselage 1. When the cleaning robot walks horizontally as shown in the figure, the cleaning width swept by the turntable brush combination is A; when walking longitudinally as shown in the figure, the cleaning width swept by the turntable brush combination is B; if walking obliquely, the cleaning width changes between A and B with the change of the oblique angle. The transverse water scraping rubber strip 5 arranged horizontally at the bottom of the fuselage 1 is arranged horizontally to the rear side as shown in the figure, and is used for the cleaning robot to scrape and clean the ground when walking horizontally; the longitudinal water scraping rubber strip 6 arranged longitudinally at the bottom of the fuselage 1 is arranged longitudinally to the rear side as shown in the figure, and is used for the cleaning robot to scrape and clean the ground when walking longitudinally. When the cleaning operation is performed while walking longitudinally, the longitudinal water-squeegee rubber strip 6 contacts the ground, and the transverse water-squeegee rubber strip 5 rises and leaves the ground. The opposite is true when the cleaning operation is performed while walking transversely.

[0045] The cleaning robot performs cleaning operations on the floor when walking horizontally or vertically, and the operation procedures are the same. For example, if the horizontal operation includes the floor brushing and water scraping procedures, the vertical operation also includes the floor brushing and water scraping procedures.

[0046] Beneficial effects: A redirecting walking device is arranged at the bottom of the machine body to improve the passability. According to different arrangement schemes, the sanitary ware components can clean the ground when the cleaning robot walks horizontally, vertically or obliquely.

[0047] Embodiment 4: The steering drive wheel can rotate along an axis perpendicular to the ground.

[0048] Fig.14 1 is a schematic diagram of a steering drive wheel in an upright position according to an embodiment of the present invention. As shown in the figure, the steering drive wheel 22 installed at the bottom of the fuselage 1 includes a wheel 221, a drive motor 222, a wheel bracket 223, a steering gear 224, a thrust bearing 225, a steering motor 226, and a steering gear 227.

[0049] The wheel 221 is installed below the wheel bracket 223, and the wheel 221 is connected to the driving motor 222 to obtain the driving force; the steering gear 224 and the thrust bearing 225 are fixedly installed above the wheel bracket 223, and the upper part of the thrust bearing 225 contacts the bottom of the fuselage 1 to support the fuselage, and the wheel bracket 223 relies on the thrust bearing 225 to realize flexible rotation around the axis perpendicular to the ground. The lower end of the steering motor 226 installed upside down at the bottom of the fuselage 1 is fixedly installed with a steering gear 227, which is meshed with the steering gear 224, pushing the wheel bracket 223 to rotate around the axis, and the wheel 221 turns accordingly.

[0050] Embodiment 5: The redirecting walking device at the bottom of the fuselage includes two swivel seats.

[0051] Fig.15 It is a schematic diagram of the main view of an embodiment of the present invention. The redirecting walking device at the bottom of the fuselage 1 includes two swivel seats 7, a thrust bearing 225 is installed on the top of the swivel seat 7, and the upper part of the thrust bearing 225 contacts the bottom of the fuselage 1 to support the fuselage. The swivel seat 7 relies on the thrust bearing 225 to realize flexible rotation around the axis perpendicular to the ground, forming a movable connection with the bottom of the fuselage 1. A driving wheel group and a sanitary ware assembly are arranged at the bottom of each swivel seat 7: the driving wheel group includes a fixed driving wheel 2 and a universal wheel 3; the sanitary ware assembly includes a first rotary roller brush 49, a second rotary roller brush 410, and a swivel seat wiper rubber strip 8.

[0052] Fig.16 yes Fig.15 In the F-direction upward view, the bottom of the fuselage 1 is an oblong shape. As shown in the figure, the longitudinal length dimension L of the bottom of the fuselage 1 is greater than the transverse width dimension W. Two swivel seats 7 are arranged side by side at the bottom of the fuselage 1 in a transverse direction, and each swivel seat 7 can rotate along its own axis. The driving wheel group arranged at the bottom of each swivel seat is composed of two fixed driving wheels 2 installed at both ends of the same axis, and the two fixed driving wheels 2 are used in conjunction with a universal wheel 3. As shown in the figure, the two driving wheels 2 at the bottom of each swivel seat are both oriented longitudinally. When the driving wheels 2 rotate forward at the same speed, the swivel seat 7 is driven to move longitudinally, thereby driving the fuselage to move longitudinally, that is, realizing the longitudinal movement of the cleaning robot. When the two driving wheels of each swivel seat are differentially rotated or rotated one forward and one reverse, the swivel seat 7 is driven to rotate along its own axis perpendicular to the ground. The two swivel seats rotate in conjunction with each other to realize the turning or U-turn of the cleaning robot, and drive the cleaning robot to move horizontally or obliquely.

