Cleaning robot, detector, and cleaning system

Abstract

The invention discloses a cleaning robot, detectors and a cleaning system.The cleaning robot comprises a shell, a first detector, a second detector and a controller; the first detector detects the medium type of a to-be-cleaned area; the second detector detects the height of a medium in the to-be-cleaned area; the controller judges whether the medium type of the to-be-cleaned area is a carpet or not according to the medium type of the to-be-cleaned area; when the medium type of the to-be-cleaned area is a carpet, the controller judges whether the carpet is a long-wool carpet or not according to the height of the carpet; and when the carpet is the long-wool carpet, controlling the cleaning robot to avoid the long-wool carpet. The cleaning robot, the detector and the cleaning system provided by the invention have the advantages that the risk of jamming or carpet wetting is avoided, and the use effect is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and in particular to a cleaning robot, a detector, and a cleaning system. Background Art

[0002] With the continuous advancement of science and technology, the technology of cleaning robots has developed rapidly. More and more families choose to buy cleaning robots to clean the floors. While reducing people’s pressure on doing housework, it can also improve the cleaning effect.

[0003] The relevant cleaning robot has a regular mode and a carpet mode. The cleaning robot can clean regular floors such as floors and floor tiles in the regular mode, and clean carpets in the carpet mode. The regular mode and the carpet mode differ in terms of the suction power of the fan, the height of the mop, etc.

[0004] However, carpets are divided into long-hair and short-hair. When the above cleaning robot cleans long-hair carpets, the rag is not lifted high enough, which may cause the robot to get stuck or wet the carpet, resulting in poor use of the cleaning robot. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a cleaning robot, a detector and a cleaning system, which can solve the problem of poor performance of related cleaning robots.

[0006] To achieve the above-mentioned purpose, one aspect of an embodiment of the present application provides a cleaning robot, comprising: a shell, a first detector, a second detector and a controller; the first detector is arranged on the shell, and the first detector is configured to detect the type of medium in the area to be cleaned; the second detector is arranged at the bottom end of the shell, and the second detector is configured to detect the height of the medium in the area to be cleaned; the controller is arranged on the shell, and the controller is electrically connected to the first detector and the second detector, and the controller is configured to judge whether the medium type of the area to be cleaned is carpet according to the medium type of the area to be cleaned detected by the first detector; when the medium type of the area to be cleaned is carpet, the controller is also configured to judge whether the carpet is a long-haired carpet according to the height of the carpet detected by the second detector; when the carpet is a long-haired carpet, the cleaning robot is controlled to avoid the long-haired carpet.

[0007] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application further provides a detector for a cleaning robot, the cleaning robot comprising a controller, the controller being electrically connected to the detector; the detector being configured to detect the height of the medium in the area to be cleaned; the controller being configured to, when the medium type in the area to be cleaned is carpet, determine whether the carpet is a long-haired carpet based on the height of the carpet detected by the detector; and when the carpet is a long-haired carpet, control the cleaning robot to avoid the long-haired carpet.

[0008] To achieve the above objectives, another aspect of an embodiment of the present application further provides a cleaning system, including a cleaning base station and the cleaning robot as described above.

[0009] In summary, the cleaning robot, detector, and cleaning system provided in the embodiments of the present application are provided with a second detector and a controller, and the controller detects the height of the carpet through the second detector to determine whether the carpet is a long-haired carpet. When the carpet is a long-haired carpet, the controller controls the cleaning robot to avoid the carpet to avoid the risk of getting stuck or wetting the carpet, thereby improving the use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 A schematic diagram of a cleaning robot provided in an embodiment of the present application;

[0012] Figure 2 A control diagram of a cleaning robot provided in an embodiment of the present application;

[0013] Figure 3 A schematic diagram of a second detector provided in an embodiment of the present application;

[0014] Figure 4 for Figure 3 A partial cross-sectional view of a second detector is shown;

[0015] Figure 5 A schematic diagram of another second detector provided in an embodiment of the present application;

[0016] Figure 6 for Figure 5 A perspective cross-sectional view of a second detector is shown.

