Cleaning robot

Abstract

The invention provides a cleaning robot which comprises a fan, a dust collection structure and a dust fullness detection device, the dust fullness detection device comprises an ultrasonic sensor, and the dust collection structure is provided with a dust collection cavity; an air inlet is formed in the dust collection structure, and the fan is used for providing airflow into the air inlet so as to drive dirt to enter the dust collection structure; the ultrasonic sensor is used for detecting the filling condition of dirt in the dust collection structure. In the process of detecting the dust collection condition of the dust collection structure, interference of external factors on the detection assembly is prevented, and then the detection precision can be effectively improved.

Description

Technical Field

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

[0002] At present, when a cleaning robot performs a cleaning task, it generally needs to collect the dirt into a dust box arranged inside it first. However, although a dust collection detection device is provided on the existing dust collection structure, due to factors such as the working environment, the current dust collection detection device has a relatively low detection accuracy and often causes false detections. Summary of the invention

[0003] In view of this, the present application provides a cleaning robot that can detect the dust collection situation in the internal space of a dust collecting structure, while avoiding the influence of the cavity wall of the dust collecting structure on the detection accuracy.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] The present application provides a cleaning robot, comprising a fan, a dust collecting structure and a dust full detection device, wherein the dust full detection device comprises an ultrasonic sensor, and the dust collecting structure has a dust collecting cavity;

[0006] The dust collecting structure is provided with an air inlet, and the fan is used to provide airflow into the air inlet to drive dirt into the dust collecting structure;

[0007] The ultrasonic sensor is used to detect the filling condition of the dirt inside the dust collecting structure.

[0008] As a possible implementation manner, the dust full detection device and / or the ultrasonic sensor of the dust full detection device are exposed in the dust collecting cavity of the dust collecting structure.

[0009] As a possible implementation method, a protection component is also included. The dust full detection device includes an ultrasonic sensor for detecting the dust collection condition of the dust collecting structure. The protection component is arranged at the assembly position of the ultrasonic sensor and the dust collecting structure to achieve sealing between the ultrasonic sensor and the dust collecting structure.

[0010] As a possible implementation, a base is also included, the ultrasonic sensor is arranged on the base, and a through hole is arranged on the dust collecting structure at a position corresponding to the ultrasonic sensor; the protective component is arranged on the outer peripheral edge of the ultrasonic sensor.

[0011] As a possible implementation manner, the protection component and the dust collecting structure are interference fit.

[0012] As a possible implementation, the dust full detection device further includes a base, the controller is arranged on the base, the ultrasonic sensor is arranged on the dust collecting structure, and the protection component is formed on the dust collecting structure to protect the ultrasonic sensor;

[0013] Alternatively, the dust full detection device further includes a controller, and the controller and the ultrasonic sensor are both arranged on the dust collecting structure, and the protection component is formed on the dust collecting structure to protect the ultrasonic sensor and the controller simultaneously.

[0014] As a possible implementation manner, a receiving portion is formed on the dust collecting structure, and the ultrasonic sensor is sealed and received in the receiving portion through the protective component.

[0015] As a possible implementation, the protection component includes a rubber piece arranged at the outer peripheral edge of the ultrasonic sensor, and the rubber piece is interference fit with the inner edge of the accommodating portion.

[0016] As a possible implementation, the accommodation portion is a through hole formed on the side wall of the dust collecting structure;

[0017] Alternatively, the accommodating portion is a groove formed on a side wall of the dust collecting structure.

[0018] As a possible implementation, the protection component includes a groove formed on the dust collecting structure, the ultrasonic sensor includes an electrical connector penetrating the dust collecting structure and arranged on the outer wall of the dust collecting structure, and a sealing structure is arranged around the electrical connector;

[0019] Alternatively, the protection component is an openable and closable protection structure, which is arranged on the dust collecting structure and includes a movable baffle and a trigger structure. The trigger structure is arranged on the outer wall surface of the dust collecting structure and is used to control the movable baffle to achieve the opening and closing of the protection structure.

[0020] As a possible implementation manner, the ultrasonic sensor is disposed close to the air inlet.

[0021] As a possible implementation, the ultrasonic sensor is located within a preset range space close to the air inlet, wherein the volume of the preset space is less than 1 / 4 of the volume of the dust collecting chamber.

[0022] As a possible implementation, the ultrasonic sensor includes:

[0023] A transmitting end, used for transmitting a detection signal;

[0024] A receiving end, arranged opposite to the transmitting end, and used for receiving the detection signal;

[0025] The transmitting end and the receiving end are located on both sides of the air inlet.

[0026] As a possible implementation manner, there is a gap between the ultrasonic sensor and the cavity wall of the dust collecting structure, and a buffer pad is arranged in the gap.

[0027] As a possible implementation method, it also includes:

[0028] Base;

[0029] The dust collecting structure is detachably arranged in the base, and a receiving portion is formed on the dust collecting structure; and

[0030] The dust full detection device comprises a controller for controlling the ultrasonic sensor; the ultrasonic sensor comprises an electrical connector arranged through the accommodating portion, for realizing a control connection between the controller and the ultrasonic sensor; the ultrasonic sensor is arranged on the dust collecting structure and is sealed and accommodated in the accommodating portion, and the controller is arranged on the main unit of the base.

[0031] or,

[0032] Base;

[0033] Dust collection structure;

[0034] a control unit, disposed on the base; and

[0035] The ultrasonic sensor is arranged on the base, and is used to detect the dust collection condition of the dust collecting structure; the dust full detection device is control-connected to the control unit so that the control unit can identify the signal attenuation of the dust full detection device, and identify the dust collection condition in the dust collecting structure according to the signal attenuation condition.

[0036] As a possible implementation method, it includes:

[0037] Base;

[0038] The dust collecting structure is detachably arranged in the base, and a receiving portion is formed on the dust collecting structure; and

[0039] The dust full detection device includes a controller for controlling the ultrasonic sensor; the ultrasonic sensor and the controller are both arranged on the dust collecting structure and are sealed and accommodated in the accommodating portion.

[0040] As a possible implementation method, it includes:

[0041] Base;

[0042] The dust collecting structure is detachably arranged in the base, and a receiving portion is formed on the dust collecting structure;

[0043] The dust full detection device also includes a detachable carrying part and a controller, the ultrasonic sensor and the controller are arranged on the detachable carrying part, the detachable carrying part is detachably connected to the dust collecting structure, and when the detachable carrying part is connected to the dust collecting structure, the ultrasonic sensor is sealed and accommodated in the accommodating part.

[0044] In the process of performing cleaning tasks, the cleaning robot provided by the present application allows dirt to enter the interior of the dust collecting structure under the action of airflow and accumulate inside the dust collecting structure. During the above process, the detection component in the dust full detection device monitors the dust collection situation of the dust collecting structure in real time, thereby avoiding the problem that the cleaning robot is unaware of the dust collection situation after the dust collecting structure is full, resulting in dust box clogging and the cleaning robot being unable to use its base station to automatically clean the dust collecting structure. At the same time, it can also avoid the cleaning robot continuing to clean after the dust collecting structure is full, resulting in poor cleaning effect. In addition, the present application exposes the dust full detection device and / or the detection component of the dust full detection device in the dust collecting cavity of the dust collecting structure. In the process of detecting the dust collection situation of the dust collecting structure, the cavity wall of the dust collecting structure will not interfere with the detection component, thereby effectively improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0046] Figure 1 A schematic diagram of the structure of a cleaning robot base equipped with a dust collection structure provided in the present application;

[0047] Figure 2 for Figure 1 A top view of the robot cleaning base without the dust collecting structure;

[0048] Figure 3 for Figure 2 A partial enlarged view of the middle A area;

[0049] Figure 4 for Figure 1 A schematic diagram of the structure of the dust collecting structure;

[0050] Figure 5 A schematic diagram of the structure of another cleaning robot base provided in this application;

[0051] Figure 6 for Figure 5 A partial enlarged view of the middle B area;

[0052] Figure 7 To adapt Figure 5 A schematic diagram of the structure of the dust collecting structure of the cleaning robot base;

[0053] Figure 8 A schematic diagram of the structure of another cleaning robot base provided in this application;

[0054] Fig. 9 for Figure 8 A partial enlarged view of the middle C area;

[0055] Fig.10 To adapt Figure 8 A schematic diagram of the structure of the dust collecting structure of the cleaning robot base;

[0056] Fig.11 for Fig.10 A top view of the dust collecting structure in FIG.

[0057] Fig.12 for Fig.11 A partial cross-sectional view of

[0058] Fig.13 for Fig.10 A right view of the dust collecting structure in FIG.

[0059] Fig.14 for Fig.10 A left view of the dust collecting structure in FIG.

[0060] Fig.15 for Fig.10 A front view of the dust collecting structure;

[0061] Fig.16 for Fig.15 A cross-sectional view of a dust collecting structure;

[0062] Fig.17 , Fig.19 , Fig.21 and Fig.23 They are side views of different storage amounts of dirt when it is collected in the dust collecting structure;

[0063] Fig.18 , Fig. 20 , Fig. 22 and Fig.24 They are Fig.17 , Fig.19 , Fig.21 and Fig.23 The main cross-sectional view (along the AA direction);

[0064] Fig.25 A flow chart of the cleaning robot detection and testing situation of the present application;

[0065] Fig.26 This is an integrated diagram of the dust full detection device of the present application;

[0066] Fig. 27 This is a schematic diagram of the dust fullness detection device of the present application from a first angle;

[0067] Fig.28 This is a front view of the dust collection structure and dust full detection device of the present application;

[0068] Fig.29 This is a top view of the dust full detection device of the present application.

[0069] exist Figure 1-Figure 25 middle:

[0070] 1-base, 2-dust collecting structure, 3-dust full detection device, 4-dirt;

[0071] 21-accommodating part, 22-transmitting side plate, 23-receiving side plate, 24-air inlet; 25-air filter

[0072] 31- detection component, 32- protection component, 33- controller;

[0073] 311-transmitter, 312-receiver, 313-electrical connector

[0074] 321-Line slot;

[0075] 3131 - first contact electrode sheet, 3132 - second contact electrode sheet;

[0076] 5-detachable bearing part; 51-detachable transmitting bearing part; 52-detachable receiving bearing part. DETAILED DESCRIPTION

[0077] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0078] At present, when a cleaning robot performs a cleaning task, it generally needs to collect the dirt into a dust box arranged inside it. In order to detect whether the dust collecting structure is blocked or full of dust, the existing dust collecting structure is provided with dust collecting detection equipment, such as air pressure sensor, speed and current detection of the dust collecting motor, infrared sensor, etc.

