Floor cleaning robot

Abstract

The invention relates to a ground cleaning robot which comprises a robot body, a mechanical arm supported on the robot body and provided with a blowing and sucking dual-purpose cleaning head and a dust collection system arranged on the robot body, and the dust collection system comprises a main dust collection opening, a dust box, a dust collection motor and a clean air outlet communicated with the outside atmosphere. A main dust collection channel is arranged between the main dust collection port and the dust box, the dust collection motor is provided with an air suction side and an air exhaust side, the dust box is in fluid communication with the air suction side, a main air exhaust channel is arranged between the air exhaust side and the clean air outlet, a first fluid channel is arranged between the blowing and suction dual-purpose cleaning head and the dust box, and a second fluid channel is arranged between the blowing and suction dual-purpose cleaning head and the air exhaust side. The ground cleaning robot is configured to select the first fluid channel to be conducted and close the second fluid channel when a first set condition is met, and select the second fluid channel to be conducted and close the first fluid channel when the first set condition is not met and a second set condition is met.

Description

Technical Field

[0001] This application relates to the field of surface cleaning, and particularly to a floor cleaning robot. Background Art

[0002] During the process of performing floor vacuuming work, a floor cleaning robot sucks dust through a suction port on the surface to be cleaned under the bottom surface of the robot. It is suitable for wide floors. In the case of a small area, since the suction port cannot move to this area, the dust in this area cannot be processed. In addition, in order to avoid collisions between the robot and obstacles, the robot usually needs to maintain a certain distance from the encountered obstacles, which also makes it difficult for the suction port of the robot to approach the edge area of the obstacle, resulting in missed cleaning in this area. For the areas mentioned above that cannot be cleaned or have limited cleaning, users have to perform manual secondary cleaning, which affects the user experience. Summary of the Invention

[0003] Based on the above technical problems, the purpose of this application is to provide a floor cleaning robot that can effectively improve the cleaning efficiency.

[0004] To achieve the above purpose, this application provides a floor cleaning robot, including a robot body capable of autonomously moving on the surface to be cleaned, a mechanical arm supported on the robot body and carrying a blow-suction dual-purpose cleaning head, and a dust suction system provided on the robot body. The dust suction system includes a main suction port, a dust box, a dust suction motor, and a clean air outlet communicating with the outside atmosphere. A main dust suction channel is provided between the main suction port and the dust box. The dust suction motor has a suction side and an exhaust side. The dust box is in fluid communication with the suction side. A main exhaust channel is provided between the exhaust side and the clean air outlet. A first fluid channel is provided between the blow-suction dual-purpose cleaning head and the dust box. A second fluid channel is provided between the blow-suction dual-purpose cleaning head and the exhaust side. The floor cleaning robot is configured to select the first fluid channel to conduct and close the second fluid channel under the condition of meeting the first set condition, and select the second fluid channel to conduct and close the first fluid channel under the condition of not meeting the first set condition but meeting the second set condition.

[0005] In the technical solution of this application, by selectively connecting the first fluid channel and the second fluid channel, the blow-suction dual-purpose cleaning head can not only perform dust suction work on the surface to be cleaned, but also perform dust blowing action on the surface to be cleaned. Moreover, with the help of the mechanical arm, whether it is dust suction or dust blowing, the blow-suction dual-purpose cleaning head can be closer to the surface to be cleaned, thus achieving efficient cleaning.

[0006] In the above technical solution, preferably, the main exhaust passage is configured to be closed when the second fluid passage is turned on.

[0007] In the above technical solution, preferably, a flexible tube is provided on the robot arm, the flexible tube is in fluid communication with the blow-suction dual-purpose cleaning head, and the first fluid passage and the second fluid passage merge at the flexible tube.

[0008] In the above technical solution, preferably, a controllable first valve is provided on the first fluid passage.

[0009] In the above technical solution, preferably, one or more controllable second valves are provided between the main exhaust passage and the second fluid passage.

[0010] In the above technical solution, preferably, the floor cleaning robot further includes: a vision system, the vision system includes one or more first cameras disposed on the robot body and used to obtain the surrounding environment information of the floor cleaning robot during the movement of the floor cleaning robot, and one or more second cameras disposed on the robot arm and used to obtain the surrounding environment information of the robot arm.

[0011] In the above technical solution, preferably, the robot arm carries at least one wiping tool, and the wiping tool includes a brush and / or a squeegee.

[0012] In the above technical solution, preferably, the at least one wiping tool and the blow-suction dual-purpose cleaning head are combined into one component.