[0017] Description of reference numerals:

[0018] 1000. a second detector;

[0019] 100, base; 110, first base; 111, first part; 112, second part; 120, second base; 130, support member; 140, accommodation space;

[0020] 200, trigger member; 210, sliding member; 211, abutting portion; 212, sliding portion; 220, swinging member;

[0021] 300, coupling;

[0022] 400, rotating parts;

[0023] 500, magnetic block;

[0024] 600, sensor;

[0025] 700, reset piece;

[0026] 2000, shell;

[0027] 3000, controller;

[0028] 4000, universal wheel;

[0029] 5000, first detector;

[0030] 6000, driving wheel;

[0031] 7100, roller brush; 7200, rag;

[0032] 8000. Fan. DETAILED DESCRIPTION

[0033] As described in the background art, when the related cleaning robot cleans the long-haired carpet, there is a risk of the rag being stuck or wetting the carpet due to the insufficient lifting height of the rag, resulting in poor use effect of the cleaning robot.

[0034] In view of the above technical problems, the cleaning robot provided in the embodiment of the present application adopts an avoidance approach when encountering a long-haired carpet, that is, the long-haired carpet is avoided as an obstacle and is not cleaned. In this way, problems such as getting stuck and getting wet can be avoided. In the early stages of research and development, attempts were made to use ultrasonic detection to distinguish long-haired carpets from short-haired carpets. However, the detection effect of this method is less than ideal. Considering that the difference between long-haired carpets and short-haired carpets lies in the length of the hair, which is specifically reflected in the height of the carpet, the height of the carpet can be used as a basis for distinction.

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings 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.

[0036] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0037] Figure 1 A schematic diagram of a cleaning robot provided in an embodiment of the present application. Figure 1 The cleaning robot provided in the embodiment of the present application may include a housing 2000, which may be a hollow cube, a hollow cylinder, or a hollow prism. The housing 2000 may have a top wall and a bottom wall arranged opposite to each other, and the housing 2000 may also have a side wall connected between the top wall and the bottom wall. When the cleaning robot cleans the surface to be cleaned, the bottom wall of the housing 2000 may be placed toward the surface to be cleaned.

[0038] The bottom wall of the housing 2000 may be provided with a universal wheel 4000 and a driving wheel 6000, which may be rotatably arranged on the housing 2000 and may realize the forward, backward, direction-changing, and rotation operations of the cleaning robot. The universal wheel 4000 may be arranged at the front end of the housing 2000. When the cleaning robot moves forward on the surface to be cleaned, the front end of the cleaning robot may be directed toward the forward direction. In addition, the driving wheel 6000 is a pair, and the pair of driving wheels 6000 may be arranged at intervals in the middle of the housing 2000.

[0039] In addition, the housing 2000 may be provided with an air inlet and an air outlet, the air inlet may be arranged on the bottom wall of the housing 2000, and an air duct may be formed between the air inlet and the air outlet, and the recovery box and the fan 8000 may be arranged in the air duct. A roller brush 7100 assembly is rotatably provided at the air inlet, and the roller brush 7100 assembly can roll up the garbage on the surface to be cleaned. The fan 8000 can guide the rolled up garbage to enter the air duct together with the air around it from the air inlet, and the garbage part in the fluid is trapped in the recovery box, and the clean gas part in the fluid flows out from the air outlet. In addition, the cleaning robot may include a rag 7200 assembly, which is rotatably arranged on the bottom wall of the housing 2000. A water storage tank may be provided in the inner cavity of the housing 2000, and the water storage tank may be connected to the water conduit, and the end of the water conduit away from the water storage tank may face the rag 7200 assembly. When the cleaning robot is mopping the floor, the water in the water tank can flow along the water conduit to the rag 7200 component to wet the rag 7200 component.

[0040] The media types of the area to be cleaned may include regular floors and carpets. Regular floors may be smooth floors such as wooden floors, floor tiles, and ceramic tiles. Carpets can be understood in a broad sense, including items such as clothes and fur. In order to detect the media type of the area to be cleaned and adjust the mode of the cleaning robot according to the media type of the area to be cleaned, refer to Figure 1 and Figure 2 , the cleaning robot provided in the embodiment of the present application may also include a first detector 5000 and a controller 3000 that are electrically connected. Among them, the first detector 5000 may use an ultrasonic sensor, which can emit ultrasonic waves to the surface to be cleaned. Due to the different surface densities of different surfaces to be cleaned, ultrasonic waves can be fed back by different surfaces to be cleaned as reflection signals with different characteristics. Among them, the characteristics of the reflection signal can be reflected in the reflection coefficient, reflection energy (such as the number of peaks, roughness, etc.) and other aspects.

