Cleaning device, cleaning robot and cleaning method

Abstract

According to the sweeping device, the cleaning robot and the cleaning method, the sweeping device comprises a dirt box, a draught fan, a floor sweeping system assembly, a floor washing system assembly and a sewage pump; the fan is connected with the floor sweeping system assembly through the dirt box, and the other side of the dirt box is communicated with the floor washing system assembly through the sewage pump; an HEPA for filtering garbage is arranged in the dirt box; during floor sweeping, the floor sweeping system assembly descends for cleaning, and garbage is recycled to the dirt box through suction force of the draught fan; during floor washing, the floor washing system assembly descends for cleaning, and the sewage pump recycles sewage to the dirt box. Sewage can enter the dirt box, one-time recycling is facilitated, the dirt box can be washed while the roller mop is cleaned, two boxes are not needed, and cleaning is more thorough; and intelligent switching and mutual cooperation of the functions of the floor washing robot and the cleaning robot can be achieved, the whole-house terrain environment is adapted, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robots, and in particular to a cleaning device, a cleaning robot and a cleaning method. Background Art

[0002] Cleaning robots are a type of smart home appliance that can automatically clean the floor in a room with a certain degree of artificial intelligence. They usually use brushing and vacuuming to absorb debris on the floor into their own garbage collection box, thus completing the function of cleaning the floor. Generally speaking, robots that complete sweeping, vacuuming, and mopping are also collectively classified as cleaning robots. The development direction of cleaning robots will be higher cleaning effects, higher cleaning efficiency, and larger cleaning areas brought about by more advanced artificial intelligence.

[0003] As sweepers become more and more popular, users have higher and higher requirements for intelligence and deep cleaning effects. The bodies of smart cleaning robots are getting bigger and bigger. In addition, the dust boxes of sweepers on the market cannot get wet, and the dust boxes are not recycled thoroughly, which can easily cause secondary pollution. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention are proposed to provide a cleaning device, a cleaning robot and a cleaning method that overcome the above problems or at least partially solve the above problems.

[0005] A cleaning device includes a dirt box, a fan, a sweeping system component, a washing system component and a sewage pump;

[0006] The fan is connected to the sweeping system component through the dirt box, and the other side of the dirt box is connected to the washing system component through the sewage pump; a HEPA for garbage filtering is provided in the dirt box;

[0007] When sweeping the floor, the sweeping system components descend to clean, and the garbage is recovered into the dirt box through the suction force of the fan;

[0008] When scrubbing the floor, the scrubbing system components are lowered for cleaning, and the sewage pump recycles the sewage into the dirt box.

[0009] Preferably, the waste box comprises an inclined surface, an electric lifting plug and a sewage outlet; the inclined surface is arranged at the bottom of the waste box, the sewage outlet is arranged at the bottom end of the inclined surface, and the sewage outlet is arranged with the electric lifting plug.

[0010] Preferably, the floor washing system component includes a floor washing roller; wherein, one floor washing roller is provided; the floor sweeping system component includes a floor sweeping roller brush; wherein, one floor sweeping roller brush is provided.

[0011] Preferably, it also includes a roller scraper, and the roller scraper is arranged perpendicular to the running section of the scrubbing drum.

[0012] Preferably, the sewage pump and the floor-cleaning drum are connected via a water pump hose;

[0013] One end of the water pump hose is arranged at the temporary storage tank below the roller scraper, and the other end of the water pump hose is connected to the sewage pump.

[0014] Preferably, a fan for providing wind force to the sweeping system component is also provided between the dirt box and the sweeping system component.

[0015] Preferably, the waste box comprises an inclined surface, an electric lifting plug and a sewage outlet; the inclined surface is arranged at the bottom of the waste box, the sewage outlet is arranged at the bottom end of the inclined surface, and the sewage outlet is arranged with the electric lifting plug;

[0016] When the waste box is discharging waste, the electric lifting plug is lifted upward to expose the sewage outlet, and the dry and wet mixed garbage is discharged through the sewage outlet.

[0017] Preferably, the sweeping system assembly includes a sweeping lifting motor, a sweeping air duct, a sweeping wire rope and a sweeping roller brush bracket;

[0018] The output end of the sweeping lifting motor is connected to the sweeping steel wire rope, and the sweeping steel wire rope is connected to the sweeping roller brush bracket;

[0019] When the sweeping lifting motor is controlled to rotate forward / reverse, the sweeping steel wire rope is loosened and the sweeping roller brush falls;

[0020] or;

[0021] When the sweeping lifting motor is controlled to rotate reversely / forwardly, the sweeping wire rope is tightened and the sweeping roller brush rises.