[0079] Among them, the air pressure sensor determines dust fullness by detecting air pressure, which directly reflects blockage or dust fullness. However, the air pressure sensor is affected by factors such as temperature and altitude. At the same time, the air pressure change value is not large when the dust box is full or not full of garbage after testing. If there are other factors, the air pressure sensor will misjudge and cannot get an accurate result.

[0080] The principle of speed and current detection is that the amount of garbage in the dust box will affect the change of the vacuum motor current; the amount of garbage in the dust box can be reflected by current detection, but the speed and current detection fluctuate greatly and will change dynamically with the scene and garbage type. Sometimes there is a need to adjust the gear, which cannot be judged by current and the definition is not clear;

[0081] The infrared sensor uses the infrared reflection ranging principle, which is mature and simple, and can determine the amount of garbage in the dust box. However, during the infrared sensor's dust full detection process, dust has a greater impact on the sensor, and dust or sediment on the sensor surface is prone to false alarms, and the probability of false alarms is higher than a full dust box.

[0082] It can be seen that the current dust collection detection equipment, affected by factors such as the working environment, has relatively low detection accuracy and often makes false detections.

[0083] In view of this, the present disclosure provides a cleaning robot to improve detection accuracy.

[0084] like Figure 1 to Figure 24 As shown, the cleaning robot in the present application includes a fan (not shown), a dust collecting structure 2 and a dust full detection device 3. Among them, the dust collecting structure 2 refers to a container for accommodating dirt 4 in the cleaning robot, such as a dust collecting box or a dust collecting bag, etc., and an air inlet is provided on the dust collecting structure 2. The fan is used to provide airflow to the inside of the air inlet to drive dirt into the dust collecting structure. The dust full detection device 3 is used to detect the dust collection situation in the dust collecting structure 2, that is, the dust full detection device 3 can detect the filling situation of the internal space of the dust collecting structure 2 (also called the dust collecting chamber); for example: the dust full detection device 3 can be used to detect whether the internal space of the dust collecting structure 2 has been filled with dirt 4. During the cleaning operation of the cleaning robot, the dust full detection device 3 is used to monitor the filling situation inside the dust collecting structure 2 in real time, thereby avoiding the problem that the cleaning robot does not know after the dust collecting structure is full, resulting in dust box clogging, and the cleaning robot cannot use its base station to automatically clean the dust collecting structure 2. At the same time, it can also avoid the cleaning robot continuing to clean after the dust collecting structure is full, resulting in poor cleaning effect.

[0085] In addition, in order to improve the detection accuracy, the embodiment of the present application exposes the dust full detection device 3 and / or the detection component of the dust full detection device 3 in the dust collecting cavity of the dust collecting structure 2. In this way, in the process of detecting the dust collection situation of the dust collecting structure 2, the interference caused by the cavity wall of the dust collecting structure 2 to the detection component can be reduced, thereby ensuring the detection accuracy.

[0086] The exposure here can be understood as: connected and not blocked by the cavity wall;

[0087] For example, the dust full detection device 3 and / or the detection component of the dust full detection device 3 is in a connected state with the dust collecting chamber of the dust collecting structure 2;

[0088] For another example, the detection path of the dust full detection device 3 and / or the detection component of the dust full detection device 3 is not blocked by the cavity wall of the dust collecting cavity; in other words, the cavity wall of the dust collecting cavity is outside the detection path of the dust full detection device 3 and / or the detection component of the dust full detection device 3; or, the cavity wall of the dust collecting structure 2 is not on the detection path of the detection component (such as light or sound waves), that is, during the dust collection detection process, the detection signal emitted by the dust collection detection device 3 will not be hindered by the cavity wall of the dust collecting structure 2, thereby avoiding the interference of the cavity wall of the dust collecting structure 2 on the detection signal, and improving the detection accuracy.

[0089] In order to expose the detection component of the dust full detection device to the dust collecting chamber, a window may be provided in the wall of the dust collecting chamber. One way is to directly place the detection component in the window.

[0090] In one embodiment, the window may be in the form of a through hole or a countersunk hole.

[0091] Exemplarily, in some embodiments, the dust full detection device 3 is arranged on the base 1 of the cleaning robot (the base can be, for example, a chassis for installing the dust collecting structure, or it can be the body of the cleaning robot), and the cavity wall of the dust collecting structure 2 is provided with a through hole corresponding to the position of the dust full detection device. During the detection process, the detection signal can pass through the through hole to detect the dust collection situation in the dust collecting structure 2.

[0092] Taking into account the problem of how to set the detection component in the window, in one embodiment, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is in the range of -30mm to 30mm; further, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is in the range of -20mm to 20mm; further, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is in the range of -10mm (recessed) to 10mm.

[0093] Among them, negative values ​​represent depression, and the larger the absolute value of the negative value, the greater the degree of depression; positive values ​​represent protrusion, and the larger the positive value, the greater the degree of protrusion.

[0094] For example, the detection component of the dust full detection device can be flush with the cavity wall of the dust collecting structure; that is, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is 0.

[0095] For another example, the detection component of the dust full detection device is arranged to protrude relative to the cavity wall of the dust collecting structure; that is, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is greater than 0 and less than the maximum threshold value allowed for protrusion.

[0096] For another example, the detection component of the dust full detection device is recessed relative to the cavity wall of the dust collecting structure; in other words, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is less than 0 and greater than the maximum threshold value allowed for the recess.

[0097] Another way is to set the detection component outside the window, and the detection path of the detection component can enter the dust collecting chamber through the window to detect the internal dust collecting situation of the dust collecting chamber. It is understandable that at this time, the window can be in the form of a through hole.

[0098] Considering how to reduce the probability of the detection device being contaminated by dirt in the cavity, in some embodiments, the dust full detection device 3 is recessed relative to the side wall of the dust collecting structure 2, that is, the signal output (or receiving) end face of the detection component of the dust full detection device 3 is not in the same plane as the side wall of the dust collecting structure 2, which can protect the dust full detection device 3 and reduce the probability of it being contaminated by dirt 4.

[0099] Taking into account the problem of how to prevent the signal of the detection component from being blocked, in some embodiments, the dust full detection device 3 is arranged to protrude relative to the side wall of the dust collecting structure 2.

[0100] Taking into account how to avoid signal obstruction and contamination of the detection device by dirt in the cavity, in some embodiments, the dust full detection device 3 is slightly recessed relative to the side wall of the dust collecting structure 2. For example, the distance between the detection component of the dust full detection device and the inner wall surface of the cavity wall of the corresponding dust collecting structure is slightly less than 0. For example, the distance is set to a value selected between -3mm-0.

[0101] Of course, in order to prevent the problem that the signal of the detection component is affected, the type of the detection component (sensor) selected by the dust full detection device can also be selected and determined. Therefore, in one embodiment, the detection component of the dust full detection device uses an ultrasonic sensor.

[0102] In one embodiment, the detection assembly includes an ultrasonic probe (eg, pressed ceramic) for emitting a detection medium, such as ultrasonic waves.

[0103] In order to prevent the detection component (sensor) from being disturbed by environmental factors such as dust adhesion on the surface of the detection component (sensor), in one embodiment, a compensation algorithm is used to effectively prevent false alarms caused by factors such as dust covering the sensor (such as an ultrasonic sensor) probe, so that the performance of the sensor will not deteriorate when used in a dirty environment for a long time.

[0104] During the cleaning process of the cleaning robot, the dirt 4 entering the dust collecting structure 2 includes some solid dirt, such as dust, paper scraps and hair, etc.; it also includes some liquid dirt, such as sewage and spilled tea or beverages, etc. Since there is no lack of some highly fluid substances, especially liquid dirt, in the dirt 4 entering the dust collecting structure 2; in addition, considering that liquid cleaning may be used when cleaning the interior of the dust collecting structure 2; based on this, in order to prevent the dirt 4 in the dust collecting structure 2 from entering the cleaning robot (especially the parts outside the dust collecting structure), causing abnormal use of the robot, and to prevent the cleaning liquid from flowing into the cleaning robot when cleaning the dust collecting structure, in some embodiments, a protective component can be set to protect the dust full detection device and the cleaning robot; for example, the cleaning robot, especially the dust collecting structure, can also include a protective component 32; the protective component 32 can seal the internal space / dust collecting cavity of the dust collecting structure, especially the position where the dust full detection device 3 is set at the corresponding cavity wall of the dust collecting structure (such as the position where the window is located).

[0105] The present application effectively improves the airtightness of the internal space of the dust collecting structure 2 by providing a protective component 32, thereby preventing the dirt 4 inside the dust collecting structure 2 or the liquid used during cleaning from entering the cleaning robot and affecting the normal use of the cleaning robot.

[0106] In order to achieve sealing at the window opened in the dust collecting structure, in one embodiment, the protection component can be set at the position when the dust full detection device 3 and the dust collecting structure 2 are assembled (referred to as the assembly position). It can be understood that the protection component can also be set at other positions, such as a position within a set range around the assembly position, as long as the sealing protection of the dust full detection device and the dust collecting structure 2 can be achieved, and this embodiment is not limited to this.

[0107] In one embodiment, the dust full detection device 3 includes a detection component 31 for detecting the dust collection condition of the dust collecting structure 2; at this time, the protection component 32 can be set at the assembly position of the detection component 31 and the dust collecting structure 2, and is used to seal the assembly position of the detection component 31 and the dust collecting structure 2, thereby achieving sealed protection of the detection component 31 and the dust collecting structure 2, preventing dirty liquid in the dust collecting structure or liquid when cleaning the dust collecting structure from entering the cleaning robot, so that the cleaning robot can work normally and reduce the failure rate of the cleaning robot.

[0108] Considering the form in which the detection component realizes the detection of dust collection, in one embodiment, the detection component 31 includes a transmitting end 311 and a receiving end 312, wherein the transmitting end 311 is used to transmit a detection signal, such as an infrared light detection signal or an ultrasonic detection signal. During the operation of the cleaning robot, the dust collection condition of the internal space of the dust collection structure 2 can be determined based on the signal received by the receiving end 312 on the basis that the detection signal emitted by the transmitting end 311 of the detection component 31 remains unchanged.