[0041] Specifically, the intensity of the reflected signal fed back by the carpet is lower than that of the conventional floor. Based on this, a threshold value can be set to classify the surface to be cleaned whose intensity of the reflected signal fed back is less than or equal to the threshold value as a carpet, otherwise it is classified as a conventional floor. Exemplarily, the first detector 5000 can emit ultrasonic waves to the surface to be cleaned, and the controller 3000 can compare the intensity of the reflected signal fed back with a preset threshold range. If the intensity of the reflected signal fed back falls within the preset threshold range, the medium type of the area to be cleaned is a carpet.

[0042] Optionally, the cleaning robot will emit working noise during operation, such as the rotation of the fan 8000, the roller brush 7100, the universal wheel 4000, the driving wheel 6000, etc. These working noises will affect the judgment of the reflected signal fed back, so the reflected signal fed back can be denoised. For example, the controller 3000 can perform median filtering on the reflected signal fed back. Specifically, the reflected signal fed back can be encoded, and the working noise in the reflected signal fed back can be removed according to the encoding.

[0043] Continue to refer Figure 1 and Figure 2 Further, when the medium type of the area to be cleaned is identified as a carpet, the controller 3000 can determine whether the carpet is a long-haired carpet according to the height of the carpet detected by the second detector 1000. And when the carpet is a long-haired carpet, the cleaning robot is controlled to avoid the long-haired carpet. In this way, the risk of getting stuck or wetting the carpet is avoided, and the use effect is improved.

[0044] When the carpet is a short-haired carpet, the controller 3000 can put the cleaning robot in a carpet cleaning mode. The carpet mode may include increasing the suction power of the fan 8000 to better clean the carpet; and / or closing the rag 7200 assembly and lifting the rag 7200 assembly to prevent contamination of the carpet.

[0045] Optionally, the first detector 5000 and the second detector 1000 can be disposed at the front end of the housing 2000 to facilitate rapid identification of carpets and carpet types. The first detector 5000 and the second detector 1000 can be arranged on both sides of the universal wheel 4000 so that the two are arranged reasonably.

[0046] The height of the carpet can be detected by infrared detection method. However, the infrared sensor is easily affected by the color of the carpet or the interference of ambient light, resulting in inaccurate detection results. In view of this, the embodiment of the present application proposes a contact detection solution. Specifically, refer to Figure 3 and Figure 4 The second detector 1000 may include a base 100 and a trigger member 200, wherein the base 100 may be disposed on the bottom wall of the housing 2000 and may be fixed relative to the housing 2000, and the trigger member 200 may protrude from the bottom end of the base 100 so as to contact the carpet.

[0047] When the cleaning robot travels on a conventional ground, the universal wheel 4000 rolls on the conventional ground. In view of this, there may be a gap between the bottom surface of the trigger member 200 and the bottom surface of the universal wheel 4000, so that there is a gap between the trigger member 200 and the conventional ground, that is, the trigger member 200 may be suspended on the surface to be cleaned, so as to avoid the trigger member 200 from contacting with the harder conventional ground and being worn when the cleaning robot travels on the conventional ground.

[0048] When the cleaning robot moves on a carpet, the distance between the bottom surface of the trigger member 200 and the carpet becomes shorter than that on a normal floor, or even contacts the carpet. Since a long-haired carpet is higher than a short-haired carpet, it is easier for a long-haired carpet to contact the trigger member 200 than a short-haired carpet. If both a long-haired carpet and a short-haired carpet are in contact with the trigger member 200, the contact force between the long-haired carpet and the trigger member 200 is greater than the contact force between the short-haired carpet and the trigger member 200. Therefore, by measuring the pressure between the trigger member 200 and the carpet, it can be determined whether the carpet is a long-haired carpet.

[0049] However, there are many particles on the surface to be cleaned. If the trigger member 200 always remains protruding from the base 100, it is very easy to be damaged. In view of this, the embodiment of the present application sets the trigger member 200 as follows Figure 3 and Figure 4 Slidable or as shown Figure 5 and Figure 6The trigger member 200 shown is rotatable to avoid rigid collision with particles. In addition, when the cleaning robot moves on the carpet, the trigger member 200 may abut against the carpet, and move due to the pressure exerted on it by the carpet, and generate a positive trigger displacement. The positive direction of the trigger displacement may be: the direction toward the top of the base 100 (or the housing 2000). The trigger displacement can be used to determine whether it is a long-haired carpet. That is, the controller 3000 can compare the trigger displacement with a preset value, and can determine that the carpet is a long-haired carpet when the trigger displacement exceeds the preset value.

