Fallen leaf cleaning robot and fallen leaf compaction control method

Abstract

The invention discloses a fallen leaf cleaning robot and a fallen leaf compaction control method, and relates to the technical field, the fallen leaf cleaning robot comprises a machine body assembly, a driving assembly and a sensing assembly, the machine body assembly comprises a machine body and a storage box which are connected, a storage cavity is formed in the storage box, and the top of the storage box is open; the driving assembly comprises a driving part and a pressing plate, the pressing plate is located in the storage cavity and slidably connected with the storage box, and the driving part is arranged in the storage box and connected to the pressing plate to drive the pressing plate to move up and down; the sensing assembly comprises a height sensing part and a pressure sensing part which are connected with the driving part, and the height sensing part is arranged on the cavity wall of the storage cavity and can control the driving part to drive the pressing plate to press downwards when fallen leaves in the storage cavity exceed a preset height; the pressure sensing piece is arranged on the pressing plate and used for sensing the counter-acting force borne by the pressing plate. When the pressing plate presses an obstacle without fallen leaves in the downward pressing process, the pressure sensed by the pressure sensing piece rises instantly, and the driving piece can be controlled to stop working or rotate reversely to drive the pressing plate to rise, so that the pressing plate is protected.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a leaf-sweeping robot and a leaf compaction control method. Background Technology

[0002] Fallen leaves frequently accumulate on city streets and need to be swept away. The traditional method is manual sweeping with brooms, which is inefficient. Therefore, sweeping robots have been invented to replace manual sweeping, improving work efficiency. For convenient sweeping and storage, existing sweeping robots are usually designed with sweeping and storage functions integrated, allowing for timely collection of swept leaves. Simultaneously, the sweeping robot uses a compactor plate to pack the collected loose leaves, maximizing its storage space and enabling the collection of more leaves.

[0003] However, existing cleaning robots still have shortcomings. For example, their pressure plates are purely mechanical movement structures without any sensors working together, which sometimes causes the pressure plates to move without load and continue to press down when encountering obstacles, thus damaging the pressure plates. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a leaf sweeping robot and a leaf compaction control method. This invention solves the technical problem that in the prior art, the pressure plate of the sweeping robot is a purely mechanical moving structure without any sensors working together, which sometimes causes the pressure plate to move without load and continue to press down when encountering obstacles, thus damaging the pressure plate.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a leaf-cleaning robot, comprising: The body assembly includes a connected body and a storage box, wherein the storage box has a storage cavity and an opening at the top; A driving assembly includes a driving member and a pressure plate. The pressure plate is located in the storage cavity and slidably connected to the storage box. The driving member is disposed in the storage box and connected to the pressure plate to drive the pressure plate to move up and down. The sensing component includes a height sensor and a pressure sensor connected to the drive unit. The height sensor is disposed on the wall of the storage cavity and can control the drive unit to drive the pressure plate to press down when the fallen leaves in the storage cavity exceed a preset height. The pressure sensor is disposed on the pressure plate and is used to sense the reaction force on the pressure plate.

[0006] In some embodiments, the driving component includes a drive motor, a slider, and a lead screw. The drive motor is connected to the lead screw, the lead screw is threaded through the slider, the slider is connected to the pressure plate, and the drive motor is connected to the height sensor and the pressure sensor.

[0007] In some embodiments, the leaf-sweeping robot further includes a shredding assembly, which includes a rotating rod and a plurality of blades. The rotating rod is rotatably disposed in the storage cavity, and the plurality of blades are arranged at intervals along the length of the rotating rod.

[0008] In some embodiments, the leaf-sweeping robot further includes a suction assembly, which includes a suction pump, an air duct, and a branch output pipe. The air duct is located on the body, the suction pump is located at one end of the air duct, one end of the branch output pipe is connected to the air duct, and the other end of the branch output pipe faces the storage cavity.

[0009] In some embodiments, the suction assembly further includes a suction cup located at the end of the duct away from the suction pump, the suction cup being elongated and having a size larger than the diameter of the duct.

[0010] In some embodiments, the crushing assembly is located between the branch output pipe and the pressure plate.

[0011] In some embodiments, the leaf-sweeping robot further includes a sweeping assembly, which includes a sweeping motor, a motion shaft, and a sweeping brush. The sweeping motor is located on the body and connected to the motion shaft, and the motion shaft is connected to the sweeping brush. The sweeping brush can rotate under the drive of the sweeping motor.