[0109] Taking into account the issue of how to arrange the transmitting end and the receiving end of the detection device, in some embodiments, the detection component can adopt a reflective arrangement, for example, the transmitting end 311 and the receiving end 312 of the detection component 31 are arranged on the same side of the dust collecting structure; in other words, the transmitting end 311 and the receiving end 312 of the detection component 31 are located on the same cavity wall of the dust collecting structure.

[0110] In one embodiment, the dust collecting structure 2 is provided with an air inlet 24. When the air inlet is provided on the side wall, the transmitting end 311 and the receiving end 312 of the detection component 31 are provided on the same cavity wall where the air inlet of the dust collecting structure is located, or the transmitting end 311 and the receiving end 312 of the detection component 31 are both provided on the cavity wall of the dust collecting structure opposite to the cavity wall where the air inlet is located;

[0111] When the air inlet is arranged on the top wall, the transmitting end 311 and the receiving end 312 of the detection component 31 are arranged on a side wall of the dust collecting structure close to the air inlet.

[0112] It can be understood that the detection component 31 can use the infrared (or ultrasonic) reflection ranging principle to detect the dust collection situation in the internal space of the dust collecting structure 2; the infrared (or ultrasonic) reflection ranging principle can refer to the prior art, and this application will not repeat it here.

[0113] In some embodiments, the detection component can adopt a facing (or penetrating) arrangement. For example, the transmitting end 311 and the receiving end 312 of the detection component 31 are arranged on both sides of the dust collection structure, so that the transmitting end 311 and the receiving end 312 can directly face each other. When the object to be detected passes between the transmitting end and the receiving end, detection is performed based on the attenuation (or occlusion) of the signal, and the detection effect is better.

[0114] In one embodiment, the transmitting end 311 and the receiving end 312 of the detection component 31 can be directly disposed on two opposite side walls of the dust collecting structure.

[0115] It should be noted that, in other embodiments, the transmitting end 311 and the receiving end 312 of the detection component 31 can be directly set on two adjacent side walls of the dust collecting structure, as long as they can achieve cross-reflection, and there is no limitation here.

[0116] Considering the problem of how to determine the installation position of the transmitting end and the receiving end of the detection device, in one embodiment, it can be determined according to the distribution state of the hair in the dust collecting structure; Figures 17 to 24 As shown in the dust box, the garbage in the dust box starts to accumulate from a position far away from the air inlet (or air outlet) and gradually accumulates to the air inlet. Therefore, the transmitting end and the receiving end of the detection device are installed on both sides perpendicular to the air inlet as much as possible, which can improve the utilization rate of the dust box.

[0117] Exemplarily, in a preferred embodiment, an air inlet 24 is provided on the dust collecting structure 2, and the transmitting end and the receiving end are located on two opposite side walls of the dust collecting structure close to the air inlet (referred to as the two sides of the air inlet).

[0118] By arranging the transmitting end and the receiving end on both sides of the dust collecting structure close to the air inlet, it is beneficial to maximize the use of the dust holding space of the dust collecting structure or increase the effective dust holding space of the dust collecting structure.

[0119] In order to make full use of the dust holding space of the dust collecting structure, in one embodiment, the transmitting end and the receiving end are arranged on the side wall of the dust collecting structure within a preset space range close to the air inlet, wherein the volume of the preset space occupies 1 / 4 or less of the volume of the entire dust holding space. In other words, the volume of the preset space is less than or equal to 1 / 4 of the volume of the entire dust holding space.

[0120] In other words, the transmitting end 311 and the receiving end 312 of the detection component 31 are arranged opposite to each other and are located on both sides of the air inlet 24; during the cleaning process, the dust collection condition of the internal space of the dust collection structure 2 is judged based on the attenuation of the detection signal received by the receiving end 312.

[0121] Exemplarily, in some embodiments, the detection component uses an ultrasonic sensor, whose transmitting end and receiving end are located on two cavity walls; further, an air inlet is provided on the dust collecting structure, and the transmitting end (probe) and receiving end (probe) of the ultrasonic sensor are located on two opposite side walls close to the air inlet.

[0122] See attached Figures 2 to 17 As shown, the dust collecting structure 2 is provided with an air inlet 24, and the detection component 31 is an ultrasonic detection component, including an ultrasonic transmitting end 311 and an ultrasonic receiving end 312, wherein the ultrasonic transmitting end 311 is used to transmit ultrasonic signals, and the ultrasonic receiving end 312 is used to receive ultrasonic signals, and the ultrasonic transmitting end 311 and the ultrasonic receiving end 312 are arranged opposite to each other and are located on both sides of the air inlet 24; when foreign matter appears in the transmission channel of the ultrasonic signal (i.e., between the ultrasonic transmitting end 311 and the ultrasonic receiving end 312), the ultrasonic signal received by the ultrasonic receiving end 312 will attenuate, and then the dust collection condition of the dust collecting structure 2 can be judged according to the attenuation of the ultrasonic signal.

[0123] It should be noted that the through-beam ultrasonic sensor detects garbage in the dust box by utilizing the difference in propagation characteristics of ultrasonic waves of a specific frequency in the air and in foreign matter media, thereby achieving monitoring and early warning of the detection area.

[0124] In addition, the through-beam ultrasonic sensor has strong anti-interference performance, and general interference factors (such as light source, high-frequency signal, temperature and humidity, etc.) have no effect on the detection performance of the ultrasonic sensor.

[0125] In addition, within the effective detection range of the ultrasonic sensor, the ultrasonic probe can pass through the gaps in the propagation medium. Therefore, the propagation medium has no effect on the sensor performance. In addition, for lighter floating objects (hair fibers, etc.) in the dust box, the ultrasonic wave can pass through the gaps in the floating objects and will not continue to send out alarm signals due to the movement of the floating objects, which helps to reduce misjudgments.

[0126] Therefore, compared with infrared detection, ultrasonic detection is less sensitive to dust, thereby preventing dust accumulation on the surface of the ultrasonic transmitting end 311 and the ultrasonic receiving end 312 from affecting the normal operation of the detection component 31. In addition, compared with the ultrasonic reflection ranging detection method, when there is hair or other similar dirt 4 in the dust collecting structure 2, detection is performed based on the attenuation (or blocking) of the ultrasonic wave, which can effectively avoid the loss of the ultrasonic wave and thus ensure the accuracy of the detection; in addition, the ultrasonic transmitting end 311 and the ultrasonic receiving end 312 are arranged relative to each other, which also reduces the volume of the ultrasonic detection component 31 in the dust collecting structure 2, which is conducive to the miniaturization design of the dust collecting structure 2 and ensures the volume of the dust box dust storage space.

[0127] In summary, the ultrasonic sensor disclosed in the present invention detects hair in a dust collecting structure (such as a dust box) by directly receiving sound waves. Compared with the detection of hair by ultrasonic reflection, it effectively avoids the loss of ultrasonic waves and ensures the accuracy of detection; further, it reduces the volume of the ultrasonic sensor in the dust box, which is conducive to the miniaturized design of the dust box equipped with the ultrasonic sensor and ensures the volume of the dust holding space of the dust box.

[0128] There are many ways to fix the transmitter 311 and the receiver 312. Regarding how to fix the transmitter and the receiver, in one embodiment, for example, they can be fixed by mechanical connection such as screws, or by bonding. This application does not make specific limitations on this.

[0129] In addition, the problem of setting the distance between the transmitting end 311 and the receiving end 312 can be determined according to the effective detection distance of the detection component. For example, in one embodiment, the distance between the transmitting end 311 and the receiving end 312 should be less than or equal to the effective detection distance of the detection component.

[0130] On the other hand, considering that the transmitting end and the receiving end can be arranged on the side wall (or cavity wall) of the dust collecting structure, the distance between the transmitting end and the receiving end can be determined according to the distance between the side walls.

[0131] In order to ensure the detection effect, it is understood that the maximum distance between the two side walls should be within the effective detection distance of the detection component.

[0132] Exemplarily, in one embodiment, under the premise that the transmitting end 311 and the receiving end 312 are arranged opposite each other, the installation distance between the two ranges from 100 mm to 220 mm, or the spacing between the two side walls close to the air inlet (or the wall perpendicular to the air inlet) is between 100 mm and 220 mm, and the angle between the geometric center points of the transmitting end 311 and the receiving end 312 is 180°±2° to ensure the smooth transmission of the detection signal.

[0133] For example, when an ultrasonic sensor is selected as the detection component, the transmitting end and the receiving end of the ultrasonic probe are correspondingly installed on both sides of the dust box as close to the air inlet as possible (located on the two side walls) and set close to the top wall. This installation position can greatly improve the utilization rate of the dust box.

[0134] The installation and fixing of the transmitting end and the receiving end may be carried out by any method such as mechanical connection or bonding.

[0135] The installation distance range of the ultrasonic probe needs to be between 100mm and 220mm (for example, the distance between the two side walls of the wall perpendicular to the air inlet); the transmitting end (probe) and the receiving end (probe) of the ultrasonic probe are directly facing each other, and the angle between the geometric center points of the transmitting probe and the receiving probe is 180°±2° to ensure signal reception.

[0136] According to the detection needs, the setting position and setting quantity of the detection component 31 can be adaptively adjusted, and the present application does not make specific limitations on this; for ease of understanding, the setting position and setting quantity of the detection component 31 are exemplarily explained below on the premise that the detection component 31 includes a transmitting end 311 and a receiving end 312, and the transmitting end 311 and the receiving end 312 are located on both sides of the air inlet 24.

[0137] When it is only necessary to detect whether the internal space of the dust collecting structure 2 is filled with dirt 4, a group of detection components 31 can be set only in the area corresponding to the top of the internal space of the dust collecting structure 2. In this way, when the dirt 4 in the dust collecting structure 2 accumulates to its top (that is, the internal space of the dust collecting structure 2 is filled with dirt 4), foreign matter appears in the signal transmission channel of the detection component 31, causing the signal received by the receiving end 312 of the detection component 31 to attenuate, thereby realizing the monitoring of whether the dust collecting structure 2 is full. Further preferably, in order to improve the detection accuracy, the detection component 31 can be set close to the air inlet 24 of the dust collecting structure 2 and close to the top wall of the dust collecting structure 2. Fig.17 , Fig.19 , Fig.21 and Fig.23 ,as well as Fig.18 , Fig. 20 , Fig. 22 and Fig.24 The gradual accumulation of dirt 4 in the dust collecting chamber of the dust collecting structure 2 is shown from different perspectives. It can be seen from the figure that during the cleaning process, the dirt will preferentially concentrate at a position away from the air inlet 24, and as the dirt 4 accumulates, it will gradually approach the air inlet 24. Therefore, in the above embodiment, the detection component 3 is set at a position close to the air inlet 24, which can more accurately detect whether the dust collecting chamber is filled with dirt 4.