[0053] The sanitary ware assembly is shown in the figure. With the direction of the rotating seat 7, i.e. the direction of the driving wheel 2, as a reference in the longitudinal direction, the first rotary roller brush 49 and the second rotary roller brush 410 are arranged in a row at the bottom of the rotating seat 7 in a front-to-back manner in the longitudinal direction; the rotating seat water scraper rubber strip 8 is arranged at the bottom of the rotating seat 7 in the longitudinal direction and arranged at the rear side in the longitudinal direction. The above-mentioned sanitary ware assembly rotates with the rotating seat 7 and can clean the working surface when the rotating seat 7 moves. With the longitudinal direction as a reference, the two rotating seats are arranged in a front-to-back manner in the longitudinal direction. When the working surface is cleaned by walking in the longitudinal direction, the two rotating seats arranged in the front-to-back manner perform cleaning operations in the same direction. To avoid repeated operations, the sanitary ware assembly at the bottom of one of the rotating seats can be lifted off the ground. Of course, if enhanced cleaning operations are performed, the sanitary ware assemblies can not be lifted. The longitudinal cleaning width is B.

[0054] Fig.17 and Fig.16 Same settings, Fig.17 As shown, the two rotating seats move in the same oblique direction, and the two rotating seats 7 are Fig.16 As shown in the figure, the two rotating seats 7 are in the same oblique direction. When moving obliquely, the sanitary ware components at the bottom of the two rotating seats 7 are in contact with the ground to clean the ground. The oblique cleaning width is C, which is the superposition of the cleaning widths of the two rotating seats 7, equivalent to twice the longitudinal cleaning width B.

[0055] Fig.18 It is a bottom-up schematic diagram, and the two swivel seats move in the horizontal direction. Fig.18 and Fig.16 and Fig.17 The setup is basically the same, except that: Fig.18 The two swivel seats 7 are driven by the driving wheel group to rotate along their respective axes and then turn horizontally; the bottom of the fuselage 1 is a rectangle with rounded corners; a sanitary ware component is added to the bottom of the fuselage 1; and the swivel seat wiper rubber strips 8 are eliminated from the two swivel seats 7.

[0056] As shown in the figure, the four fixed driving wheels 2 of the two rotating seats 7 are all facing horizontally, and are used in conjunction with the two universal wheels 3 to drive the cleaning robot to walk horizontally. As shown in the figure, at the bottom of the fuselage 1, a side brush 48 is set at the left corner of the front side, which is used to sweep dust from the corners of the wall to the roller brush cleaning area; a first horizontal roller brush 41 is set in the middle position of the front side, and a second horizontal roller brush 42 is set in the middle position of the rear side, which is used to clean the gap area between the two rotating seats 7 when walking horizontally for cleaning; a horizontal wiper rubber strip 5 is set at the bottom of the fuselage 1 at the rear side in the horizontal direction, and is used to wipe and clean the ground when walking horizontally. As a reference to the longitudinal direction, the longitudinal wiper rubber strip 6 set longitudinally at the bottom of the fuselage 1 is set longitudinally at the rear side as shown in the figure, and is used to wipe and clean the ground when walking vertically. As shown in the figure, when the cleaning robot walks horizontally as shown in the figure to perform cleaning operations, the two first rotating roller brushes 49 at the bottom of the two rotating seats 7 plus the first horizontal roller brush 41 at the bottom of the body 1, a total of three roller brushes, sweep a cleaning width of A, which is much larger than the cleaning width of a single roller brush during longitudinal cleaning. Of course, in specific application scenarios, if three rotating seats are arranged side by side horizontally at the bottom of the body, the cleaning width can be further increased.