[0022] Preferably, the floor scrubbing system assembly includes a floor scrubbing lifting motor, a floor scrubbing wire rope, a floor scrubbing drum bracket, and a sewage pump and a silicone hose for pumping sewage;

[0023] The output end of the floor-washing lifting motor is connected to the floor-washing steel wire rope, and the floor-washing steel wire rope is connected to the floor-washing drum bracket;

[0024] When the floor-washing lifting motor rotates forward / reverse, the floor-washing wire rope is loosened, the floor-washing drum descends, and the sewage pump is turned on;

[0025] or;

[0026] When the scrubbing lifting motor rotates in the reverse direction / forward direction, the scrubbing wire rope is tightened, the scrubbing drum rises and the sewage pump is turned off.

[0027] To implement the present application, a cleaning robot is also provided. The cleaning robot includes a machine body, a base station and the cleaning device. The cleaning device is installed at the bottom of the machine body.

[0028] To implement the present application, a cleaning method is also included, the method being used for the use of the cleaning device as described;

[0029] The cleaning device switches the sweeping system components and the washing system components through the lifting system, including:

[0030] Acquire ground data, and determine a cleaning mode according to the ground data; wherein the cleaning mode includes a carpet mode and a floor mode;

[0031] According to the cleaning mode, the lifting motor is controlled to switch between the single sweeping mode and the front sweeping and rear washing mode;

[0032] When the cleaning robot meets the return condition, the cleaning robot returns to the base station for self-cleaning.

[0033] The present application specifically includes the following advantages:

[0034] In the embodiments of the present application, compared with the prior art that "the sweeping system cannot be filled with water, and the dust box cannot be completely recycled after water and air enter the dust box, causing secondary pollution; simultaneous recycling requires a dual recycling system to recycle solid garbage and sewage respectively". The present application includes a dirt box, a fan, a sweeping system component, a washing system component and a sewage pump; the fan is connected to the sweeping system component through the dirt box, and the other side of the dirt box is connected to the washing system component through the sewage pump; a HEPA for garbage filtering is provided in the dirt box; when sweeping the floor, the sweeping system component descends for cleaning, and the garbage is recycled to the dirt box through the suction of the fan; when washing the floor, the washing system component descends for cleaning, and the sewage pump recycles the sewage to the dirt box. The sewage box of the present application can enter sewage, which is convenient for one-time recycling, and the dirt box can be washed with water while cleaning the roller mop, without two boxes, and the cleaning is more thorough; and it can realize the intelligent switching of the functions of the washing robot and the cleaning robot, cooperate with each other, adapt to the terrain environment of the whole house, and improve the cleaning efficiency. Compared with the dual-fan or wastewater box and dust box separation solutions, this solution reduces energy consumption and improves the utilization rate of the robot's internal space. This solution reduces the difficulty and cost of the recycling system, and can also rinse and dry the dirt box with clean water, making recycling more thorough and avoiding secondary pollution. It allows both the sweeping system and the washing system to be filled with water, solving the problem that the current sweeping system on the market cannot be filled with water, cannot be completely recycled, produces odors and causes secondary pollution. It is easy to recycle once, and the dirt box can be washed with water while cleaning the roller mop, without the need for two boxes, and the cleaning is more thorough. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0036] Figure 1 It is a structural schematic diagram of a cleaning device of the present invention;

[0037] Figure 2 It is a schematic cross-sectional structure diagram of a floor washing system component of a cleaning device of the present invention;

[0038] Figure 3 It is a schematic diagram of the structure of the raised components of a floor-washing system of a cleaning device of the present invention;

[0039] Figure 4 It is a schematic cross-sectional structure diagram of a sweeping system component of a sweeping device of the present invention;

[0040] Figure 5 It is a structural schematic diagram of a sweeping system of a sweeping device of the present invention;

[0041] Figure 6 It is a schematic cross-sectional structure diagram of a sweeping system component of a sweeping device of the present invention;

[0042] Figure 7 is a perspective view of a dirt box of a cleaning device of the present invention;

[0043] Figure 8 is a cross-sectional view of a dirt box of a cleaning device of the present invention;

[0044] Fig. 9 It is a cross-sectional view of a sealing plug in a dirt box of a cleaning device of the present invention when it is lowered;

[0045] Fig.10 It is a cross-sectional view of the rising sealing plug in the dirt box of a cleaning device of the present invention;

[0046] Fig.11 It is a schematic diagram of the structure of a dirt box of a dry cleaning device of a cleaning robot of the present invention;

[0047] Fig.12 It is a system implementation principle block diagram of a dry cleaning method of a cleaning robot of the present invention;