[0050] The trigger member 200 has different movement modes, and the trigger displacements generated are also different. For example: Figure 3 and Figure 4 In the embodiment, the trigger member 200 slides relative to the base 100, and the trigger displacement is a sliding line displacement; Figure 5 and Figure 6 In the embodiment, the trigger member 200 rotates relative to the base 100, and the trigger displacement is a rotational angular displacement.

[0051] First, refer to Figure 3 and Figure 4 The configuration of the second detector 1000 is described below when the triggering member 200 is a sliding member 210 .

[0052] Specifically, the sliding member 210 can be slidably disposed on the base 100 along a direction intersecting the bottom surface of the housing 2000, and the sliding member 210 is used to abut against the carpet and slide relative to the base 100, and generate a positive sliding line displacement. The controller 3000 can determine that the carpet is a long-haired carpet when the sliding line displacement exceeds a preset value.

[0053] For example, the preset value may be 1 mm. If the sliding line displacement of the sliding member 210 is 2 mm, which is greater than the preset value 1 mm, the carpet may be determined to be a long-haired carpet; if the sliding line displacement of the sliding member 210 is 0.2 mm, which is less than the preset value 1 mm, the carpet may be determined to be a short-haired carpet.

[0054] Furthermore, the sliding direction of the sliding member 210 may be perpendicular to the bottom surface of the housing 2000. In addition, in order to facilitate the disassembly and assembly between the second detector 1000 and the housing 2000, the base 100 and the housing 2000 may be fixed by a detachable connection such as a snap connection or a fastener connection. In addition, the surface of the sliding member 210 facing the surface to be cleaned may be a slope, a curved surface, or the like that has the function of guiding the sliding member 210 to pass over obstacles.

[0055] Optionally, the second detector 1000 provided in the embodiment of the present application may further include a reset member 700, which may be disposed between the housing 2000 and the sliding member 210, and the reset member 700 may provide a reverse elastic reset force for the sliding member 210. The reverse direction of the elastic reset force is: toward a direction away from the top of the base 100 (or the housing 2000); or, toward a direction on the surface of the carpet.

[0056] The controller 3000 can obtain the sliding linear displacement of the sliding member 210 through a detector such as a linear displacement sensor, a resistive sensor, etc. However, even if the long-haired carpet is relatively short in height, the height difference between the long-haired carpet and the short-haired carpet is also very small. In order to enable the second detector 1000 provided in the embodiment of the present application to detect the difference between the two very sensitively, optionally, the second detector 1000 provided in the embodiment of the present application may also include a coupling member 300 and a rotating member 400. The coupling member 300 is slidably disposed on the base 100, and the coupling member 300 can be connected to the sliding member 210 and can slide relative to the base 100 as the sliding member 210 slides. The rotating member 400 is rotatably disposed on the base 100, and the rotating member 400 can be connected to the coupling member 300 and rotate relative to the base 100 as the sliding member 210 slides. When the sliding member 210 generates a sliding linear displacement, the rotating member 400 generates a first rotational angular displacement. The controller 3000 may determine that the carpet is a long-haired carpet when the first rotation angle displacement exceeds a preset angle.

[0057] For example, for every 0.1 mm sliding linear displacement of the sliding member 210, the rotating member 400 may generate a first rotation angle displacement of 10 degrees. If the preset angle is 60 degrees, the rotating member 400 rotates 30 degrees, and 30 degrees is less than the preset angle 60 degrees, the carpet can be determined to be a short-haired carpet; if the rotating member 400 rotates 90 degrees, and 90 degrees is greater than the preset angle 60 degrees, the carpet can be determined to be a long-haired carpet.

[0058] In summary, the coupling member 300 and the rotating member 400 are used to convert the small sliding linear displacement of the sliding member 210 into a larger first rotation angle displacement, so that the controller 3000 can more easily distinguish the type of the carpet, which is beneficial to control.