[0138] When it is necessary to monitor the occupancy of the internal space of the dust collecting structure 2 in stages, multiple groups of detection components 31 can be set at corresponding positions on the side wall of the dust collecting structure 2 along the height direction. For example, when it is necessary to detect whether the dirt 4 occupies 50% and 100% of the internal space of the dust collecting structure 2, one or more groups of detection components 31 can be set at the center position of the side wall of the dust collecting structure 2 and the top of the side wall of the dust collecting structure 2, respectively. In this way, it is possible to detect whether the dirt 4 occupies 50% of the internal space of the dust collecting structure 2 by the detection component 31 set at the center position of the side wall of the dust collecting structure 2, and to detect whether the dirt 4 occupies 100% of the internal space of the dust collecting structure 2 by the detection component 31 set at the top of the side wall of the dust collecting structure 2, thereby realizing the staged monitoring of the occupancy of the internal space of the dust collecting structure 2.

[0139] Of course, in addition to the above-mentioned adjustment, the detection component 31 can also be selectively set on the dust collection structure 2 or on the base 1 of the cleaning robot; for example, in some embodiments, Figure 1 to Figure 4 As shown, the cleaning robot includes a base 1, a detection component 31 is arranged on the base 1, and a through hole is arranged on the dust collecting structure 2 at a position corresponding to the detection component 31. Specifically, a transmitting end 311 and a receiving end 312 in the detection component 31 are respectively arranged on both sides of the dust collecting structure 2 and fixed on the base 1, and a through hole is arranged on the side wall of the detection component 31 at a position corresponding to the transmitting end 311 and the receiving end 312 to avoid the side wall of the dust collecting structure 2 from interfering with the transmission of the detection signal. In other embodiments, such as Figure 5 to Figure 17 As shown, the detection component 31 is arranged on the dust collecting structure 2. Specifically, the transmitting end 311 and the receiving end 312 in the detection component 31 are respectively arranged on the two side walls of the dust collecting structure 2. The area on the side wall of the dust collecting structure 2 where the transmitting end 311 and the receiving end 312 are fixed can be provided with a groove or an opening for accommodating the transmitting end 311 and the receiving end 312.

[0140] In addition, the dust full detection device 3 also includes a controller 33 (also called a control structure), such as a control PCB board (PCB board for short, i.e., printed circuit board), the controller 33 is connected to the detection component 31 to provide power for the operation of the detection component 31, and control the input and output of the signal of the detection component 31; the controller 33 can be an independent control structure, or it can be integrated into the master control structure (master control board or main control board) of the cleaning robot, and this application does not make specific restrictions on this. And when the controller 33 is an independent control structure, it can be set on the base 1 of the cleaning robot, or it can be set on the dust collection structure 2.

[0141] Based on the different setting positions of the above-mentioned detection component 31 and the controller 33, the electrical connector 313 used to realize the control connection between the controller 33 and the detection component 31, and the protection component 32 set at the assembly position of the detection component 31 and the dust collecting structure 2 have multiple setting modes. For ease of understanding, the following takes several setting schemes of the detection component 31 and the controller 33 as examples to exemplify the electrical connector 313 and the protection component 32.

[0142] Solution 1: The detection component 31 and the controller 33 are both arranged on the base 1 of the cleaning robot.

[0143] For example, the outer edge surfaces of the two probes in the ultrasonic sensor are coated with rubber and fixed together on the chassis of the host. The dust box is formed with openings for accommodating the probes on both sides near the air inlet and above the top arm wall. The positions of the openings correspond to the settings of the two probes on the chassis of the host. When the probes are assembled with the dust box, the rubber surface matches the openings, and the area of ​​the rubber sealing surface is slightly larger than the area of ​​the openings, so that the rubber surface and the outer surface of the dust box opening are pre-pressed (interference fit) for sealing, preventing air from flowing out of the openings on the dust box, avoiding air leakage during the dust box recovery process, and ensuring the dust collection pressure of the dust box when working.

[0144] The control structure (control PCB board) used to control the sensor probe is connected to the ultrasonic empty box board and probe on the host through a wiring harness. The ultrasonic control board on the host (the PCB board can be an independent control board or integrated with the main control board) provides power and signal input and output for the operation of the probe. At this time, the ultrasonic sensor can monitor the garbage in the dust box area.

[0145] For ease of understanding, refer to Figure 1 to Figure 4 The cleaning robot also includes a base 1, on which a detection component 31 and a controller 33 (not shown in the figure) are arranged, and a through hole for accommodating the detection component 31 is arranged at a position corresponding to the detection component 31 on the dust collecting structure 2; the protection component 32 is arranged on the outer peripheral edge of the detection component 31, and the protection component 32 can be interference fit with the dust collecting structure 2 to achieve a seal between the detection component 31 and the dust collecting structure 2, so that the dirt 4 inside the dust collecting structure 2 will not leak into the interior of the cleaning robot. Exemplarily, in some embodiments, the protection component 32 includes a rubber member coated on the outer peripheral edge of the detection component 31, and when the dust collecting structure 2 is assembled on the base 1 of the cleaning robot, the rubber member cooperates with the through hole on the dust collecting structure 2, and the area of ​​the rubber sealing surface of the rubber member is larger than the opening area of ​​the through hole, so that the rubber member and the outer surface of the through hole of the dust collecting structure 2 are pre-pressed (i.e., interference fit) to achieve sealing, prevent air from flowing out of the opening on the dust collecting structure 2, and avoid air leakage in the dust collecting structure 2 during the cleaning process, thereby ensuring the dust collecting pressure of the cleaning robot when working.

[0146] In this solution, since the detection component 31 and the controller 33 are both arranged on the base 1 of the cleaning robot, the disassembly of the dust collection structure 2 will not affect the connection between the controller 33 and the detection component 31. Therefore, in this solution, the controller 33 and the detection component 31 can be directly connected using a wiring harness.

[0147] Solution 2: The detection component 31 is arranged on the dust collecting structure 2, and the controller 33 is arranged on the base 1 of the cleaning robot.

[0148] For example, the probe in the ultrasonic sensor and the control structure for controlling the operation of the probe are separately arranged, and the probe and the control structure are respectively arranged on the dust box and the host.

[0149] The probe is arranged on the side wall of the dust box and is located on both sides of the air inlet near the top wall of the dust box. A contact electrode sheet is arranged on the probe, and the contact electrode sheet is arranged through the outer wall surface of the side wall. Furthermore, another contact electrode sheet corresponding to the contact electrode sheet is arranged on the chassis of the host.

[0150] The control structure (control PCB board) is arranged in the host and connected to another contact electrode sheet to provide power and signal input and output to another contact electrode sheet. In this embodiment, another contact electrode sheet is connected to the control structure wiring harness.

[0151] After the dust box is installed on the chassis of the host, another contact electrode sheet on the chassis of the host and a contact electrode sheet on the probe touch the contact link. At this time, the ultrasonic sensor obtains power and signal, and the ultrasonic wave can work to monitor the garbage in the dust box area.

[0152] For ease of understanding, Figure 5 to Figure 7 As shown, the cleaning robot also includes a base 1, on which a controller 33 (not shown) is arranged, a detection component 31 is arranged on the side wall of the dust collecting structure 2, and a protection component 32 is formed on the dust collecting structure 2 to protect the detection component 31. Exemplarily, in some embodiments, the protection component 32 includes a groove formed on the surface of the dust collecting structure 2; the detection component 31 includes an electrical connector 313 that penetrates the dust collecting structure 2 and is arranged on the outer wall of the dust collecting structure 2, and the electrical connector 313 is arranged in the groove, and the electrical connector 313 is protected by the groove to reduce the probability of damage due to collision during the disassembly and installation of the dust collecting structure 2; in addition, a sealing structure is arranged around the electrical connector 313, and the sealing structure is used to prevent the cleaning liquid from entering the detection component 31 when the dust box is cleaned.

[0153] Furthermore, in a more specific embodiment, in order to avoid the electrical connection 313 between the dust collecting structure 2 and the controller 33 from being damaged during the disassembly process of the dust collecting structure 2, a first contact electrode sheet 3131 can be provided on the outer wall surface of the dust collecting structure 2, and the first contact electrode sheet 3131 is electrically connected to the detection component 31, and a second contact electrode sheet 3132 is provided on the base 1, and when the dust collecting structure 2 is installed on the base 1, the first contact electrode sheet 3131 and the second contact electrode sheet 3132 need to be able to contact and connect, and at the same time, the second contact electrode sheet 3132 is electrically connected to the controller 33; Therefore, during the cleaning process of the cleaning robot, the dust collecting structure 2 is installed on the base 1, and the detection component 31 and the controller 33 can be controlled and connected through structures such as the first contact electrode sheet 3131 and the second contact electrode sheet 3132; when the internal space of the dust collecting structure 2 is filled with dirt 4 and the dust collecting structure 2 needs to be disassembled, since the first contact electrode sheet 3131 and the second contact electrode sheet 3132 are in contact connection, the separation of the two will not cause damage to the structure itself, thereby avoiding the electrical connection 313 between the dust collecting structure 2 and the controller 33 from being damaged during the disassembly process.

[0154] Solution three: the detection component 31 and the controller 33 are both arranged on the dust collecting structure 2 .

[0155] For example, the probe in the ultrasonic sensor and the control structure for controlling the operation of the probe are both arranged on the dust box.

[0156] The probe is arranged on the side wall of the dust box and is located on both sides of the air inlet close to the top wall of the dust box. A contact electrode sheet is arranged on the probe and the contact electrode sheet penetrates the outer wall surface of the side wall.

[0157] The control structure is arranged on the side wall of the dust box and is connected to the probe harness, so as to control the operation of the probe and realize the input and output of the sensor signal; wherein, the probe located on the same side wall as the control structure is directly connected to the control structure through the harness, and the probe located on the other side wall is also connected to the control structure through the harness, and a harness channel for accommodating the passage of the harness is provided on the dust box to prevent the occurrence of problems such as damage to the harness / difficulty in installation due to exposure of the harness.