[0012] In some embodiments, the cleaning assembly further includes a rotating arm and an adjusting motor. The adjusting motor is disposed on the body and connected to the rotating arm. The rotating arm is connected to the cleaning motor and is capable of rotating under the drive of the adjusting motor.

[0013] In some embodiments, the leaf-sweeping robot further includes a pushing component disposed on the body. The pushing component includes a pushing cylinder and a movable part. The movable part is slidably disposed on the body. The storage box is disposed on the movable part. The pushing cylinder is connected to the movable part and is used to drive the movable part to slide back and forth, so that the movable part drives the storage box to move inside and outside the body.

[0014] Secondly, the present invention also provides a method for controlling leaf compaction, implemented using the aforementioned leaf-sweeping robot, the method comprising the following steps: A height sensor is used to detect whether the fallen leaves in the storage cavity have reached the preset height position. If they have not reached the preset height position, the drive unit will not work. If the preset height position is reached, the height sensor generates the first sensing signal and controls the drive component to drive the pressure plate to press down the fallen leaf, and proceeds to the next step; The pressure sensor detects the reaction force on the pressure plate. If the reaction force increases steadily within a preset time and eventually reaches the preset pressure value, the pressure sensor generates a second sensing signal and controls the drive component to keep the pressure plate in the current position for 1-3 seconds to maintain pressure. Then the drive component drives the pressure plate to rise and reset. If the reaction force increases rapidly within a preset time and eventually exceeds the preset pressure value, the pressure sensor generates a third sensing signal and controls the drive component to automatically reduce speed. If the reaction force does not change within a preset time and ultimately fails to reach the preset pressure value, the pressure sensor generates a fourth sensing signal and controls the drive to stop working or reverse.

[0015] Compared with existing technologies, the leaf-collecting robot provided by this invention has a storage chamber inside its storage box for storing fallen leaves. A pressure plate, driven by a drive unit, can press down on the leaves in the storage chamber to compact the loose leaves, making full use of the storage chamber's space and allowing it to hold more leaves. As the storage chamber continuously collects leaves, when the number of leaves in the storage chamber exceeds a preset height, a height sensor generates a sensing signal and controls the drive unit to drive the pressure plate to press down on the leaves, thus achieving intelligent operation. When the pressure plate presses down on a non-leaf obstacle, the pressure sensor senses a sudden increase in pressure, which can control the drive unit to pause its operation or reverse its rotation to raise the pressure plate, thus protecting it. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the leaf-sweeping robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the leaf-sweeping robot provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the drive component, crushing component, and storage box provided in the embodiments of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] To address the technical problem that the pressure plate of existing cleaning robots is a purely mechanical moving structure without any sensors, which sometimes causes the pressure plate to move without load and continue to press down when encountering obstacles, thus damaging the pressure plate, this invention provides a leaf-sweeping robot and a leaf compaction control method. This method can achieve intelligent control of the pressure plate movement by combining sensors, so as to prevent the pressure plate from continuing to press down when encountering obstacles, thus protecting the pressure plate.

[0019] It should be noted that the leaf sweeping robot described in this invention is used for, but not limited to, sweeping fallen leaves. For ease of explanation, this invention will only use the application of the leaf sweeping robot to sweeping fallen leaves as an example. The principle of the leaf sweeping robot applied to other types of equipment is essentially the same as that applied to sweeping fallen leaves, and will not be described in detail here.

[0020] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of a leaf-sweeping robot according to an embodiment of the present invention. The leaf-sweeping robot includes a body assembly 1, a drive assembly 2, and a sensing assembly 3. The body assembly 1 includes a body 11 connected to a storage box 12. The storage box 12 has a storage cavity 121 and an opening at the top. The drive assembly 2 includes a drive member 21 and a pressure plate 22. The pressure plate 22 is located in the storage cavity 121 and slidably connected to the storage box 12. The drive member 21 is located in the storage box 12 and connected to the pressure plate 22 to drive the pressure plate 22 to move up and down. The sensing assembly 3 includes a height sensor 31 and a pressure sensor 32 connected to the drive member 21. The height sensor 31 is located on the wall of the storage cavity 121 and can control the drive member 21 to drive the pressure plate 22 to press down when the fallen leaves in the storage cavity 121 exceed a preset height. The pressure sensor 32 is located on the pressure plate 22 and is used to sense the reaction force on the pressure plate 22.