[0048] Fig.13 is a flow chart of an algorithm of a dry cleaning method of a cleaning robot of the present invention;

[0049] Fig.14 It is a flow chart of algorithm implementation of a dry cleaning method of a cleaning robot of the present invention;

[0050] 1. Dirt box; 11. Floor washing air duct connection port; 12. Floor sweeping air duct connection port; 13. Inclined surface; 14. Electric lifting plug; 141. Magnet; 142. Second Hall sensor; 15. Drain port; 16. Float assembly; 161. First Hall sensor; 162. Float; 17. HEPA; 3. Fan; 4. Floor washing system assembly; 41. Floor washing lifting motor; 42. Roller bracket; 43. Floor washing roller; 44. Roller scraper; 45. Water inlet pipe; 46. Temporary storage tank; 5. Floor sweeping system assembly; 51. Floor sweeping lifting motor; 52. Floor sweeping air duct; 53. Floor sweeping wire rope; 54. Floor sweeping roller brush; 55. Floor sweeping bracket spring; 56. Roller brush bracket; 6. Sewage pump; 61. Sewage hose. DETAILED DESCRIPTION

[0051] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0052] The inventors have found through analyzing the prior art that as sweepers become more and more popular, users have higher and higher requirements for intelligent and deep cleaning effects. The height of the intelligent cleaning robot is limited, and the utilization rate of the internal space is getting higher and higher with the development of intelligence. Under certain energy conditions, improving the deep cleaning ability has become a challenge for the entire industry. How to achieve intelligent switching between deep cleaning and sweeping in a complex environment; under the condition of a certain total height of the fuselage, how to improve the utilization rate of the internal space of the fuselage, etc., are all restricting the development and progress of the industry.

[0053] The main technical problem solved by the present invention is the problem of switching between the floor scrubbing cleaning system and the floor sweeping cleaning system. The two cleaning systems can work in different time periods or simultaneously.

[0054] In order to solve the above technical problems, a technical solution adopted by the present invention is: through a fan, a sewage pump, and a dirt box cleaning component lifting system, the switching between the floor washing cleaning system and the sweeping cleaning system is realized. The user can circle the prohibited washing area on the house map established on the APP, and judge the ground environment according to the prohibited washing area circled by the customer or AI vision. When the area is a carpet or a prohibited washing area, the floor washing component is raised and the floor washing component air duct is closed, and the sweeping component is lowered to open the sweeping component air duct. Conversely, in an environment where the floor needs to be washed, such as tiles, the floor washing component air duct is opened to lower the floor washing component, and the sweeping component air duct is closed to raise the sweeping component.

[0055] The dirt box of the present application can enter sewage, which is convenient for one-time recycling. The dirt box can be washed with water while cleaning the roller mop, without two boxes, and the cleaning is more thorough. It can also realize the intelligent switching of the functions of the floor washing robot and the cleaning robot, cooperate with each other, adapt to the terrain environment of the whole house, and improve the cleaning efficiency. Compared with the dual-fan or sewage box and dust box separation solution, it reduces energy consumption. At the same time, it improves the utilization rate of the robot's internal space. At the same time, the garbage and dirt are combined to reduce the difficulty of recycling.

[0056] It should be noted that, in order to realize a cleaning system with a fan, a dirt box and a sewage pump, there is an air duct inlet at each end of the dirt box, and only one fan is connected to the dirt box.

[0057] Reference Figure 1-14 , shows a schematic diagram of the structure of the cleaning device of the present invention, which may specifically include the following structures: including a dirt box 1, a sweeping system component 5, a washing system component 4, and a sewage pump 6 for pumping sewage from the washing system component 4 into the dirt box 1; one side of the dirt box 1 is connected to the sweeping system component 5, and the other side of the dirt box 1 is connected to the washing system component 4 through the sewage pump 6; when sweeping the floor, the sweeping system component 5 descends for cleaning, and the garbage is recovered to the dirt box 1 through the suction force of the fan 3; when washing the floor, the washing system component 4 descends for cleaning, and the sewage pump 6 recovers the sewage on the ground to the dirt box 1. The dirt box 1 is provided with a HEPA 17 for garbage filtering; the fan 3 is connected to the sweeping system component through the dirt box 1.

[0058] In a specific embodiment, a dirt box 1, a sweeping system component 5, a scrubbing system component 4 and a fan 3 for providing suction wind force to the sweeping system component 5 and the scrubbing system component 4; the fan 3 is connected to the inside of the dirt box 1, and the dirt box 1 includes a scrubbing system component 4 arranged on one side and a sweeping system component 5 arranged on the other side; when the cleaning robot is cleaning, the fan 3 is connected to the scrubbing system component 4 through the dirt box 1.