[0158] Furthermore, another contact electrode sheet is provided on the chassis of the host machine corresponding to the contact electrode sheet on the probe, and the other contact electrode sheet is connected to the main control board on the host machine (short for cleaning robot). When the dust box is installed on the host machine, the contact electrode sheet on the probe contacts with another contact electrode sheet on the chassis of the host machine, and power (electric energy) is provided to the control structure of the sensor. The control structure provides signal input and output to the probe. At this time, the ultrasonic sensor can detect garbage in the dust box area.

[0159] like Figure 8 to Figure 17As shown, the detection component 31 and the controller 33 are arranged on the side wall of the dust collecting structure 2, and the protection component 32 is formed on the dust collecting structure 2 to protect the detection component 31 and the controller 33 at the same time. Exemplarily, in some embodiments, the protection component 32 includes a groove formed on the surface of the dust collecting structure 2; the detection component 31 and the controller 33 are both arranged in the groove, and the detection component 31 and the controller 33 are protected by the groove to reduce the probability of damage due to bumps during the disassembly and installation of the dust collecting structure 2.

[0160] In this solution, since the detection component 31 and the controller 33 are both arranged on the dust collecting structure 2, the disassembly of the dust collecting structure 2 will not affect the connection between the controller 33 and the detection component 31. Therefore, in this solution, the controller 33 and the detection component 31 can be directly connected using a wiring harness.

[0161] It should be understood that the above is only an exemplary description of the electrical connector 313 and the protection component 32 by taking the three configuration schemes of the detection component 31 and the controller 33 as examples, but the present application is not limited thereto. For example, in some embodiments, the protection component 32 may also include a wire groove 321, which is formed on the dust collecting structure 2; the controller 33 and the detection component 31 are connected by a connecting wire, which is arranged in the wire groove 321 to protect the connecting wire. In a specific embodiment, Figure 8 to Figure 17 As shown, the controller 33 is arranged on the side wall of the dust collecting structure 2 and is connected to the detection component 31 by a wire harness to control the operation of the detection component 31 and realize the input and output of the detection signal; wherein the detection component 31 located on the same side wall as the controller 33 is directly connected to the controller 33 by a wire harness, and the detection component 31 located on the other side wall is also connected to the controller 33 by a wire harness, and the dust collecting structure 2 is provided with a wire harness channel for accommodating the wire harness to pass through, so as to prevent the occurrence of problems such as damage to the wire harness / difficult installation caused by the exposed wire harness. In addition, the protection component 32 may also include a plug, a socket, etc.

[0162] The figure also schematically shows the relatively arranged transmitting side plate 22 and receiving side plate 23, which are used to protect the transmitting end probe 311 and the receiving side probe 312 respectively. For example, after installing the transmitting end probe 311 and the receiving side probe 312, the corresponding transmitting side plate 22 and the receiving side plate 23 are covered on the outside of the transmitting end probe 311 and the receiving side probe 312 to protect them. It can be understood that the controller 33 and the transmitting end probe 311 are on the same side. In this case, the transmitting side plate 22 can also protect the controller 33. Fig.10 and Fig.13 .

[0163] It should be noted that the above-mentioned side panels (including the transmitting side panels 22 and the receiving side panels 23) can be a part of the cavity wall or a part independent of the cavity wall, and the materials used for the side panels and the cavity wall can be the same or different; in one embodiment, the transmitting side panels 22 and the receiving side panels 23 are made of the same material as the cavity wall of the dust collecting structure.

[0164] In some embodiments, there is a gap between the detection component 31 and the cavity wall of the dust collecting structure 2, and a buffer pad (such as a rubber pad, a sealing pad, etc.) is arranged in the gap to improve the shock resistance of the detection component 31, and at the same time can be dust-proof and liquid-proof (playing the role of protecting the component, so the buffer pad can be used as an implementation structure of the protection component 32), thereby improving the service life of the detection component and the dust collecting structure; in addition, by setting the buffer pad, it is also helpful to reduce the attenuation problem caused by the transmission of the detection signal along the cavity wall of the dust collecting structure.

[0165] In addition, a housing portion 21 can be further provided on the dust collecting structure 2 for accommodating the detection component 31 and sealing the detection component 31. Thus, on the one hand, it can prevent the dirt 4 such as water in the airflow from leaking to the outside of the dust collecting structure 2 through the gap between the detection component 31 and the dust collecting structure 2 during the dust collecting process, thereby affecting the normal operation of the cleaning robot. On the other hand, it can prevent the detection component 31 from being exposed on the inner side of the dust collecting structure 2, thereby avoiding the accumulation of dust on the detection component 31 and causing abnormal use of the detection component 31. Exemplarily, the accommodating portion 21 includes a through hole or a groove formed on the dust collecting structure 2, and a protective component 32 (such as a rubber ring, etc.) is provided at the through hole or the groove, and the dirt 4 in the dust collecting structure 2 is isolated by the protective component 32; further, in some embodiments, the protective component 32 also includes an isolation net arranged in the through hole or the groove on the side away from the detection component 31, which effectively blocks the dust in the dust collecting structure 2 and prevents the dust from affecting the operation of the detection component 31. Of course, the above-mentioned isolation net can also be replaced by a transparent isolation plate, which can be integrally or separately arranged with the through hole or the groove. When the transparent isolation plate is integrally arranged with the through hole or the groove, the sealing structure can be cancelled; the transparent isolation plate can have the effect of sealing and isolating at the same time. In other embodiments, the protective component 32 also includes an openable and closable protective structure, which is arranged on the dust collecting structure 2, including a movable baffle and a trigger structure, and the trigger structure is arranged on the outer wall surface of the dust collecting structure 2, and is used to control the movable baffle to realize the opening and closing of the protective structure. Specifically, when the dust collecting structure 2 is accommodated on the base 1 of the cleaning robot, the control baffle is opened under the control of the trigger structure, so that the detection component 31 is exposed, so that the detection component 31 can detect the dirt 4 in the dust collecting structure 2; when the dust collecting structure 2 is separated from the base 1 of the cleaning robot, the control baffle is closed under the control of the trigger structure to achieve the closure of the detection component 31, and prevent the cleaning liquid or water from entering the detection component 31 and causing damage when the dust collecting structure 2 is cleaned. Of course, in addition to being set to an openable and closable form through a movable baffle, the protective structure can also be set to a form that can be moved as a whole. When the dust collecting structure 2 is accommodated on the base 1 of the cleaning robot, the protective structure moves to expose the detection component 31, so that the detection component 31 can detect the dirt 4 in the dust collecting structure 2; when the dust collecting structure 2 is separated from the base 1 of the cleaning robot, the protective structure is reset to achieve the closure of the detection component 31, and prevent the cleaning liquid or water from entering the detection component 31 and causing damage when the dust collecting structure 2 is cleaned.

[0166] In addition, the cleaning robot further includes a control unit capable of writing an identification threshold, and the dust full detection device 3 is communicatively connected to the control unit, so that the control unit can identify the signal detected by the dust full detection device 3, and control the cleaning robot to stop cleaning when the signal value detected by the dust full detection device 3 reaches the identification threshold. Exemplarily, in some embodiments, the cleaning robot further includes a base station and a control unit capable of writing an identification threshold, and the dust full detection device 3 is communicatively connected to the control unit.

[0167] In summary, taking the detection component as an ultrasonic sensor as an example, there are three schemes for the layout of the probe and sensor control board of the ultrasonic sensor in the present disclosure. In scheme one, the sensor control board and the probe are installed on the main chassis; in scheme two, the sensor control board is installed on the main chassis, and the probe is installed on the dust box; in scheme three, both the sensor control board and the probe are installed on the dust box.

[0168] As some embodiments, similar to Scheme 3, the present application also provides Scheme 4, which provides a layout of a detection component and a controller. Since Schemes 1 to 3 all use a window opening method to prevent the probe and / or control panel from being placed on the dust box, although this method can add an additional dust full detection function after the dust box in the dust collection structure 2 is manufactured to reduce costs, these solutions have certain disadvantages, namely, the original structure of the dust box is destroyed, the stress intensity is reduced, and the appearance of the dust box is not simple by adding a dust full detection function through a window opening, so the present application proposes some solutions to suppress the above problems.

[0169] like Fig.26 The dust full detection device integrated diagram shown in FIG. Fig. 27 The first angle schematic diagram of the dust full detection device shown in the figure includes a dust collecting structure 2 and a dust full detection device 3. The dust full detection device 3 includes a detachable bearing part 5, a detection component 31 and a controller 33. The detection component 31 and the controller 33 are fixedly connected to the detachable bearing part 5, for example, the detection component 31 is fixed to the detachable bearing part 5 by glue, and the controller 33 is covered and fixed to the side of the detachable bearing part 5 facing the dust collecting structure 2 by silicone. The detachable bearing part 5 is connected to the side wall of the dust collecting structure 2 by rivets, screws or clamps, and the side wall of the dust collecting structure 2 is provided with a hole corresponding to the detection component 31. After the detachable bearing part 5 is connected to the side wall of the dust collecting structure 2, the detection component 31 transmits or receives a detection signal through the hole in the side wall of the dust collecting structure 2.

[0170] In this scheme, since the detection component 31 and the controller 33 are both arranged on the detachable bearing part 5, the detachable bearing part 5 can be connected to the dust collecting structure 2 by screws, rivets, etc., and form a flat outer surface with the dust collecting structure, the disassembly of the dust collecting structure 2 will not affect the connection between the controller 33 and the detection component 31, therefore, in this scheme, the controller 33 and the detection component 31 can be directly connected by a harness. In this way, it is not necessary to open a window on the dust collecting structure 2, so the stress intensity of the dust collecting structure 2 will not be changed. In addition, since the detachable bearing part 5 can fit with the dust collecting structure 2, the surface of the dust collecting structure 2 can be made relatively flat, making the disassembly of the dust collecting structure 2 more convenient. In addition, since the detachable bearing part 5 can be connected or separated from the dust collecting structure 2 by screws and rivets, when the detection component 31 is abnormal or damaged, it can be disassembled and replaced only by screws, and the normal dust collecting mechanism 2 can be retained, thus reducing the cost of repair or abnormal maintenance.