[0013] In the above technical solution, preferably, the first set condition includes that the size of the target object is smaller than the minimum cross-sectional size of the first fluid passage.

[0014] In the above technical solution, preferably, the second set condition includes that the size of the target obstacle is greater than or equal to the minimum cross-sectional size of the first fluid passage.

[0015] Advantages of the preferred solution of this application will be partially given in the following description, partially will become obvious from the following description, or be understood through the practice of the embodiments of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a side view schematic diagram of the floor cleaning robot provided by the embodiment of this application; Figure 2 is a top view schematic diagram of the floor cleaning robot provided by the embodiment of this application; Figure 3 is an Figure 2 axial sectional view along the A-A direction; Figure 4 A schematic diagram of the principle of the dust collection system provided in an embodiment of the present application; Figure 5 A diagram showing the relationship between the control system and various controlled components in the floor cleaning robot provided in an embodiment of the present application; Figure 6 A schematic diagram of a process flow of a floor cleaning robot provided in an embodiment of the present application when performing floor cleaning; Figure 7 A schematic diagram of fluid flow when the floor cleaning robot provided by an embodiment of the present application uses the main suction port to suction dust in the direction of travel; Figure 8 A schematic diagram of fluid flow when the floor cleaning robot provided by an embodiment of the present application uses a blowing and suction dual-purpose cleaning head to perform a vacuuming operation in the direction of travel; Figure 9 A schematic diagram of fluid flow when the floor cleaning robot provided in an embodiment of the present application uses a blowing and sucking dual-purpose cleaning head to perform dust blowing operations in the direction of travel. DETAILED DESCRIPTION

[0017] See also Figure 1-3 , which shows a schematic example of a floor cleaning robot. The floor cleaning robot 100 can move on the floor to be cleaned by itself, and is equipped with a dust suction system. When performing floor cleaning work, the floor cleaning robot 100 can use the main dust suction port at the bottom to suck the debris on the floor into the dust box for storage.

[0018] The floor cleaning robot 100 includes a roughly circular robot body 1, a dust collection system 2, a manipulator 3, a battery pack 10, etc. The robot body 1 is usually assembled from a plurality of parts, such as a plurality of injection molded parts. The battery pack 10 is used to supply power to various energy-consuming parts of the device.

[0019] The bottom of the robot body 1 is provided with a plurality of moving wheels 11; some of these moving wheels are active wheels and some are passive wheels. The plurality of moving wheels 11 can movably support the robot body 1 on the ground. In other embodiments, a moving crawler mechanism can also be provided at the bottom of the robot body.

[0020] The robot body 1 is provided with a driving system, and the driving system drives the robot body 1 to move on the floor to be cleaned in response to instructions from the control system of the floor cleaning robot 100. The driving system generally includes a plurality of driving motors, each of which is connected to one or more moving wheels. With the driving action of the driving system, the floor cleaning robot 100 can move autonomously on the floor to be cleaned.

[0021] The dust suction system 2 includes a dust suction motor 21, a dust box 22, a main dust suction port 23 facing the floor to be cleaned, a clean air outlet 24 connected to the outside atmosphere, etc. The dust box 22 is usually removably arranged on the robot body 1; the main dust suction port 23, the dust box 22 and the dust suction motor 21 are fluidically connected in sequence.

[0022] The floor cleaning robot 100 further includes a manipulator 3, which is supported on the robot body 1 and carries a blowing and suction dual-purpose cleaning head 4 and a flexible tube 5 in fluid communication with the cleaning head 4. The flexible tube 5 is preferably a telescopic flexible tube. The flexible tube 5 is attached to the manipulator 3. With the help of the flexible tube 5, the blowing and suction dual-purpose cleaning head 4 is in fluid communication with the inside of the robot body 1.

[0023] The manipulator 3 can be arranged at a side wall of the robot body 1, and is composed of an arm 31 and a hand 32. The arm 31 can be a multi-axis manipulator, and the specific number of axes can be set according to demand. The manipulator 3 can be transformed between an unfolded state and a folded state. As an automatic operating device that can grasp, carry objects or operate tools according to a fixed program, the manipulator 3 is controlled by a control system. The structural form of the hand 32 is not limited, such as a mechanical clamp, a bionic manipulator, a mechanical hook, a suction cup, etc., which can directly pick up the target object on the ground to be cleaned. When the hand is a mechanical claw, it can be two claws or multiple claws. The specific structural form of the manipulator 3 is not limited in this application.