[0057] During the horizontal walking cleaning operation, the first horizontal roller brush 41, the second horizontal roller brush 42, and the horizontal wiper rubber strip 5 all descend to touch the ground, and the vertical wiper rubber strip 6 rises off the ground; during the vertical walking cleaning operation, the opposite is true. The lifting mechanism of the sanitary ware assembly is an existing mature technology.

[0058] Beneficial effects: The redirection device at the bottom of the machine body adopts two rotating seats with driving wheels. When walking longitudinally, it can pass through narrow passages and clean longitudinally, and when walking horizontally or diagonally, it can increase the cleaning width. Each rotating seat can rotate along its own axis to perform cleaning operations, which increases flexibility.

[0059] The above embodiments are only exemplary, and those skilled in the art should know that the specific embodiments can be designed in a flexible manner. For example, the redirecting walking device can have other combinations and settings; the two sets of fixed driving wheels set at the bottom of the fuselage can be switched and redirected by lifting, and the lifting of the fixed driving wheels can also be done in a variety of ways, such as swing lifting, etc.; the roller brush and turntable brush set at the bottom of the fuselage can also have a variety of combinations and layouts.

[0060] The terms described in the present technical solution are: the cleaning robot refers to an autonomous driving intelligent cleaning robot used for indoor floor cleaning; the lateral walking may also include diagonal walking when necessary; the longitudinal, lateral or diagonal walking all refer to the ability to continue walking in the direction after being redirected by a redirecting walking device; the longitudinal length dimension of the bottom of the fuselage is greater than the lateral width dimension, which refers to the total length and total width of the outer contour shape of the bottom of the fuselage when viewed from above, and the shape may include rectangle, oblong, ellipse, prismatic, polygonal, and various approximate shapes; the settings of "front", "back", etc. are for reference relative to the direction shown in the schematic diagram, and are only for the convenience of expression.

[0061] The above descriptions and various embodiments based on the accompanying drawings are only for the convenience of illustrating the technical solutions of the present invention. Those skilled in the art should understand that the above embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. The scope of protection of the present invention is obviously not limited to these specific embodiments. Other service robots used indoors should also fall within the scope of protection of the present invention if the overall technical solution of the present invention is applied. Without departing from the principles of the present invention, those skilled in the art can make other changes or modifications to it as needed, and can make equivalent changes or replacements to the relevant technical features. The technical solutions after these changes or replacements will fall within the scope of protection of the present invention.

Claims

1. A cleaning robot, comprising a body and a sanitary ware component, characterized in that: The longitudinal length dimension of the bottom of the fuselage is greater than the transverse width dimension; The sanitary ware assembly is disposed transversely at the bottom of the body and is configured to be used for cleaning the working surface when the cleaning robot walks transversely; A redirecting walking device is provided at the bottom of the fuselage, and the redirecting walking device comprises: The driving wheel set is arranged at the bottom of the body and is configured to drive the cleaning robot to walk horizontally or diagonally, and to drive the cleaning robot to walk longitudinally by changing direction or switching.

2. The cleaning robot according to claim 1, characterized in that: The driving wheel set includes two sets of fixed driving wheels, each of which is composed of two fixed driving wheels arranged at both ends of the same axis and used in conjunction with the universal wheel; The two sets of fixed driving wheels, one set of which has an axis perpendicular to the lateral walking direction, drives the cleaning robot to walk lateral; the other set of which has an axis perpendicular to the longitudinal walking direction, drives the cleaning robot to walk longitudinally; At least one of the two groups of fixed driving wheels can be raised and lowered. When in use, when one group of fixed driving wheels contacts the ground, the other group of fixed driving wheels leaves the ground.

3. The cleaning robot according to claim 1, characterized in that: The driving wheel set includes a steering driving wheel, which can rotate along an axis perpendicular to the ground to change the walking direction; The driving wheel set is composed of two steering driving wheels, which are used in conjunction with a universal wheel; or, the driving wheel set is composed of three or four steering driving wheels.

4. The cleaning robot according to claim 1, characterized in that: The sanitary ware component comprises: a first transverse roller brush, which is transversely arranged at the bottom of the body and can be used to clean the working surface when the cleaning robot moves transversely; Or it may further include: a second transverse roller brush, which is transversely arranged at the bottom of the body and arranged in a row with the first transverse roller brush in front and behind; Or it may further include: a rotating disc brush, which is arranged horizontally at the bottom of the body and can be used to clean the working surface when the cleaning robot walks horizontally; Or it may further include: a transverse wiper rubber strip, which is transversely arranged at the bottom of the fuselage and arranged laterally toward the rear side; Alternatively, the sanitary ware assembly includes any combination of the above.