[0171] like Fig.28 The dust collecting structure and the front view of the dust full detection device are shown. It should be understood that the following is only an exemplary description of the protection component 32 using the setting scheme of the detection component 31 and the controller 33 as an example, but the present application is not limited to this. For example, in some embodiments, the dust collecting structure 2 is provided with a protection component 32, and the protection component 32 includes a wire groove 321, and the wire groove 321 is formed on the dust collecting structure 2; the controller 33 and the detection component 31 are connected by a connecting wire, and the connecting wire is arranged in the wire groove 321 to protect the connecting wire. Fig. 27 The air inlet 24 is also schematically pointed out. The present application is provided with an air filter 25 on the opposite side of the air inlet 24. Dust can enter the dust collecting structure 2 along with the air flow through the air inlet 24. Since the mobility of the air flow in the sealed space is limited, an air filter 25 is provided on the opposite side of the air inlet. The air flow can flow to the air filter 25 via the air inlet 24. Finally, the air filter 25 filters the dust in the dust collecting structure 2. In the present application, the air filter 25 can be a HEPA (High Efficiency Particulate Air Filter). In the present application, two detection components 31 are respectively arranged on the two side walls of the dust collecting structure 2 of the air inlet 24, and the two side walls can be relative or adjacent.

[0172] In a specific embodiment, Fig. 27In the first angle schematic diagram of the dust full detection device shown, the controller 33 is arranged on the detachable carrying part 5 and is connected to the detection component 31 through a wire harness to control the operation of the detection component 31 and realize the input and output of the detection signal; wherein, the detection component 31 located on the same detachable carrying part 5 as the controller 33 is directly connected to the controller 33 through a wire harness, and the detection component 31 located on another detachable carrying part 5 is also connected to the controller 33 through a wire harness, and the dust collecting structure 2 is provided with a wire harness channel for accommodating the wire harness to pass through, so as to prevent the occurrence of problems such as damage to the wire harness / difficult installation caused by the exposure of the wire harness. In addition, the protection component 32 may also include a plug, a socket, etc.

[0173] like Fig.29 The top view of the dust full detection device shown in the figure, specifically, the detachable bearing part 5 includes a detachable transmitting bearing part 51 and a detachable receiving bearing part 52, and the figure also schematically shows the relatively arranged detachable transmitting bearing part 51 and the detachable receiving bearing part 52, which are respectively used to carry and protect the transmitting end probe 311 and the receiving side probe 312, for example, the transmitting end probe 311 is fixedly set on the detachable transmitting bearing part 51, and the receiving end probe 312 is fixedly set on the detachable receiving bearing part 52, so as to carry and protect them. It can be understood that the controller 33 and the transmitting end probe 311 are on the same side, in which case the detachable transmitting bearing part 51 can also protect the controller 33, and in addition, the controller 33 can also be on the same side as the receiving end probe 312, in which case the detachable receiving bearing part 52 can also protect the controller 33.

[0174] It should be noted that the above-mentioned detachable carrying part 5 may be made of the same material as that of the dust collecting box, or a different material, and the material between the detachable transmitting carrying part 51 and the detachable receiving carrying part 52 may be different or different; in one embodiment, the detachable carrying part 5 is made of a material different from the cavity wall of the dust collecting structure 2, and the detachable transmitting carrying part 51 and the detachable receiving carrying part 52 are made of the same material.

[0175] In some embodiments, there is a gap between the detection component 31 and the cavity wall of the dust collecting structure 2, and a buffer pad (such as a rubber pad, a sealing pad, etc.) is arranged in the gap to improve the anti-vibration ability of the detection component 31, and at the same time can be dust-proof and liquid-proof (playing the role of protecting the component, so the buffer pad can be used as an implementation structure of the protection component 32), thereby improving the service life of the detection component 31 and the dust collecting structure 2; in addition, by setting the buffer pad, it is also helpful to reduce the attenuation problem caused by the transmission of the detection signal along the cavity wall of the dust collecting structure.

[0176] like Fig.26 and Fig.28As shown, in addition, a accommodating portion 21 can be further provided on the dust collecting structure 2 for accommodating the detection component 31 and sealing the detection component 31. Thus, on the one hand, during the dust collecting process, water and other impurities in the airflow can be prevented from leaking to the outside of the dust collecting structure 2 through the gap between the detection component 31 and the dust collecting structure 2, thereby affecting the normal operation of the cleaning robot. On the other hand, the detection component 31 can be prevented from being exposed on the inner side of the dust collecting structure 2, thereby avoiding dust accumulation on the detection component 31 and causing abnormal use of the detection component 31. Exemplarily, the accommodating portion 21 includes a through hole or a groove formed on the dust collecting structure 2, and a protective component 32 (such as a rubber ring, etc.) is provided at the through hole or the groove, and the dirt (not shown) in the dust collecting structure 2 is isolated by the protective component 32; further, in some embodiments, the protective component 32 also includes an isolation net arranged in the through hole or the groove away from the detection component 31, which effectively blocks the dust in the dust collecting structure 2 and prevents the dust from affecting the operation of the detection component 31. Of course, the above-mentioned isolation net can also be replaced by a transparent isolation plate, which can be integrally or separately arranged with the through hole or the groove. When the transparent isolation plate is integrally arranged with the through hole or the groove, the sealing structure can be cancelled; the transparent isolation plate can have the effect of sealing and isolating at the same time. In other embodiments, the protective component 32 also includes an openable and closable protective structure, which is arranged on the dust collecting structure 2, including a movable baffle and a trigger structure, and the trigger structure is arranged on the outer wall surface of the dust collecting structure 2, and is used to control the movable baffle to realize the opening and closing of the protective structure. Specifically, when the dust collecting structure 2 is accommodated on the base 1 of the cleaning robot, the control baffle is opened under the control of the trigger structure, so that the detection component 31 is exposed, so that the detection component 31 can detect the dirt 4 in the dust collecting structure 2; when the dust collecting structure 2 is separated from the base 1 of the cleaning robot, the control baffle is closed under the control of the trigger structure to achieve the closure of the detection component 31, and prevent the cleaning liquid or water from entering the detection component 31 and causing damage when the dust collecting structure 2 is cleaned. Of course, in addition to being set to an openable and closable form through a movable baffle, the protective structure can also be set to a form that can be moved as a whole. When the dust collecting structure 2 is accommodated on the base 1 of the cleaning robot, the protective structure moves to expose the detection component 31, so that the detection component 31 can detect the dirt 4 in the dust collecting structure 2; when the dust collecting structure 2 is separated from the base 1 of the cleaning robot, the protective structure is reset to achieve the closure of the detection component 31, and prevent the cleaning liquid or water from entering the detection component 31 and causing damage when the dust collecting structure 2 is cleaned.

[0177] In the present application, when the dust collecting structure 2 is housed on the base 1 of the cleaning robot, the controller 33 is electrically connected to the main control board on the base 1. At this time, the controller can draw power or transmit signals from the main control board on the host (short for the cleaning robot).

[0178] In addition, the cleaning robot also includes a control unit capable of writing an identification threshold, and the dust full detection device 3 is communicatively connected to the control unit so that the control unit can identify the signal detected by the dust full detection device 3, and control the cleaning robot to stop cleaning when the signal value detected by the dust full detection device 3 reaches the identification threshold.

[0179] In Plans 1 to 3, the dust box is also provided with a receiving portion for receiving the probe, and the receiving portion is used to seal the probe. The provision of the receiving portion can, on the one hand, prevent dirty liquids such as water in the airflow from entering the main unit through the gap between the probe and the dust box during the dust collection process, causing abnormal use of the main unit; on the other hand, it can prevent the probe from being exposed on the inside of the dust box, avoiding dust accumulation on the probe, causing abnormal use of the probe.

[0180] In an embodiment of the present disclosure, the housing portion includes an opening formed on the dust box and a sealing structure arranged in the opening. In Example 1, the sealing structure includes a rubber ring arranged on the outer peripheral edge of the probe, and the rubber ring is used to isolate the moisture in the dust box; further, the housing portion also includes an isolation member on the inner side of the opening, and the isolation member can be an isolation net arranged on the side of the opening away from the probe, which effectively blocks the dust in the dust box and prevents the dust from affecting the operation of the probe.

[0181] Of course, the isolation component can also be a transparent isolation plate, which can be integral with the opening or separately provided. When the transparent isolation plate is integral with the opening, the rubber ring provided on the periphery of the opening can be eliminated; the transparent isolation plate can simultaneously play the role of sealing and isolation.

[0182] At the same time, the isolation component can also be a movable / openable or closed isolation component. In this case, the isolation component can protect the probe only when the dust box is removed for cleaning. That is, when the dust box is housed in the main unit, the isolation component is in an open state, which is convenient for the probe to detect dirt in the dust box; when the dust box is removed from the main unit, the isolation component is in a closed state. At this time, the isolation component can seal the probe to prevent cleaning liquid / water from entering the probe and causing damage to the probe when the dust box is cleaned.

[0183] Furthermore, when the isolation component is a movable / openable or closable isolation component, the isolation component may include an isolation baffle with adjustable position and a control component for controlling the isolation baffle. When the dust box is combined with the host, the host triggers the control component to control the isolation baffle to open, exposing the probe to achieve detection. When the dust box is separated from the host, the control component resets and controls the isolation baffle to close, completing the shielding of the probe to prevent damage to the probe when cleaning the dust box.

[0184] It is understandable that no matter how the detection component and the controller are arranged, the detection logic of the dust full detection is similar. The detection logic of the dust full detection is briefly described below:

[0185] When a cleaning robot (such as a sweeper, mop, sweeper and mop all-in-one) performs a cleaning task (cleaning tasks include global cleaning, regional cleaning, custom cleaning and other different methods), the sensor continuously monitors the state of the garbage in the dust box. When the garbage in the dust box blocks the transmission channel from the transmitter to the receiver, the signal decays to the alarm threshold and continuously outputs a high-level signal for a certain period of time, an alarm is triggered (for example, the sensor transmits a signal every 100ms, and detects 20 times in 2s and outputs all high-level signals), and returns to the base station for central dust collection. Otherwise, the robot will continue to perform the cleaning task. If the cleaning task is completed, the robot also returns to the base station for central dust collection. After dust collection is completed, it is determined again whether the ultrasonic signal decays to the alarm threshold and continuously outputs a high-level signal alarm for a certain period of time. If an alarm is triggered, the execution is (1) to perform central dust collection again. If no alarm is triggered, the dust collection is completed and the next action is executed. After (1), it is determined for the third time whether the ultrasonic signal decays to the alarm threshold and continuously outputs a high-level signal alarm for a certain period of time. If an alarm occurs again, the execution is (2) the base station issues an instruction to remind the user to clean the dust box.