[0021] In this embodiment, the leaf-sweeping robot achieves efficient leaf sweeping and compaction through the coordinated operation of the body component 1, drive component 2, and sensing component 3. The body component 1 consists of a body 11 and a storage box 12. The storage cavity 121 inside the storage box 12 is used to collect fallen leaves, and the top opening of the storage cavity 121 facilitates the entry of fallen leaves. The drive component 21 in the drive component 2 is mounted on the storage box 12 and, through connection with the pressure plate 22, can drive the pressure plate 22 to slide up and down within the storage cavity 121. The height sensor 31 in the sensing component 3 is mounted on the cavity wall of the storage cavity 121. When the accumulated height of fallen leaves in the storage cavity 121 exceeds a preset value, the height sensor 31 generates a sensing signal, controlling the drive component 21 to move, causing the pressure plate 22 to press down the fallen leaves. Meanwhile, the pressure sensor 32 is installed on the pressure plate 22. The pressure sensor 32 is used to monitor the reaction force on the pressure plate 22 during the compaction process in real time. When an abnormal pressure change is detected (such as encountering a hard object that causes a sudden increase in pressure), the pressure sensor 32 will send a signal to control the drive component 21 to stop working or drive the pressure plate 22 to slide upward, thereby protecting the pressure plate 22 from damage and realizing intelligent control of leaf compaction.

[0022] The body assembly 1 also includes a protective shell 13, which is used to enclose all working parts for protection. One end of the protective shell 13 has an outlet 131 for the storage box 12 to enter and exit, facilitating the emptying of fallen leaves from the storage box 12.

[0023] In one embodiment, please refer to Figure 3 The driving component 21 includes a drive motor 211, a slider 212, and a lead screw 213. The drive motor 211 is connected to the lead screw 213, and the lead screw 213 is threaded through the slider 212. The slider 212 is connected to the pressure plate 22. The drive motor 211 is connected to a height sensor 31 and a pressure sensor 32. When the height sensor 31 detects that the fallen leaves in the storage cavity 121 have reached a preset height, the height sensor 31 sends a signal to the drive motor 211. The drive motor 211 starts and drives the lead screw 213 to rotate. The rotation of the lead screw 213 causes the slider 212 to move up and down along the lead screw 213, thereby causing the pressure plate 22 to press down or detach from the fallen leaves. When the pressure plate 22 presses down on the fallen leaves, it will be subjected to the reaction force of the fallen leaves, which will be sensed by the pressure sensor 32. When the pressure sensor 32 detects that the reaction force on the pressure plate 22 reaches the preset value, the pressure sensor 32 sends a signal to the drive motor 211. The drive motor 211 controls the pressure plate 22 to stop pressing down and maintain it for a certain period of time to compact the fallen leaves. Then the drive motor 211 rotates in the opposite direction, driving the pressure plate 22 to rise and reset, making room for the next batch of fallen leaves and facilitating preparation for the next compaction of fallen leaves.

[0024] The driving component 21 also includes two guide rods 214, which are slidably connected to the slider 212 to guide the slider 212, so that the slider 212 can move in a straight line stably under the drive of the lead screw 213, thereby driving the pressure plate 22 to rise and fall stably.

[0025] In other embodiments, the driving component 21 can also be replaced by a cylinder, a telescopic rod, and a slider. The two ends of the telescopic rod are connected to the cylinder and the slider, and the slider is connected to the pressure plate 22. When the cylinder is working, it can drive the telescopic rod to extend and retract up and down, and the telescopic rod drives the pressure plate 22 to move up and down to compact the fallen leaves.

[0026] In one embodiment, please refer to Figure 3The leaf-collecting robot also includes a crushing component 4, which comprises a rotating rod 41 and multiple blades 42. The rotating rod 41 is rotatably mounted in the storage cavity 121, and the multiple blades 42 are spaced apart along the length of the rotating rod 41. After the leaves enter the storage cavity 121, the rotating rod 41 drives the blades 42 to rotate, chopping larger leaves into smaller pieces, facilitating subsequent compaction operations and improving the space utilization of the storage cavity 121. The storage box 12 can be equipped with a corresponding motor, which is connected to the rotating rod 41 and drives the rotating rod 41 to rotate, thereby causing the rotating rod 41 to drive the multiple blades 42 to rotate and chop the leaves. In addition, to further improve the cutting efficiency of the leaves, multiple crushing components 4 can be provided. For example, in this embodiment, two crushing components 4 are provided, with the two rotating rods 41 of the two crushing components 4 arranged in parallel, and the rotation of the rotating rods 41 is controlled by two motors respectively. By providing two crushing components 4, the cutting area of ​​the leaves can be further expanded, further improving the cutting efficiency of the leaves.