[0024] like Figure 4 As shown, the dust suction motor 21 has an air suction side 211 and an air exhaust side 212. A main dust suction channel 25 is provided between the main dust suction port 23 and the dust box 22. A main exhaust channel 26 is provided between the exhaust side 211 and the clean air outlet 24. A first fluid channel 27 is provided between the blowing and suction dual-purpose cleaning head 4 and the dust box 22. A second fluid channel 28 is provided between the blowing and suction dual-purpose cleaning head 4 and the exhaust side 211. The first fluid channel 27 and the second fluid channel 28 are merged at the flexible tube 5.

[0025] A first valve 271 is provided on the first fluid channel 27. A second valve 281 is provided between the main exhaust channel 26 and the second fluid channel 28. The second valve 281 is a multi-channel valve 281. A third valve 251 is provided on the main dust suction channel 25.

[0026] When the first valve 271 is opened, the first fluid channel 27 is connected, and dust can be sucked from the blowing and suction dual-purpose cleaning head 4 and sent to the dust box 22 through the first fluid channel 27. When the first valve 271 is closed, the first fluid channel 27 is cut off. The vacuum suction force generated by the dust suction motor 21 will not extend to the blowing and suction dual-purpose cleaning head 4.

[0027] The second valve 281 has two working states; Figure 7 , 8As shown, in the first working state, the exhaust side 212 of the dust collecting motor 21 is connected to the fluid channel of the clean air outlet 24, that is, the main exhaust channel 26, and the air exhausted from the exhaust side 212 is directly exhausted to the outside through the clean air outlet 24. Figure 9 As shown, in the second working state, the exhaust side 212 of the dust suction motor 21 is connected to the fluid channel of the blowing and suction dual-purpose cleaning head 4, that is, the second fluid channel 28, and the air exhausted from the exhaust side 212 is sent to the blowing and suction dual-purpose cleaning head 4 via the second fluid channel 28 to perform the dust blowing operation.

[0028] When the third valve 251 is opened, the main dust suction channel 25 is connected, and dust can be sucked from the main dust suction port 23 and sent to the dust box 22 through the main dust suction channel 25. When the valve 251 is closed, the main dust suction channel 25 is cut off. The vacuum suction force generated by the dust suction motor 21 will not extend to the main dust suction port 23.

[0029] In other embodiments, the second valve 281 may also be replaced by two common single-channel valves, thereby selecting to open one of the two flow paths and close the other.

[0030] See also Figure 5 As shown, the floor cleaning robot 100 is also provided with a control system 6, a visual system 7 and a data storage device 8. The control system 6 is communicatively coupled to the drive system 9, the dust suction motor 21, the first valve 271, the second valve 281, the third valve 251, the visual system 7 and the manipulator 3 respectively.

[0031] The visual system 7 is generally composed of a camera and various sensors, which are communicatively coupled to the control system 6. The camera of the visual system can help capture images of the operating environment of the floor cleaning robot 100; the control system will judge the environment around the robot body 1 based on the images fed back by the visual system 6, so as to send the images to various controlled components for the control system 6.

[0032] The visual system 7 can be completely arranged on the main body of the robot, or some parts can be arranged on the manipulator 3, such as Figure 1 As shown in FIG. 1 , a camera 71 of a machine vision system is arranged on the robot 3 .

[0033] The data storage device 8 stores all data information related to the operation of the floor cleaning robot 100. For example, the first setting condition information for selecting the dual-purpose blowing and suction cleaning head 4 to perform the dust suction operation and the second setting condition information for selecting the dual-purpose blowing and suction cleaning head 4 to perform the dust blowing operation. The data storage device also stores control program information for the operation of the control system, and the control system controls the corresponding controlled components according to the control program information.

[0034] During the movement of the robot body 1, the vision system 7 always acquires the image data of the environment around the robot body 1, and processes the image data through the computer system of the robot body 1 or a server remotely connected to the robot body 1, so as to obtain the overall external dimensions of the target object in the environment around the robot body 1. Exemplarily, the overall external dimensions of the target object include dimension information such as the length, width, and height of the target object, and by comparing with the minimum cross-sectional dimension of the first fluid passage, it is determined whether the target object can be sucked into the dust box 22, and the controller on the robot body 1 performs corresponding operations according to the result.