[0059] The coupling member 300 and the rotating member 400 may have the following possible structures:

[0060] Exemplary, reference Figure 3 and Figure 4The coupling member 300 may be a rack, the rotating member 400 may be a gear, and the rotating member 400 and the coupling member 300 may mesh with each other. Specifically, when the sliding member 210 is pushed against the carpet and slides forward, it can drive the rack to slide forward, and then drive the gear to rotate forward. When the cleaning robot is separated from the carpet, under the action of the reset member 700, the sliding member 210 slides in the reverse direction to a position protruding from the bottom end of the base 100, and drives the rotating member 400 to slide in the reverse direction.

[0061] In another exemplary embodiment, the coupling member 300 may be a slider, the rotating member 400 may be a crank, and the rotating member 400 and the coupling member 300 may be connected by a connecting rod to form a slider-crank mechanism. Specifically, when the sliding member 210 is pushed against the carpet and slides forward, the slider may be driven to slide forward, thereby driving the crank to rotate forward. When the cleaning robot is separated from the carpet, under the action of the reset member 700, the sliding member 210 slides in the reverse direction to a position protruding from the bottom end of the base 100, and drives the crank to slide in the reverse direction.

[0062] The base 100 may include a first base 110, and the first base 110 may include a first portion 111 and a second portion 112 that are connected. The rotating member 400 and the coupling member 300 may be disposed in the inner cavity of the first portion 111. The second portion 112 may protrude from the first portion 111, and at least part of the sliding member 210 may be slidably disposed in the inner cavity of the second portion 112. In addition, the sliding member 210 may pass through the second portion 112 and may be fixed to the coupling member 300.

[0063] In order to limit the reset member 700 and prevent the reset member 700 from shifting, optionally, the base 100 may also include a second substrate 120, the inner cavity wall of the second substrate 120 may be provided with a support member 130, and an accommodating space 140 may be formed between the support member 130 and the second substrate 120, and one end of the accommodating space 140 may have an opening.

[0064] The second portion 112 of the first substrate 110 may be disposed in the inner cavity of the second substrate 120 and may be connected to the second substrate 120 . Figure 4 In the figure, the second portion 112 of the first substrate 110 and the support member 130 are engaged and connected with each other as an example.

[0065] The sliding member 210 may include an abutting portion 211 and a sliding portion 212 connected in sequence, and the positive projection of the sliding portion 212 on the bottom surface of the abutting portion 211 may be located inside the outer edge of the abutting portion 211 so that at least part of the bottom surface of the abutting portion 211 is exposed.

[0066] One end of the reset member 700 can be disposed in the accommodation space 140, and the other end of the reset member 700 can pass through the opening of the accommodation space 140 and connect with the abutment portion 211 of the sliding member 210. In this way, the reset member 700 is restricted by the inner side wall of the accommodation space 140 to prevent misalignment; the reset member 700 is connected to the inner bottom wall of the accommodation space 140 and the bottom surface of the abutment portion 211 of the sliding member 210 at both ends of its axial direction.

[0067] The angle detector can convert the first rotation angle generated by the rotating member 400 into an electrical signal and output it to the controller 3000. The angle detector can be a magnetic angle detector, a photoelectric angle detector, a resistive sensor, etc.

[0068] The magnetic angle detector may include a magnetic block 500 and a sensor 600. The sensor 600 may be disposed in the housing 2000, and the sensor 600 may be electrically connected to the controller 3000. The magnetic block 500 may be connected to the rotating member 400 and may rotate relative to the sensor 600 as the rotating member 400 rotates. The magnetic block 500 may have magnetism, and the magnetic block 500 has an N pole and an S pole that are disposed oppositely. The sensor 600 may sense the change in the magnetic field of the magnetic block 500, and may output a corresponding electrical signal to the controller 3000.

[0069] The controller 3000 and the sensor 600 may be electrically connected via a wire or a line laid on a circuit board; or, the controller 3000 and the sensor 600 may communicate via wireless signals. The sensor 600 may be a Hall effect device that senses voltage changes; or, the sensor 600 may be a magnetoresistive device that senses magnetic field changes.

[0070] For reasonable space utilization, further, the center axis of the magnetic block 500 may coincide with the rotation axis of the rotating member 400 , so that the sensor 600 can sense the changing magnetic field.

[0071] In addition, the photoelectric angle detector is a sensor that uses the principle of grating diffraction to achieve displacement-digital conversion. Through photoelectric conversion, the mechanical geometric displacement on the output shaft is converted into a pulse digital quantity. The photoelectric angle detector may include a grating disk, a light-emitting element, and a photosensitive element. The grating disk is a disk engraved with regular light-transmitting lines and opaque lines. The light flux received by the photosensitive element changes synchronously with the light-transmitting lines. The output waveform of the photosensitive element is shaped and becomes a pulse signal. One pulse is output for each rotation. According to the change of the pulse, the displacement can be measured.