[0027] In one embodiment, please refer to Figure 2 The leaf-sweeping robot also includes a suction assembly 5, which comprises a suction pump 51, a duct 52, and a branch output pipe 53. The duct 52 is located on the body 11, the suction pump 51 is located at one end of the duct 52, one end of the branch output pipe 53 is connected to the duct 52, and the other end of the branch output pipe 53 faces the storage chamber 121. In this embodiment, after the suction pump 51 is started, it drives the duct 52 to create negative pressure, allowing the duct 52 to deliver fallen leaves from the ground through the branch output pipe 53 into the storage chamber 121, thus improving the efficiency of leaf sweeping. The duct 52 can be fixed to the body 11 by cable ties. The duct 52 can be a corrugated metal pipe, giving it a certain degree of deformation capability and allowing it to be stably fixed in its current position, adjusting the direction of leaf suction. Before operation, the operator can adjust the suction angle of the duct 52 according to the approximate location of the fallen leaves to ensure effective leaf suction.

[0028] Further, please refer to Figure 2 The suction assembly 5 also includes a suction cup 54, which is located at the end of the air duct 52 away from the suction pump 51. The suction cup 54 is elongated and its size is larger than the diameter of the air duct 52. In this embodiment, by setting the suction cup 54, the contact area between the suction assembly 5 and the ground can be increased, thereby improving the efficiency of suctioning fallen leaves.

[0029] In one embodiment, please refer to Figure 2The aforementioned crushing component 4 is located between the branch output pipe 53 and the pressure plate 22. In this embodiment, the branch output pipe 53 is located above the storage box 12, and the crushing component 4 is located at the opening at the top of the storage cavity 121. This allows the fallen leaves to be shredded by the crushing component 4 before being fed into the storage cavity 121 from the branch output pipe 53. The shredded leaves can fall fully into the storage cavity 121 and then be compacted by the pressure plate 22, further improving the space utilization of the storage cavity 121.

[0030] In one embodiment, please refer to Figure 2 The leaf-sweeping robot also includes a sweeping assembly 6, which includes a sweeping motor 61, a motion shaft 62, and a sweeping brush 63. The sweeping motor 61 is located on the body 11 and connected to the motion shaft 62. The motion shaft 62 is connected to the sweeping brush 63, which can rotate under the drive of the sweeping motor 61. In this embodiment, after the sweeping motor 61 is started, it drives the motion shaft 62 and the sweeping brush 63 to rotate. The sweeping brush 63 has relatively hard bristles, and when it rotates, it can sweep up the fallen leaves stuck to the ground, making it easier for the leaves to be sucked into the storage cavity 121 by the suction assembly 5. In this embodiment, two sets of sweeping assemblies 6 can be set up, with the two sweeping brushes 63 of the two sets of sweeping assemblies 6 close to each other. The two sweeping motors 61 can control the two sweeping brushes 63 to rotate in opposite directions, so that the sweeping brushes 63 can more easily sweep up the fallen leaves on the ground.

[0031] Further, please refer to Figure 2 The cleaning assembly 6 also includes a rotating arm 64 and an adjusting motor 65. The adjusting motor 65 is located on the body 11 and connected to the rotating arm 64. The rotating arm 64 is connected to the cleaning motor 61, and the rotating arm 64 can rotate under the drive of the adjusting motor 65. In this embodiment, the adjusting motor 65 can drive the rotating arm 64 to rotate during operation, so that the rotating arm 64 drives the cleaning brush 63 to adjust its cleaning position. Therefore, in this embodiment, the position and angle of the cleaning brush 63 can be adjusted using the adjusting motor 65 according to different cleaning scenarios and needs, thereby improving the cleaning effect.