[0059] In the embodiments of the present application, compared with the prior art that "the current body of the sweeping system on the market is large, the internal space utilization rate is low, the sweeping system cannot take in water, and it cannot wash first and then sweep", the present application provides a design for switching between the floor washing cleaning system and the floor sweeping cleaning system through a fan 3, a dirt box 1, a sewage pump 6 and a cleaning component lifting system, specifically including a dirt box 1, a sweeping system component 5, a floor washing system component 4 and a sewage pump 6 for pumping sewage from the floor washing system component 4 into the dirt box 1; one side of the dirt box 1 is connected to the sweeping system component 5, and the other side of the dirt box 1 is connected to the floor washing system component 4 through the sewage pump 6; when sweeping the floor, the sweeping system component 5 descends for cleaning, and the garbage is recovered to the dirt box 1 through the suction force of the fan; when washing the floor, the floor washing system component 4 descends for cleaning, and the sewage pump 6 recovers the sewage on the ground to the dirt box 1. The dirt box of the present application can enter sewage, which is convenient for one-time recycling, and the dirt box can be washed with water while cleaning the roller mop, without two boxes, and the cleaning is more thorough; and it can realize the intelligent switching of the functions of the floor washing robot and the cleaning robot, cooperate with each other, adapt to the terrain environment of the whole house, and improve the cleaning efficiency. Compared with the dual fan 3 or the separation solution of the sewage box and the dust box, energy consumption is reduced. At the same time, the utilization rate of the internal space of the robot is improved. At the same time, the integration of garbage and dirt reduces the difficulty of recycling and processing, so that both the sweeping system and the washing system can take in water, which solves the problems of large body, low internal space utilization, and the inability to take in water and wash before sweeping in the current market, and achieves the technical effect of being able to take in water while being compact in size.

[0060] Next, a cleaning device in this exemplary embodiment will be further described.

[0061] In one embodiment of the present application, a fan 3 for providing wind force to the sweeping system component 5 is further provided between the dirt box 1 and the sweeping system component 5. When sweeping the floor, the sweeping system component 5 descends to clean, and the garbage is recovered to the dirt box 1 by the suction force of the fan 3.

[0062] In a specific embodiment, the fan 3 recycles the garbage of the sweeping roller brush 54 into the dirt box 1 through the action of force, the fan 3 is connected to the inside of the dirt box 1, the input end of the fan 3 is connected to the inside of the dirt box 1, and the fan 3 is arranged on the side where the dirt box 1 is connected to the sweeping system component 5, and is arranged on the top of the sweeping system component 5.

[0063] In a specific embodiment, the garbage of the sweeping roller brush 54 of the sweeping system component 5 is collected into the dirt box 1 by the fan 3, and the sewage collected on the ground by the washing system component 4 is recovered into the dirt box 1 by the sewage pump 6.

[0064] In one embodiment of the present application, the sweeping system component 5 includes a sweeping roller brush 54 .

[0065] In one embodiment of the present application, the sweeping system component 5 includes a sweeping lifting motor 51, a sweeping air duct 52, a sweeping wire rope 53 and a sweeping roller brush 54 bracket; the output ends of the sweeping lifting motor 51 are respectively connected to the sweeping wire rope 53, and the sweeping wire rope 53 is connected to the sweeping roller brush 54 bracket; when the sweeping lifting motor is controlled to rotate forward / reverse, the sweeping wire rope 53 loosens the sweeping roller brush 54 and drops; or; when the sweeping lifting motor is controlled to rotate reverse / forward, the sweeping wire rope 53 tightens the sweeping roller brush 54 and raises it.

[0066] As an example, the sweeping system assembly 5 further includes a sweeping bracket spring 55 for balancing the weight of a sweeping roller brush 54 and increasing the pressure on the ground; the sweeping roller brush 54 is connected to the sweeping wire rope 53 via a roller brush bracket 56. The scrubbing system assembly 4 further includes a scrubbing bracket spring for balancing the weight of a scrubbing drum 43 and increasing the pressure on the ground; the scrubbing drum 43 is connected to the scrubbing wire rope via a drum bracket 42.

[0067] In one embodiment of the present application, the other side of the dirt box 1 is connected to the floor washing system component 4 through the sewage pump 6; the sewage pump 6 is used to pump sewage from the floor washing system component 4 into the dirt box 1; the sewage pump 6 and the floor washing drum are connected through a water pump hose; one end of the water pump hose is arranged at the temporary storage tank 46 below the drum scraper 44, and the other end of the water pump hose is connected to the sewage pump 6.