[0072] The resistive sensor is a resistive device that can change resistance, such as a photoresistor or a rotary potentiometer. It can be connected in series in the power supply circuit of the controller 3000, and when the rotating member 400 rotates, the resistance of the resistive sensor changes, thereby causing a current or voltage in the power supply circuit, and thus the controller 3000 obtains a first rotation angle displacement.

[0073] References Figure 3 and Figure 4 The configuration of the second detector 1000 is described when the trigger member 200 is a sliding member 210. Figure 5 and Figure 6 The configuration of the second detector 1000 is described below when the triggering member 200 is a swinging member 220 .

[0074] Specifically, the trigger displacement is the second rotational angular displacement, and the trigger member 200 may be a swing member 220. The swing member 220 may be in the shape of an elongated strip, and the first end of the swing member 220 may be hinged to the base 100. The second end of the swing member 220 may rotate relative to the base 100 when in contact with the carpet, and cause the swing member 220 to generate the second rotational angular displacement. The controller 3000 may determine that the carpet is a long-haired carpet when the second rotational angular displacement exceeds a preset value.

[0075] For example, the preset value may be 10 degrees. If the second rotation angle displacement of the swing member 220 is 20 degrees, which is greater than the preset value 10 degrees, the carpet can be determined to be a long-haired carpet; if the second rotation angle displacement of the swing member 220 is 8 degrees, which is less than 10 degrees, the carpet can be determined to be a short-haired carpet.

[0076] For resetting, a resetting member may be provided between the base 100 and the swinging member 220, and the resetting member may provide the swinging member 220 with an elastic resetting force that causes the second end of the swinging member 220 to move away from the top of the base 100 (or the housing 2000) and toward the surface of the carpet. When the cleaning robot enters the carpet, the second end of the swinging member 220 in the initial position contacts the carpet and is lifted up by the carpet, and rotates in a direction away from the carpet. When the cleaning robot leaves the carpet, the second end of the swinging member 220 may return to the initial position under the action of the resetting member.

[0077] The controller 3000 can obtain the second rotational angular displacement of the swing member 220 through the angle detector mentioned above to determine whether it is a long-haired carpet. However, even a long-haired carpet is relatively short in height, and the height difference between a long-haired carpet and a short-haired carpet is also small, resulting in a small rotation angle of the swing member 220. In order to improve the sensitivity, a gear speed-increasing mechanism can be set at the output end of the swing member 220 to proportionally amplify the rotation angle obtained by the angle detector. For example, the gear speed-increasing mechanism may include a meshing large gear and a small gear, and the number of teeth of the large gear is greater than the number of teeth of the small gear. The large gear and the first end of the swing member 220 can pass through the rotating shaft so that the rotation axes of the two coincide. The angle detector can detect the rotation angle of the small gear and output it to the controller 3000.

[0078] For example, when the swing member 220 rotates 0.5 degrees, the large gear rotates 0.5 degrees, and the small gear rotates 10 degrees. Compared with detecting that the swing member 220 rotates 0.5 degrees, the angle detector can more easily detect that the small gear rotates 10 degrees.

[0079] When the controller 3000 confirms that the surface to be cleaned is a carpet, or when the controller 3000 confirms that the surface to be cleaned is a long-haired carpet, the boundary of the carpet can be detected to clean the short-haired carpet or avoid the long-haired carpet area.

[0080] The method for detecting the boundary of the carpet may include:

[0081] Step 1: When the cleaning robot detects the carpet, the cleaning robot circles in place along the preset direction until the carpet is no longer detected; Step 2: The cleaning robot moves in an arc in the direction of the carpet until the carpet is detected again; Step 3: The cleaning robot repeats the first and second steps until the boundary is closed and the edge is completed.

[0082] The embodiment of the present application also provides a cleaning system, which may include a cleaning base station and the cleaning robot mentioned above. The cleaning base station can be used for the cleaning robot to dock, and can also provide water replenishment, charging, drainage and other services for the cleaning robot.