5. A cleaning robot, comprising a body and a sanitary ware component, characterized in that: The bottom of the fuselage is provided with a redirection walking device as claimed in any one of claims 1 to 3; The longitudinal length dimension of the bottom of the fuselage is greater than the transverse width dimension; A sanitary ware component is arranged at the bottom of the body, and the sanitary ware component is configured to be used for cleaning the working surface when the cleaning robot walks horizontally or vertically.

6. The cleaning robot according to claim 5, characterized in that: The sanitary ware component comprises: a first transverse roller brush, which is transversely arranged at the bottom of the body and can be used to clean the working surface when the cleaning robot moves transversely; a first longitudinal roller brush, which is longitudinally arranged at the bottom of the body and can be used to clean the working surface when the cleaning robot moves longitudinally; Or it may further include: a second transverse roller brush, arranged in a row with the first transverse roller brush in front of the first roller brush in the transverse direction; a second longitudinal roller brush, arranged in a row with the first longitudinal roller brush in front of the first roller brush in the longitudinal direction; Or it may also include: a rotating disc brush, which is arranged horizontally at the bottom of the body and can be used to clean the working surface when the cleaning robot walks horizontally or vertically; Or it may further include: a transverse wiper rubber strip, which is transversely arranged at the bottom of the fuselage and arranged at the rear side in the transverse direction; a longitudinal wiper rubber strip, which is longitudinally arranged at the bottom of the fuselage and arranged at the rear side in the longitudinal direction; Alternatively, the sanitary ware assembly includes any combination of the above.

7. A cleaning robot, comprising a body and a sanitary ware component, characterized in that: The bottom of the fuselage is provided with a redirection walking device as claimed in any one of claims 1 to 3; The longitudinal length dimension of the bottom of the fuselage is greater than the transverse width dimension; A sanitary ware assembly is arranged at the bottom of the fuselage, and the sanitary ware assembly comprises: A first oblique rolling brush is arranged at the bottom of the body at an oblique angle to the lateral walking direction or the longitudinal walking direction, and can be used to clean the working surface when the cleaning robot walks lateral, longitudinally or obliquely; The sanitary ware assembly may further include a second oblique rolling brush disposed at an oblique angle at the bottom of the body.

8. A cleaning robot, comprising a body and a sanitary ware component, characterized in that: The longitudinal length dimension of the bottom of the fuselage is greater than the transverse width dimension; A redirecting walking device is provided at the bottom of the fuselage, and the redirecting walking device comprises: Rotating seats: at least two, arranged side by side in a horizontal direction, supporting the entire body; the top of each rotating seat is movably connected to the bottom of the body, and each rotating seat can rotate along the axis of the movable connection perpendicular to the ground; a driving wheel set is arranged at the bottom of each rotating seat, which is configured to drive the rotating seat to rotate and walk, and can drive the cleaning robot to walk horizontally, obliquely or vertically; A sanitary ware assembly is arranged at the bottom of the swivel seat and is configured to clean the working surface when the swivel seat moves.

9. The cleaning robot according to claim 8, characterized in that: The sanitary ware component comprises: A first rotary roller brush, with the direction of the rotary seat as a longitudinal reference, the first rotary roller brush is longitudinally arranged at the bottom of the rotary seat, and can clean the working surface when the rotary seat moves; or it may also include: a second rotary roller brush, longitudinally arranged at the bottom of the rotary seat, and arranged in a row with the first rotary roller brush in a longitudinal direction, one in front of the other; Or it may also include wiper rubber strips: The swiping strip is longitudinally arranged at the bottom of the swiping seat and arranged longitudinally to the rear side; or the wiping strip includes a transverse wiping strip, which is transversely arranged at the bottom of the fuselage and arranged transversely to the rear side, and a longitudinal wiping strip, which is longitudinally arranged at the bottom of the fuselage and arranged longitudinally to the rear side.

10. A service robot, comprising a body, characterized in that: The longitudinal length dimension of the bottom of the fuselage is greater than the transverse width dimension; The bottom of the fuselage is provided with a redirection walking device as described in any one of claims 1 to 3.

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