[0068] In one embodiment of the present application, the floor washing system component 4 includes a floor washing lifting motor 41, a floor washing wire rope, a floor washing drum 43 bracket 42, and a sewage pump 6 and a silicone hose for pumping sewage; the output end of the floor washing lifting motor 41 is connected to the floor washing wire rope, and the floor washing wire rope is connected to the floor washing drum 43 bracket 42; when the floor washing lifting motor rotates forward / reverse, the floor washing wire rope is loosened, the floor washing drum 43 descends, and the sewage pump 6 is turned on; or; when the floor washing lifting motor rotates reverse / forward, the floor washing wire rope is tightened, the floor washing drum 43 rises, and the sewage pump 6 is turned off.

[0069] As an example, when the cleaning robot is in floor mode, the floor washing system component 4 is turned on and the floor washing drum 43 is lowered, the floor sweeping system component 5 is turned off and the floor sweeping roller brush 54 is raised; or; when the cleaning robot is in carpet mode, the floor sweeping system component 5 is turned on and the floor sweeping roller brush 54 is lowered, the floor washing system component 4 is turned off and the floor washing drum 43 is raised.

[0070] In one embodiment of the present application, the waste box 1 includes a slope 13, a vibration motor, an electric lifting plug 14 and a sewage outlet 15; the slope 13 is arranged at the bottom of the waste box 1, the vibration motor is arranged on the back of the slope 13, the sewage outlet 15 is arranged at the bottom of the slope 13, and the sewage outlet 15 is arranged with the electric lifting plug 14; when the waste box 1 is discharging sewage, the vibration motor vibrates the slope 13, and the dry and wet mixed garbage adhered to the slope 13 is vibrated to the sewage outlet 15, the electric lifting plug 14 is lifted up and the sewage outlet 15 is exposed, and the dry and wet mixed garbage is discharged through the sewage outlet 15.

[0071] The sealing plug is controlled to rise and fall by the motor. When the sealing plug enters the sewage outlet 15, the magnet 141 descends to the position of the second Hall sensor 142. After the software detects that the sealing plug is in place, it determines the current of the motor and stops the motor after reaching the calibrated force. The motor current corresponding to the calibrated force can be measured experimentally and is significantly greater than the force before the plug does not block the sewage outlet 15. When the float 162 moves upward and reaches the position of the second Hall sensor 142, it is determined that the waste box 1 is full.

[0072] In a specific embodiment, the dirt box 1 also includes a float 162 component 16 for detecting the height data of the garbage from the top of the dirt box 1; the float 162 component 16 is arranged at the top of the dirt box 1. The dirt box 1 is provided with a HEPA 17, which is a high-efficiency air filter that can efficiently filter out tiny particles in the air, including pollen, dust, bacteria, pet dander, etc. The filtration efficiency of the HEPA filter is as high as 99.97%, and it can filter out particles with a diameter of 0.3 microns. The working principle of the HEPA filter is to use its dense fiber structure to capture particles in the air. When air passes through the HEPA filter, the particles in the air will be blocked by the fibers of the filter and adsorbed on the filter, thereby being filtered out. HEPA filters are widely used in air purifiers, air conditioners, automobiles and other equipment to improve air quality and protect people's health.

[0073] In a specific embodiment, in order to make sewage discharge and cleaning more thorough, a slope 13 is provided at the bottom of the sewage box 1, and the slope 13 can make large particles mixed with sewage roll to the vicinity of the sewage outlet 15. A vibration motor is also provided at the bottom of the sewage box 1, and the vibration motor can make attached objects such as mud and sand separate from the sewage box 1, and it is cleaner after being rinsed with clean water.

[0074] In a specific embodiment, the electric sealing plug is used to seal the sewage outlet 15. When sewage needs to be discharged, the lifting motor is controlled to raise the electric plug. The float 162 is used to detect whether the sewage is full. The waste box 1 is provided with a filter for filtering large particles and a Hepa for filtering fine dust. The Hepa is arranged above the filter.

[0075] In one embodiment of the present application, the dirt box 1 includes a floor washing system component 4 arranged on one side and a floor sweeping system component 5 arranged on the other side. The floor sweeping system component 5 includes a floor sweeping lifting motor 51, a floor sweeping air duct 52 and a floor sweeping wire rope 53. The air duct of the floor sweeping system component 5 is in an open state.

[0076] When the sweeping lifting motor is controlled to rotate forward, the sweeping wire rope 53 is loosened and the sweeping roller brush 54 falls; or; when the sweeping lifting motor is controlled to rotate reversely, the sweeping wire rope 53 is tightened and the sweeping roller brush 54 rises.