[0083] It should be noted that: in this application, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0084] In addition, in this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, It is characterized in that include: A housing, a first detector, a second detector, and a controller; The first detector is disposed on the housing, and the first detector is configured to detect the type of medium in the area to be cleaned; The second detector is disposed at the bottom end of the housing, and the second detector is configured to detect the height of the medium in the area to be cleaned; The controller is disposed on the housing, and the controller is electrically connected to the first detector and the second detector, and the controller is configured to determine whether the medium type of the area to be cleaned is a carpet according to the medium type of the area to be cleaned detected by the first detector; When the medium type of the area to be cleaned is carpet, the controller is also configured to determine whether the carpet is a long-haired carpet based on the height of the carpet detected by the second detector; when the carpet is a long-haired carpet, control the cleaning robot to avoid the long-haired carpet.

2. The cleaning robot according to claim 1, It is characterized in that The second detector includes a triggering member, which is movably disposed on the housing, and the triggering member is configured to abut against the carpet and move relative to the housing to generate a triggering displacement; The controller is configured to determine that the carpet is a shag carpet when the trigger displacement exceeds a preset value.

3. The cleaning robot according to claim 2, It is characterized in that The trigger displacement is a sliding line displacement; The triggering member is a sliding member, which is slidably disposed on the housing along a direction intersecting the bottom surface of the housing, and the sliding member is configured to abut against the carpet and slide relative to the housing to generate a sliding linear displacement; The controller is configured to determine that the carpet is a long-haired carpet when the displacement of the sliding line exceeds a preset value.

4. The cleaning robot according to claim 3, It is characterized in that The second detector further comprises a coupling member and a rotating member; the coupling member is slidably disposed on the housing, and the coupling member is connected to the sliding member and slides relative to the housing as the sliding member slides; the rotating member is rotatably disposed on the housing, and the rotating member is connected to the coupling member and rotates relative to the housing as the sliding member slides; and when the sliding member generates a sliding linear displacement, the rotating member generates a first rotational angular displacement; The controller is configured to determine that the carpet is a long-haired carpet when the first rotation angle displacement exceeds a preset angle.

5. The cleaning robot according to claim 4, It is characterized in that The coupling member is a rack, the rotating member is a gear, and the rotating member and the coupling member are meshed with each other; Alternatively, the coupling member is a slider, the rotating member is a crank, and the rotating member and the coupling member are connected via a connecting rod to form a slider crank mechanism.

6. The cleaning robot according to claim 4, It is characterized in that The second detector further comprises a magnetic block and a sensor; the sensor is arranged on the housing, and the sensor is electrically connected to the controller; the magnetic block is connected to the rotating member and rotates relative to the sensor as the rotating member rotates, the magnetic block has magnetism, and the magnetic block has an N pole and an S pole arranged oppositely; The sensor is configured to sense changes in the magnetic field of the magnetic block and output a corresponding electrical signal to the controller.

7. The cleaning robot according to claim 6, It is characterized in that The center axis of the magnetic block coincides with the rotation axis of the rotating member.

8. The cleaning robot according to any one of claims 3 to 7, It is characterized in that The second detector further includes a reset member, which is disposed between the housing and the sliding member and is used to provide an elastic reset force for the sliding member to move in a direction away from the top end of the housing.

9. The cleaning robot according to claim 2, It is characterized in that The trigger displacement is a second rotation angle displacement; The triggering member is a swinging member, which is in the shape of a long strip, one end of which is hinged to the housing, and the other end of which is configured to abut against the carpet and rotate relative to the housing, so that the swinging member generates a second rotational angular displacement; The controller is configured to determine that the carpet is a long-haired carpet when the second rotation angle displacement exceeds a preset value.

10. The cleaning robot according to claim 2, It is characterized in that It also includes a universal wheel. The universal wheel, the first detector and the second detector are all arranged at the front end of the shell, and the first detector and the second detector are arranged on both sides of the universal wheel.

11. A detector for a cleaning robot, It is characterized in that The cleaning robot comprises a controller, and the controller is electrically connected to the detector; The detector is configured to detect the height of the medium in the area to be cleaned; The controller is configured to determine whether the carpet is a long-haired carpet based on the height of the carpet detected by the detector when the medium type of the area to be cleaned is a carpet; When the carpet is a long-haired carpet, the cleaning robot is controlled to avoid the long-haired carpet.

12. A cleaning system, It is characterized in that It comprises a cleaning base station and a cleaning robot as described in any one of claims 1-10.

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