[0035] The first set condition includes that the overall external dimensions of the target object are smaller than the minimum cross-sectional dimension of the first fluid passage 27. When the control system 6 determines that the area to be cleaned meets the first set condition for selecting the blow-suction dual-purpose cleaning head 4 to perform the dust suction operation, it indicates that the target object can be sucked into the dust box 22 through the blow-suction dual-purpose cleaning head 4. The first fluid passage 27 is conducted and the second fluid passage 28 is closed, that is, the first valve 271 is opened and the second valve 281 is switched to the first working state, so as to use the manipulator 3 to carry the blow-suction dual-purpose cleaning head 4 to the area to be cleaned to perform the dust suction operation. In this scenario, the main function that the blow-suction dual-purpose cleaning head 4 of the robot body 1 can achieve is the cleaning effect on the target space.

[0036] Among them, the minimum cross-sectional dimension of the first fluid passage can be the minimum dimension that can be sucked by the blow-suction port of the blow-suction dual-purpose cleaning head 4 on the manipulator 3, or the minimum cross-sectional dimension of the hose 5.

[0037] The second set condition includes that the overall external dimensions of the target object are greater than or equal to the minimum cross-sectional dimension of the first fluid passage 27. When the control system 6 determines that the area to be cleaned meets the second set condition for selecting the blow-suction dual-purpose cleaning head 4 to perform the dust blowing operation, it indicates that the target object cannot be sucked into the dust box 22 through the blow-suction dual-purpose cleaning head 4. The first fluid passage 27 is closed and the second fluid passage 28 is conducted, that is, the first valve 271 is closed and the second valve 281 is switched to the second working state, so as to use the manipulator 3 to carry the blow-suction dual-purpose cleaning head 4 to the area to be cleaned to perform the dust blowing operation. If the mass of the target object is light and can be blown to other positions by the blow-suction dual-purpose cleaning head 4, so that there are no obstacles on the forward path of the robot body 1, it can also play a role in summarizing the target space. If the mass of the target object is heavy and cannot be blown by the blow-suction dual-purpose cleaning head 4, then the blow-suction dual-purpose cleaning head 4 can achieve the cleaning effect around the target object.

[0038] In other embodiments, when the target object is determined to be unable to be sucked into the dust box 22, the computer system or server determines the type of the target object based on the image data, and then, based on the type of the target object and the corresponding relationship between the type and the execution action stored in advance, the controller on the robot body 1 executes the corresponding operation according to the corresponding relationship.

[0039] The second set condition includes, in addition to that the overall external dimension of the target object is smaller than the minimum cross-sectional dimension of the first fluid passage 27, that the type of the target object is a type that cannot be grasped by the manipulator 3. Exemplarily, the type of the target object can be classified into those whose weight exceeds the weight range that the manipulator 3 can bear and those whose weight does not exceed the weight range that the manipulator 3 can bear. The type of the target object can be preset, for example, shoes, books, storage boxes, etc., whose dimensions exceed the minimum cross-sectional dimension of the first fluid passage 27 and cannot be grasped by the manipulator 3 either. At this time, the first fluid passage 27 can be closed and the second fluid passage 28 can be conducted. What the blow-suction dual-purpose cleaning head 4 realizes is the operation of blowing dust on the whole target object, and the dust on its surface can be removed. If the target object has an opening and the opening can accommodate the manipulator 3, the manipulator 3 can also be inserted into its interior to perform the dust suction operation on its interior.

[0040] Furthermore, a third set condition can be set. The third set condition includes that the overall external dimension of the target object is smaller than the minimum cross-sectional dimension of the first fluid passage 27 and that the type of the target object is a type that can be grasped by the manipulator 3. Exemplarily, for relatively light objects such as table tennis balls, although their dimensions exceed the minimum cross-sectional dimension of the first fluid passage 27, they can be grasped by the manipulator 3. At this time, the manipulator 3 can grasp it and put it into the dust box 22, or put it into a predetermined position, which can be set according to the type of the target object.

[0041] The following describes the working process of the floor cleaning robot 100: As Figure 6 shown, the floor cleaning robot 100 is started; the floor cleaning robot 100 will move along the floor to be cleaned under the control of the control system 6 and check whether the area to be cleaned in the traveling direction meets the dust suction environment requirements of the main dust suction port 23; during this process, the vision system 7 continuously collects the environmental information fed back by the floor cleaning robot 100, and the control system 6 judges the situation of the area to be cleaned in the traveling direction of the floor cleaning robot 100 based on the environmental information fed back by the vision system 7.