[0077] In a specific embodiment, the sweeping wire rope 53 is tightened to raise the sweeping bracket, and the sweeping roller brush 54 is raised through the sweeping bracket, and the sweeping bracket half covers the sweeping roller brush 54; wherein, two sweeping roller brushes 54 are arranged in parallel.

[0078] In one embodiment of the present application, the sweeping system component 5 also includes a sweeping bracket spring 55 for buffering when the sweeping roller brush 54 is raised and lowered; the sweeping roller brush 54 is connected to the sweeping wire rope 53 through a roller brush bracket 56.

[0079] In one embodiment of the present application, the floor scrubbing system assembly 4 includes a floor scrubbing lifting motor 41, a floor scrubbing air duct, a floor scrubbing wire rope and a floor scrubbing drum 43, wherein one floor scrubbing drum 43 is provided; if two are provided, sewage is easily splashed.

[0080] The output end of the floor-washing lifting motor 41 is connected to the floor-washing steel wire rope, and the floor-washing steel wire rope is connected to the floor-washing drum 43 .

[0081] When the floor-washing lifting motor rotates forward, the floor-washing air duct is opened, and the floor-washing steel wire rope is loosened, the floor-washing drum 43 descends, and the sewage pump 6 is turned on; or; when the floor-washing lifting motor rotates reversely, the floor-washing air duct is closed, and the floor-washing steel wire rope is tightened, the floor-washing drum 43 rises, and the sewage pump 6 is turned off. The floor-washing air duct is turned on and off by turning on and off the sewage pump 6. A rag is provided on the outer layer of the floor-washing drum 43.

[0082] In one embodiment of the present application, the floor scrubbing system assembly 4 further includes a floor scrubbing bracket spring for buffering when the floor scrubbing drum 43 is lifted up and down; the floor scrubbing drum 43 is connected to the floor scrubbing wire rope through a drum bracket 42. It also includes a drum scraper 44, which is arranged perpendicular to the running section of the floor scrubbing drum 43. The drum scraper 44 is used to scrape out the sewage from the floor scrubbing drum 43 and pump it away through a water pump hose. The drum scraper 44 is arranged on the inner side of the drum bracket 42. A water outlet is provided on one side of the drum scraper 44, and the water outlet is connected to water through a water outlet pipe, so that water can be sprayed on the rag.

[0083] It should be noted that, since the lifting methods of the floor scrubbing system component 4 and the floor sweeping system component 5 are the same, only the picture of the floor sweeping system is shown, and the floor scrubbing wire rope of the floor scrubbing system component 4 is not shown.

[0084] In a specific embodiment, the floor-cleaning wire rope is tightened to raise the sweeping bracket, and the floor-cleaning drum 43 is raised through the floor-cleaning bracket, and the floor-cleaning bracket half covers the floor-cleaning drum 43; wherein two floor-cleaning drums 43 are provided and arranged in parallel.

[0085] In order to increase system reliability and reduce system cost, when the scrubbing function is turned on, the air duct of the scrubbing component opens and the scrubbing component is lowered. When the sweeping function is turned on, the air duct of the sweeping component opens and the sweeping component is lowered.

[0086] In a specific embodiment, a cleaning system consisting of a single dirt box 1 is realized by a single drum floor washing component and a single fan 3 cleaning component. When washing the floor, the floor washing component system is lowered to the lowest position, and the sewage pump 6 works to extract the sewage on the drum in real time; the other side of the drum scraper 44 sprays clean water onto the drum rag in real time. The sewage extracted by the sewage pump 6 is injected into the dirt box 1. The dirt box 1 includes an inclined surface 13, an electric lifting plug 14 and a sewage outlet 15; the inclined surface 13 is arranged at the bottom of the dirt box 1, the sewage outlet 15 is arranged at the bottom end of the inclined surface 13, and the sewage outlet 15 is arranged with the electric lifting plug 14;

[0087] When the waste box 1 is discharging waste, the electric lifting plug 14 is lifted upward to expose the waste outlet 15 , and the dry and wet mixed garbage is discharged through the waste outlet 15 .

[0088] Next, a cleaning robot in this exemplary embodiment will be further described. The cleaning robot includes a machine body, a base station and the cleaning device, and the cleaning device is installed at the bottom of the machine body.