[0186] The detection is valid only when the fan is on during the cleaning task. After the robot vacuum cleaner returns to the base station, the detection is valid whether the fan is on or off.

[0187] It should be noted that the ultrasonic sensor sets the recognition threshold through software. When the ultrasonic signal received by the receiving end attenuates to the recognition threshold, the ultrasonic sensor sends a dust full signal. The robot receives the dust full signal and returns to the base station for central dust collection.

[0188] like Fig.25As shown, before the cleaning robot in this application performs a cleaning task (cleaning tasks include global cleaning, regional cleaning, custom cleaning and other different methods), it first uses the control unit to set the threshold of the detection signal (such as an ultrasonic sensor), and then performs the cleaning task. In the process of performing the cleaning task, the detection logic of the dust collection situation is: the detection component 31 continuously monitors the state of the dirt 4 in the dust collection structure 2. When the dirt 4 in the dust collection structure 2 blocks the transmission channel from the transmitting end 311 to the receiving end 312, causing the signal to decay to the alarm threshold and continuously output a high-level signal within a certain period of time, an alarm is triggered (for example, the detection component 31 emits a signal every 100ms, and 20 detections in 2s all output high-level signals). At this time, the cleaning robot returns to the base station for central dust collection, otherwise the cleaning robot will continue to perform the cleaning task. If the cleaning task is completed, the cleaning robot also returns to the base station for central dust collection. After the dust collection is completed, it is judged again whether the ultrasonic signal decays to the alarm threshold and continuously outputs a high-level signal alarm within a certain period of time. If an alarm is triggered, central dust collection is performed again at the base station. If no alarm is triggered, the dust collection is completed and the next action is executed. In addition, after central dust collection is performed again, it is determined for the third time whether the ultrasonic signal has decayed to the alarm threshold and continuously outputs a high-level signal alarm within a certain period of time. If the alarm occurs again, the base station issues an instruction to remind the user to clean the dust box.

[0189] In addition, it should be noted that: when performing the cleaning task, the fan is in the on state, the detection is valid. After the cleaning robot returns to the base station, the detection is valid whether the fan is on or off.

[0190] The following is an illustrative description of the related technologies involved in this application by way of specific embodiments.

[0191] Embodiment 1:

[0192] like Figure 1 to Figure 4 As shown, the cleaning robot in this embodiment includes a base 1, a dust collecting structure 2 and a dust full detection device 3, wherein:

[0193] The dust full detection device 3 is arranged on the base 1, and includes a detection component 31, a protection component 32 and a controller 33 for detecting the dust collection condition of the dust collecting structure 2. The detection component 31 in this embodiment is an ultrasonic sensor, which includes an ultrasonic transmitting end 311 and an ultrasonic receiving end 312. The ultrasonic transmitting end 311 is used to transmit ultrasonic signals; the ultrasonic receiving end 312 is arranged opposite to the ultrasonic receiving end 312, and is used to receive ultrasonic signals. During the detection process, the detection is carried out according to the attenuation (or shielding) of the ultrasonic wave, which can effectively avoid the loss of the ultrasonic wave, thereby ensuring the accuracy of the detection; in addition, the ultrasonic transmitting end 311 and the ultrasonic receiving end 312 are arranged relative to each other, which also reduces the volume of the ultrasonic detection component 31 arranged in the dust collecting structure 2, which is conducive to the miniaturization design of the dust collecting structure 2. The protection component 32 includes a rubber part arranged on the outer peripheral edge of the detection component 31, and the rubber part can be interference fit with the inner edge of the accommodating portion 21. Specifically, when the dust collecting structure 2 is assembled on the base 1 of the cleaning robot, the rubber part cooperates with the through hole on the dust collecting structure 2, and the area of ​​the rubber sealing surface of the rubber part is larger than the opening area of ​​the through hole, so that the rubber part and the outer surface of the through hole of the dust collecting structure 2 are pre-pressed (i.e., interference fit) to achieve sealing, prevent air from flowing out of the opening on the dust collecting structure 2, avoid air leakage in the dust collecting structure 2 during the cleaning process, and thus ensure the dust collecting pressure of the cleaning robot when working. The controller 33 is connected to the detection component 31 to provide power for the operation of the detection component 31 and control the input and output of the signal of the detection component 31.

[0194] The dust collecting structure 2 is detachably arranged in the base 1, and a housing portion 21 is arranged on the dust collecting structure 2 (the housing portion 21 here refers to a through hole or a groove formed on the side wall of the dust collecting structure 2), and the detection component 31 is sealed and accommodated in the housing portion 21; the detection component 31 is sealed by the housing portion 21, so that, on the one hand, during the dust collection process of the dust collecting structure 2, water and other impurities 4 in the airflow can be prevented from leaking to the outside of the dust collecting structure 2 through the gap between the detection component 31 and the dust collecting structure 2, thereby affecting the normal operation of the cleaning robot; on the other hand, the detection component 31 can be prevented from being exposed on the inner side of the dust collecting structure 2, thereby avoiding dust accumulation on the detection component 31 and causing abnormal use of the detection component 31.

[0195] Embodiment 2:

[0196] The difference from the first embodiment is that the detection component 31 in the present embodiment is arranged on the dust collecting structure 2, and the controller 33 is arranged on the base 1, and the detection component 31 in the present embodiment also includes an electrical connector 313 arranged through the accommodating portion 21, which is used to realize the control connection between the controller 33 and the detection component 31; specifically, as Figures 5 to 8As shown, the electrical connector 313 in this embodiment includes a first contact electrode sheet 3131 arranged on the outer wall surface of the dust collecting structure 2 and a second contact electrode sheet 3132 arranged on the base 1, and the first contact electrode sheet 3131 is connected to the detection component 31 through a wiring harness, and the second contact electrode sheet 3132 is connected to the controller 33 through a wiring harness; when the dust collecting structure 2 is installed on the base 1, the first contact electrode sheet 3131 and the second contact electrode sheet 3132 can be in contact and connected; in this way, during the cleaning process, the dust collecting structure 2 of the cleaning robot Installed on the base 1, the detection component 31 and the controller 33 can be connected through the structures such as the first contact electrode sheet 3131 and the second contact electrode sheet 3132; when the internal space of the dust collecting structure 2 is filled with dirt 4 and the dust collecting structure 2 needs to be disassembled, since the first contact electrode sheet 3131 and the second contact electrode sheet 3132 are in contact connection, the separation of the two will not cause damage to the structure itself, thereby avoiding the electrical connection 313 between the dust collecting structure 2 and the controller 33 from being damaged during the disassembly process of the dust collecting structure 2.

[0197] Embodiment 3:

[0198] The difference from the first and second embodiments is that the detection component 31 and the controller 33 in this embodiment are both arranged on the dust collecting structure 2, the detection component 31 and the controller 33 are connected by a wire harness, the protection component 32 may further include a wire groove 321, and the wire groove 321 is formed on the dust collecting structure 2; the controller 33 and the detection component 31 are connected by a connecting wire, and the connecting wire is arranged in the wire groove 321 to protect the connecting wire. Specifically, as Figures 9 to 12 As shown, the controller 33 is arranged on the side wall of the dust collecting structure 2 and is connected to the detection component 31 wiring harness to control the operation of the detection component 31 and realize the input and output of the detection signal; wherein, the detection component 31 located on the same side wall as the controller 33 is directly connected to the controller 33 through the wiring harness, and the detection component 31 located on the other side wall is also connected to the controller 33 through the wiring harness, and the dust collecting structure 2 is provided with a wiring harness channel for accommodating the wiring harness to pass through, so as to prevent the occurrence of problems such as damage to the wiring harness / difficulty in installation due to exposure of the wiring harness.

[0199] Furthermore, if Figures 9 to 12As shown, a first contact electrode sheet 3131 is also provided on the outer wall surface of the side wall of the dust collecting structure 2, and the first contact electrode sheet 3131 is electrically connected to the detection component 31. A second contact electrode sheet 3132 corresponding to the first contact electrode sheet 3131 is provided on the base 1, and the second contact electrode sheet 3132 is connected to the main control structure on the base 1 of the cleaning robot. When the dust collecting structure 2 is installed on the base 1, the first contact electrode sheet 3131 contacts the second contact electrode sheet, and power is provided to the detection component 31 and the controller 33. The controller 33 controls the input and output of the detection signal of the detection component 31. At this time, the detection component 31 can detect the dirt 4 inside the dust collecting structure 2.

[0200] In order to solve the problems that infrared and reflective ultrasonic sensors cannot accurately identify the volume of dirt collected in a dust collecting structure, and that a dust collecting structure equipped with a sensor is difficult to clean and disassemble, this proposal provides a robot with a dust full detection device. The dust full detection device includes a detection component and a protection component. The protection component can seal and protect the position of the detection component and the dust collecting structure when they are assembled, so as to prevent dirty liquid in the dust collecting structure from entering the robot and causing abnormal use of the robot. At the same time, by arranging the detection component beside the air inlet of the dust collecting structure, and arranging a combination of the detection component and the dust collecting structure (split or integrated installation), it is convenient to connect the dust collecting structure equipped with the dust full detection device to the robot for installation; effectively improve the accuracy of dust full detection; and facilitate the assembly of the dust collecting structure and the robot.

[0201] 1. A robot with a dust full detection device, the robot comprising a dust collecting structure for collecting dust, and the dust full detection device is used to detect the dust collection condition of the dust collecting structure;

[0202] The dust full detection device includes a detection component and a protection component. The protection component can seal and protect the assembly position of the detection component and the dust collecting structure when they are assembled (to prevent dirty liquid in the dust collecting structure from entering the robot and causing abnormal use of the robot).

[0203] 1.1 The detection component includes a transmitter and a receiver. The transmitter and the receiver are arranged on the side walls on both sides of the air inlet. Since the transmitter and the receiver are arranged opposite to each other, the loss of ultrasonic waves can be effectively avoided to ensure the recognition accuracy of the detection component.