[0042] When it is judged that the area to be cleaned in the traveling direction can meet the movement of the robot body 1 to the surface, the main dust suction channel 25 is kept unblocked and the main dust suction port 23 is used to suck up the dust on the surface to be cleaned; As Figure 7As shown

[0043] When there is an obstacle on the surface to be cleaned for judging the traveling direction and the robot body 1 cannot move to this surface, it is further judged whether the first set condition is satisfied. If it is satisfied, the suction and blowing dual-purpose cleaning head 4 is selected to perform the dust suction operation, that is, the first valve 271 is controlled to be opened and the second valve 281 is switched to the first working state. At this time, in order to improve the suction force of the suction and blowing dual-purpose cleaning head 4, the third valve 251 can be selected to be closed. Subsequently, the manipulator 3 is used to carry the suction and blowing dual-purpose cleaning head 4 to this area to perform the dust suction operation; if Figure 8 As shown

[0044] If the first set condition is not satisfied, it is further judged whether it is the second set condition. If the second set condition is satisfied, the first valve 271 is closed and the second valve 281 is switched to the second working state, so as to realize blowing dust on this area by using the clean air with a certain pressure discharged from the exhaust side 212, so as to blow the dust away from this surface and move to the main dust suction port 23 or the surface area that the suction and blowing dual-purpose cleaning head 4 can reach; if Figure 9 As shown. If the second set condition is not satisfied either, the robot body 1 is selected to bypass this surface area, such as turning around or turning; and so on until the task is completed.

[0045] The floor cleaning robot of the present application can perform dust suction and dust blowing treatments on the to-be-cleaned area that cannot be reached by the main dust suction port in the traveling direction through the manipulator provided by itself, which significantly improves the floor cleaning effect of the floor cleaning robot.

[0046] The above shows and describes the basic principle, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present application. Without departing from the spirit and scope of the present application, the present application will have various changes and improvements. The scope of protection required by the present application is defined by the appended claims, the specification and their equivalents.

Claims

1. A floor cleaning robot, characterized in that: The invention comprises a robot body capable of autonomously moving on a floor to be cleaned, a robot arm supported on the robot body and carrying a dual-purpose blowing and sucking cleaning head, and a dust collection system arranged on the robot body, wherein the dust collection system comprises a main dust suction port, a dust box, a dust collection motor, and a clean air outlet connected to the outside atmosphere, a main dust suction channel is arranged between the main dust suction port and the dust box, the dust collection motor has an air suction side and an air exhaust side, the dust box is fluidly connected to the air suction side, a main exhaust channel is arranged between the exhaust side and the clean air outlet, a first fluid channel is arranged between the dual-purpose blowing and sucking cleaning head and the dust box, a second fluid channel is arranged between the dual-purpose blowing and sucking cleaning head and the exhaust side, and the floor cleaning robot is constructed to select the first fluid channel to be turned on and the second fluid channel to be turned off when a first setting condition is satisfied, and to select the second fluid channel to be turned on and the first fluid channel to be turned off when the first setting condition is not satisfied but the second setting condition is satisfied.

2. The floor cleaning robot according to claim 1, characterized in that: The main exhaust passage is configured to be closed when the second fluid passage is open.

3. The floor cleaning robot according to claim 1, characterized in that: The manipulator is provided with a flexible tube, the flexible tube is in fluid communication with the blowing and sucking dual-purpose cleaning head, and the first fluid channel and the second fluid channel are merged at the flexible tube.

4. The floor cleaning robot according to claim 1, characterized in that: The first fluid channel is provided with a controllable first valve.

5. The floor cleaning robot according to claim 1, characterized in that: One or more controllable second valves are provided between the main exhaust channel and the second fluid channel.

6. The floor cleaning robot according to claim 1, characterized in that: It also includes: a visual system, the visual system includes one or more first cameras arranged on the robot body and used to obtain the surrounding environment information of the floor cleaning robot during the movement of the floor cleaning robot, and one or more second cameras arranged on the robot arm and used to obtain the surrounding environment information of the robot arm.

7. The floor cleaning robot according to claim 1, characterized in that: The robot carries at least one wiping tool, which includes a brush and / or a scraper.

8. The floor cleaning robot according to claim 1, characterized in that: At least the wiping tool and the blowing and sucking dual-purpose cleaning head are combined into one component.

9. The floor cleaning robot according to claim 1, characterized in that: The first set condition includes that the size of the target object is smaller than the minimum cross-sectional size of the first fluid channel.

10. The floor cleaning robot according to claim 1, characterized in that: The second setting condition includes that the size of the target obstacle is greater than or equal to the minimum cross-sectional size of the first fluid channel.

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