[0089] As an example, the cleaning robot includes a machine body and a base station, and the base station includes a clean water pipe, a detergent pipe, a heating component, a sewage inlet pipe, a water injection port and a fan 3; the clean water pipe and the detergent pipe are both connected to the heating component, and the heating component is connected to the water injection port; the fan 3 is connected to the sewage inlet pipe; the water injection port is connected to the cleaning robot, and the sewage inlet pipe is connected to the sewage outlet 15 of the cleaning robot; when the cleaning robot needs to perform cleaning, the clean water in the clean water pipe and the detergent in the detergent pipe are injected into the interior of the heating component to form a cleaning liquid, and the cleaning liquid is injected into the interior of the cleaning robot through the water injection port, the interior of the cleaning robot performs self-cleaning, and the fan 3 extracts and dries the inside of the dirt box 1 through the sewage inlet pipe.

[0090] Next, a cleaning method of a cleaning robot in this exemplary embodiment will be further described. Figure 12-14 shown.

[0091] Acquire ground data, and determine a cleaning mode according to the ground data; wherein the cleaning mode includes a carpet mode and a floor mode;

[0092] Cleaning the floor according to the cleaning mode;

[0093] When the cleaning robot meets the return condition, the cleaning robot returns to the base station for self-cleaning.

[0094] As described in the above steps, the ground data is acquired, and a cleaning mode is determined according to the ground data; wherein the cleaning mode includes a carpet mode and a floor mode.

[0095] In one embodiment of the present invention, the specific process of the step of "obtaining ground data, and determining a cleaning mode according to the ground data; wherein the cleaning mode includes a carpet mode and a floor mode" can be further explained in combination with the following description.

[0096] As described in the following steps, the data for obtaining ground data includes: when the cleaning robot receives a work instruction, judging the state of the cleaning robot; wherein the state includes the sewage outlet 15 being sealed and the sewage outlet 15 being unsealed; if the state is that the sewage outlet 15 is sealed, then obtaining ground data.

[0097] As described in the following steps, the floor material is obtained based on the floor data; wherein the floor material is carpet or floor; the floor material is carpet and the cleaning mode is determined to be carpet mode; or; the floor material is floor and the cleaning mode is determined to be floor mode; wherein the carpet mode is to turn on the sweeping system and turn off the scrubbing system, and the floor mode is to turn on the scrubbing system and turn off the sweeping system.

[0098] In one embodiment of the present invention, the specific process of the step of "obtaining the ground material according to the ground data" can be further explained in combination with the following description.

[0099] As described in the following steps, the ground material is obtained by obtaining the returned energy through the ultrasonic sensor; or; the ground material is obtained by taking pictures and performing deep learning. When either the ultrasonic material sensor or the AI ​​vision determines that it is a carpet, it is considered to be a carpet.

[0100] In a specific embodiment, the ground environment judgment principle and method: the ultrasonic material sensor uses the energy difference of ultrasonic echo signals on the surfaces of different materials to realize material recognition.

[0101] The ultrasonic material sensor is installed at a distance of 30±1mm between the front end of the robot and the ground, and the angle between the front end and the ground is less than 1°.

[0102] The unevenness of hard material ground and the large gap between floor paving may cause the echo height value to be significantly reduced. To enhance reliability, the robot motion cooperates with detection, and multiple detection results within a certain range are used to assist in judgment. The pseudo code algorithm is as follows:

[0103]

[0104]

[0105]

[0106] In a specific embodiment, the ground material is obtained by taking pictures and performing deep learning. The specific visual board determines the carpet through a camera and a deep learning algorithm. The algorithm implementation process and pseudo code are as follows:

[0107] 1. Import the required libraries

[0108] V4L2

[0109] OPENCV

[0110] MNN

[0111] 2. Import the model and camera internal reference files

[0112] load("XX.mnn")

[0113] load("XX.yml")

[0114] 3. Create an interpreter and session for the mnn model

[0115] MNN::Interpreter

[0116] MNN::Session

[0117] 4. Set GPU and interpreter parameters

[0118] MNN::ScheduleConfig

[0119] MNN::BackendConfig

[0120] ScheduleConfig.mode

[0121] ScheduleConfig.type

[0122] BackendConfig.precision

[0123] BackendConfig.backendConfig

[0124] MNN::Session(BackendConfig)

[0125] MNN::Interpreter(MNN::Session)

[0126] 5. Loop through the loaded images (once every 100ms)

[0127]

[0128]

[0129] As described in the above step S192, the floor is cleaned according to the cleaning mode.

[0130] In an embodiment of the present invention, the specific process of "cleaning the floor according to the cleaning mode" in step S120 can be further explained in combination with the following description.

[0131] In a specific embodiment, turning on the scrubbing system means: turning on the air duct of the scrubbing component and lowering the scrubbing component. Turning off the scrubbing system means: turning off the air duct of the scrubbing component and raising the scrubbing component. Turning on the sweeping system means: turning on the air duct of the sweeping component and lowering the sweeping component. Turning off the sweeping system means: turning off the air duct of the sweeping component and raising the sweeping component.