[0204] 1.2 The detection component is arranged on the base of the robot, and a through hole corresponding to the detection component is arranged on the dust collecting structure; the protection component is arranged on the outer peripheral edge of the detection component, and when the detection component is combined with the dust collecting structure, the protection component and the dust collecting structure are interference fit to prevent dust leakage / liquid leakage (Example 1)

[0205] 1.3 The dust full detection device also includes a control PCB, which is arranged on the base of the robot, a detection component is arranged on the dust collecting structure, and a protection component is formed on the dust collecting structure to protect the detection component (Example 2)

[0206] 1.4 The dust full detection device further includes a control PCB. The control PCB and the detection component are both arranged on the dust collecting structure. The protection component is formed on the dust collecting structure to protect the detection component and the control PCB at the same time (Example 3)

[0207] 1.5 The protection component is formed on the dust collecting structure, that is, the protection component is a groove formed on the dust box (the dust collecting structure in this case is the dust box), and the detection component includes a contact point that penetrates the dust box and is arranged on the outer wall of the dust box. The contact point is sealed around to prevent the cleaning liquid from entering the detection component when the dust box is cleaned.

[0208] 1.6 The protection component also includes a wire groove for protecting the connection line for linearly connecting the control PCB and the detection component, and the wire groove is formed on the dust box (Example 3)

[0209] 1.7 The protection component is an openable protection structure set on the dust box, including a movable baffle and a trigger structure for controlling the movable baffle. The trigger structure is set on the outer cover of the dust box to control the movement of the interactive baffle to expose or close the detection component.

[0210] 1.8 Dust-full detection and identification method: the robot has a control device, and the control device can write an identification threshold. When the signal value detected by the dust-full detection device reaches the identification threshold, the robot is controlled to stop the current work and collect dust.

[0211] 2. A robot, comprising a main body, a dust collecting structure detachably arranged in a main body, and a dust full detection device arranged on the main body, the dust full detection device is used to detect the dust collection condition of the dust collecting structure, and comprises a detection component and a protection component; a receiving portion for accommodating the dust full detection component is formed on the dust collecting structure, and the protection component is used to seal the receiving portion to prevent dust / liquid leakage (Example 1)

[0212] 2.1 The protection component is arranged in a form in which the protection component is a rubber component arranged on the outer peripheral edge of the detection component. When the detection component is combined with the accommodating portion, the rubber component is interference-fitted with the inner edge of the accommodating portion.

[0213] 2.2 The accommodation portion is a via formed on the side wall of the integrated structure;

[0214] 2.3 The accommodation portion is a groove formed on the side wall of the integrated structure;

[0215] 2.4 The dust fullness detection device is provided including a control PCB, which is connected to the control of the detection component;

[0216] 2.5 The detection component is an ultrasonic sensor, including a transmitting end and a receiving end, and the transmitting end and the receiving end are arranged opposite to each other.

[0217] 3. A robot comprises a main body, a dust collecting structure detachably arranged in a main body, and a dust full detection device arranged on the main body, wherein the dust full detection device is used to detect the dust collection condition of the dust collecting structure, and comprises a detection component and a control PCB for controlling the detection component; a housing portion for sealingly accommodating the detection component is formed on the dust collecting structure, and the detection component comprises an electrode sheet arranged through the housing portion (outer wall of the dust collecting structure), and is controlled and connected to the control PCB arranged in the main body through the electrode sheet (Example 2).

[0218] 4. A robot comprises a main body, a dust collecting structure detachably arranged in a main body, and a dust full detection device arranged on the main body, wherein the dust full detection device is used to detect the dust collection condition of the dust collecting structure, and comprises a detection component and a control PCB for controlling the detection component; a housing portion for sealing and accommodating the detection component and the control PCB is formed on the dust collecting structure (Example 3).

[0219] 5. A robot with a dust full detection device, which detects the dirt collection situation in the dust collecting structure of the robot. The dust full detection device includes a transmitting end and a receiving end, which are arranged on the side walls of the integrated device on both sides of the air inlet, and the transmitting end and the receiving end are arranged opposite to each other.

[0220] 5.1 The transmitting end and the receiving end are sealed on the two side walls of the dust collecting structure (to prevent the dirty liquid in the dust collecting structure from entering the robot and causing abnormal use of the robot).

[0221] 5.2 Setting location of transmitter and receiver.

[0222] 6. A cleaning robot comprises a main body, a dust collecting structure detachably connected to the main body, and a dust full detection device, wherein the dust full detection device is control-connected to a control unit of the main body, and the control unit can identify the signal attenuation of the dust full detection device and identify the dust collection condition in the dust collecting structure according to the signal attenuation condition.

[0223] 6.1 Setting of signal attenuation threshold;

[0224] 6.2 Control the robot's operation process according to the signal attenuation.

[0225] It should be noted that the design scheme of the dust collection structure provided in the present disclosure can be applied not only to the cleaning robot, but also to the base station of the cleaning robot with a dust collection structure (such as a dust bag) to realize the dust collection maintenance function of the cleaning robot.

[0226] Of course, it can also be applied to a vacuum cleaner base station with a dust collecting structure, such as an upright vacuum cleaner dust collecting base station.

[0227] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0228] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0229] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0230] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0231] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly explain the technical solutions and cannot be used to limit the scope of protection of the present application.

[0232] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A cleaning robot, characterized in that: It includes a fan, a dust collecting structure and a dust full detection device, wherein the dust full detection device includes an ultrasonic sensor, and the dust collecting structure has a dust collecting cavity; The dust collecting structure is provided with an air inlet, and the fan is used to provide airflow into the air inlet to drive dirt into the dust collecting structure; The ultrasonic sensor is used to detect the filling condition of the dirt inside the dust collecting structure.

2. The cleaning robot according to claim 1, characterized in that: The dust full detection device and / or the ultrasonic sensor of the dust full detection device are exposed in the dust collecting cavity of the dust collecting structure.

3. The cleaning robot according to claim 1 or 2, characterized in that: It also includes a protection component, the dust full detection device includes an ultrasonic sensor for detecting the dust collection condition of the dust collecting structure, and the protection component is arranged at the assembly position of the ultrasonic sensor and the dust collecting structure to achieve sealing between the ultrasonic sensor and the dust collecting structure.

4. The cleaning robot according to claim 3, characterized in that: It also includes a base, the ultrasonic sensor is arranged on the base, and a through hole is arranged on the dust collecting structure at a position corresponding to the ultrasonic sensor; the protection component is arranged on the outer peripheral edge of the ultrasonic sensor.

5. The cleaning robot according to claim 3 or 4, characterized in that: The protection component is interference fit with the dust collecting structure.

6. The cleaning robot according to claim 3, characterized in that: It also includes a base, the dust full detection device also includes a controller, the controller is arranged on the base, the ultrasonic sensor is arranged on the dust collecting structure, and the protection component is formed on the dust collecting structure to protect the ultrasonic sensor; Alternatively, the dust full detection device further includes a controller, and the controller and the ultrasonic sensor are both arranged on the dust collecting structure, and the protection component is formed on the dust collecting structure to protect the ultrasonic sensor and the controller simultaneously.

7. The cleaning robot according to any one of claims 1 to 6, characterized in that: A receiving portion is formed on the dust collecting structure, and the ultrasonic sensor is sealed and received in the receiving portion through the protection component.

8. The cleaning robot according to any one of claims 3 to 7, characterized in that: The protection component includes a rubber piece arranged on the outer peripheral edge of the ultrasonic sensor, and the rubber piece is interference-fitted with the inner edge of the accommodating portion.

9. The cleaning robot according to claim 7 or 8, characterized in that: The receiving portion is a through hole formed on the side wall of the dust collecting structure; Alternatively, the accommodating portion is a groove formed on a side wall of the dust collecting structure.

10. The cleaning robot according to any one of claims 3 to 7, characterized in that: The protection component includes a groove formed on the dust collecting structure, the ultrasonic sensor includes an electrical connector penetrating the dust collecting structure and arranged on the outer wall of the dust collecting structure, and a sealing structure is arranged around the electrical connector; Alternatively, the protection component is an openable and closable protection structure, which is arranged on the dust collecting structure and includes a movable baffle and a trigger structure. The trigger structure is arranged on the outer wall surface of the dust collecting structure and is used to control the movable baffle to achieve the opening and closing of the protection structure.

11. The cleaning robot according to any one of claims 1 to 10, characterized in that: The ultrasonic sensor is arranged close to the air inlet.

12. The cleaning robot according to any one of claims 1 to 11, characterized in that: The ultrasonic sensor is within a preset range space close to the air inlet, wherein the volume of the preset space is less than 1 / 4 of the volume of the dust collecting chamber.

13. The cleaning robot according to any one of claims 1 to 11, characterized in that: The ultrasonic sensor comprises: A transmitting end, used for transmitting a detection signal; A receiving end, arranged opposite to the transmitting end, and used for receiving the detection signal; The transmitting end and the receiving end are located on both sides of the air inlet.

14. The cleaning robot according to any one of claims 1 to 13, characterized in that: There is a gap between the ultrasonic sensor and the cavity wall of the dust collecting structure, and a buffer pad is arranged in the gap.

15. The cleaning robot according to any one of claims 1 to 14, characterized in that: Also includes: Base; The dust collecting structure is detachably arranged in the base, and a receiving portion is formed on the dust collecting structure; and The dust full detection device comprises a controller for controlling the ultrasonic sensor; the ultrasonic sensor comprises an electrical connector arranged through the accommodating portion, for realizing a control connection between the controller and the ultrasonic sensor; the ultrasonic sensor is arranged on the dust collecting structure and is sealed and accommodated in the accommodating portion, and the controller is arranged on the main unit of the base. or, Base; Dust collection structure; A control unit, arranged on the base; as well as The ultrasonic sensor is arranged on the base, and is used to detect the dust collection condition of the dust collecting structure; the dust full detection device is control-connected to the control unit so that the control unit can identify the signal attenuation of the dust full detection device, and identify the dust collection condition in the dust collecting structure according to the signal attenuation condition.

16. The cleaning robot according to any one of claims 1 to 14, characterized in that: include: Base; The dust collecting structure is detachably arranged in the base, and a receiving portion is formed on the dust collecting structure; as well as The dust full detection device includes a controller for controlling the ultrasonic sensor; the ultrasonic sensor and the controller are both arranged on the dust collecting structure and are sealed and accommodated in the accommodating portion.

17. The cleaning robot according to any one of claims 1 to 14, characterized in that: include: Base; The dust collecting structure is detachably arranged in the base, and a receiving portion is formed on the dust collecting structure; The dust full detection device also includes a detachable carrying part and a controller, the ultrasonic sensor and the controller are arranged on the detachable carrying part, the detachable carrying part is detachably connected to the dust collecting structure, and when the detachable carrying part is connected to the dust collecting structure, the ultrasonic sensor is sealed and accommodated in the accommodating part.

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