[0132] As described in the above step S193, when the cleaning robot meets the return condition, the cleaning robot returns to the base station for self-cleaning.

[0133] In an embodiment of the present invention, the specific process of "when the cleaning robot meets the return condition, the cleaning robot returns to the base station for self-cleaning" in step S130 can be further explained in combination with the following description.

[0134] As described in the following steps, when the battery of the cleaning robot meets the condition that the battery is insufficient or the dirt box is full or the sweeping is completed, it is determined whether the power of the cleaning robot meets the preset power; if it meets the preset power, the garbage data in the dirt box is obtained; according to the garbage data, it is determined whether the dirt box is discharged; if it is discharged, the inside of the dirt box is cleaned by the method described above.

[0135] In a specific embodiment, the main control board collects sensor and position switch data, and controls the motor and fan to perform corresponding actions according to the visual board instructions and carpet sensor data.

[0136] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0137] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0138] The cleaning device, cleaning robot and cleaning method provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A cleaning device, characterized in that: Includes dirt box, fan, sweeping system components, scrubbing system components and sewage pump; The fan is connected to the sweeping system component through the dirt box, and the other side of the dirt box is connected to the washing system component through the sewage pump; a HEPA for garbage filtering is provided in the dirt box; When sweeping the floor, the sweeping system components descend to clean, and the garbage is recovered into the dirt box through the suction force of the fan; When scrubbing the floor, the scrubbing system components are lowered for cleaning, and the sewage pump recycles the sewage into the dirt box.

2. The cleaning device according to claim 1, characterized in that: The waste box comprises an inclined surface, an electric lifting plug and a sewage outlet; the inclined surface is arranged at the bottom of the waste box, the sewage outlet is arranged at the bottom end of the inclined surface, and the sewage outlet is arranged with the electric lifting plug.

3. The cleaning device according to claim 1, characterized in that: The floor washing system component includes a floor washing roller, wherein one floor washing roller is provided; the floor sweeping system component includes a floor sweeping roller brush, wherein one floor sweeping roller brush is provided.

4. The cleaning device according to claim 2, characterized in that: It also includes a roller scraper, which is arranged perpendicular to the running section of the floor washing roller.

5. The cleaning device according to claim 3, characterized in that: The sewage pump and the floor-cleaning drum are connected via a water pump hose; One end of the water pump hose is arranged at the temporary storage tank below the roller scraper, and the other end of the water pump hose is connected to the sewage pump.

6. The cleaning device according to claim 2, characterized in that: The sweeping system components include a sweeping lifting motor, a sweeping air duct, a sweeping wire rope and a sweeping roller brush bracket; The output end of the sweeping lifting motor is connected to the sweeping steel wire rope, and the sweeping steel wire rope is connected to the sweeping roller brush bracket; When the sweeping lifting motor is controlled to rotate forward / reverse, the sweeping steel wire rope is loosened and the sweeping roller brush falls; or; When the sweeping lifting motor is controlled to rotate reversely / forwardly, the sweeping wire rope is tightened and the sweeping roller brush rises.

7. The cleaning device according to claim 5, characterized in that: The floor scrubbing system assembly includes a floor scrubbing lifting motor, a floor scrubbing wire rope, a floor scrubbing roller bracket, and a sewage pump and a silicone hose for pumping sewage; The output end of the floor-washing lifting motor is connected to the floor-washing steel wire rope, and the floor-washing steel wire rope is connected to the floor-washing drum bracket; When the floor-washing lifting motor rotates forward / reverse, the floor-washing wire rope is loosened, the floor-washing drum descends, and the sewage pump is turned on; or; When the scrubbing lifting motor rotates in the reverse direction / forward direction, the scrubbing wire rope is tightened, the scrubbing drum rises and the sewage pump is turned off.

8. A cleaning robot, characterized in that: The cleaning robot comprises a machine body, a base station and a cleaning device as described in any one of claims 1 to 8, wherein the cleaning device is installed at the bottom of the machine body.

9. A cleaning method, the method being used for use of the cleaning device according to any one of claims 1 to 8; The cleaning device switches the sweeping system components and the washing system components through the lifting system, and is characterized in that: include: Acquire ground data, and determine a cleaning mode according to the ground data; wherein the cleaning mode includes a carpet mode and a floor mode; According to the cleaning mode, the lifting motor is controlled to switch between the single sweeping mode and the front sweeping and rear washing mode; When the cleaning robot meets the return condition, the cleaning robot returns to the base station for self-cleaning.

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