[0032] In one embodiment, please refer to Figure 2The leaf-collecting robot also includes a pushing component 7, which is located on the body 11. The pushing component 7 includes a pushing cylinder 71 and a movable part 72. The movable part 72 is slidably mounted on the body 11, and a storage box 12 is located on the movable part 72. The pushing cylinder 71 is connected to the movable part 72 and is used to drive the movable part 72 to slide back and forth, so that the movable part 72 drives the storage box 12 to move inside and outside the body 11. In this embodiment, by setting the pushing component 7, the storage box 12 can be driven to slide back and forth, so that the storage box 12 slides out or into the body 11. When there is no extra space in the storage cavity 121 of the storage box 12 to load fallen leaves, the pushing cylinder 71 can be controlled to drive the movable part 72 to slide out of the body 11, and the movable part 72 drives the storage box 12 to slide out, so as to discharge the fallen leaves collected in the storage cavity 121. The bottom of the storage box 12 has a discharge port (not shown in the figure). The discharge port is equipped with a rotatable sealing plate, which can open or close the discharge port when rotating. When it is necessary to discharge fallen leaves, the discharge port can be opened. After the fallen leaves have been cleaned up, the moving part 72 can be slid towards the inside of the machine body 11 by controlling the push cylinder 71. The moving part 72 drives the storage box 12 into the machine body 11 so that the storage box 12 can collect fallen leaves again.

[0033] In one embodiment, please refer to Figure 2 The body assembly 1 also includes a walking assembly 8 located at the bottom of the body 11. The walking assembly 8 includes a walking motor 81, a Mecanum wheel 82, and a buffer spring 83. The walking motor 81 is connected to the Mecanum wheel 82 and drives the Mecanum wheel 82 to rotate, so that the Mecanum wheel 82 drives the robot to walk. The Mecanum wheel 82 can drive the robot to move in a straight line, diagonally, and circumferentially, with no dead angles and flexible movement. The walking motor 81 is slidably connected to the body 11 through a fixed rod. The buffer spring 83 is sleeved on the fixed rod. When the Mecanum wheel 82 vibrates during walking, the buffer spring 83 can cushion the vibration to reduce the robot's bumps.

[0034] The body assembly 1 also includes a central control switch 14 located on the body 11. The central control switch 14 is used to control the operation or non-operation of various electric components, such as controlling the operation of the push cylinder 71 to drive the storage box 12 in and out of the body 11.

[0035] Secondly, the present invention also provides a method for controlling leaf compaction, implemented using the aforementioned leaf-sweeping robot. The method for controlling leaf compaction includes the following steps: Step 1: Measure the height of fallen leaves A height sensor 31 is installed in the storage cavity 121 of the leaf-collecting robot. When the sweeping component 6 collects fallen leaves and sends them into the storage cavity 121, the height sensor 31 monitors the accumulation height of the leaves in real time. If the leaf height does not reach the preset value, the height sensor 31 does not send a signal, the drive component 21 remains stationary, the sweeping component 6 continues to work, and the suction component 5 continuously sucks the fallen leaves into the storage cavity 121. At this time, the pressure plate 22 is in a standby state, waiting for the leaf height to reach the preset value.

[0036] Step 2: Press down the pressure plate When the height of the fallen leaves in the storage cavity 121 reaches a preset value, the height sensor 31 detects this change and generates a first sensing signal. This signal is transmitted to the drive unit 21 (e.g., drive motor 211), which starts and drives the lead screw 213 to rotate. The rotation of the lead screw 213 causes the slider 212 to move downward along its axis, which in turn drives the pressure plate 22 to press down on the fallen leaves in the storage cavity 121, initiating the compaction operation.

[0037] Step 3: Smooth compaction and pressure holding During the pressing process of the pressure plate 22, the pressure sensor 32 installed on it monitors the reaction force on the pressure plate in real time. If the reaction force increases steadily within a preset time and eventually reaches the preset pressure value, the pressure sensor 32 generates a second sensing signal. This signal controls the drive unit 21 to keep the pressure plate 22 in its current position, maintaining a pressure-holding state for 1-3 seconds to ensure that the fallen leaves are fully compacted. Subsequently, the drive motor 211 rotates in the opposite direction, driving the lead screw 213 to raise the slider 212, and the pressure plate 22 rises and resets, waiting for the next compaction operation.

[0038] Step 4: Handling Hard Objects If, during the pressing process of the pressure plate 22, the pressure sensor detects that the reaction force increases rapidly within a preset time and exceeds the preset pressure value, it indicates that the pressure plate may have encountered a hard object or other non-leaf obstacle. At this time, the pressure sensor 32 generates a third sensing signal, controlling the drive unit 21 to automatically reduce speed, and the pressure plate 22 will stop pressing down to avoid damage to the pressure plate 22 due to excessive pressure.

[0039] Step 5: Handling Abnormal Situations If, within a preset time, the pressure sensor 32 detects no significant change in the reaction force and the preset pressure value is not reached, it may be because there are few or unevenly distributed fallen leaves in the storage cavity 121. In this case, the pressure sensor 32 generates a fourth sensing signal, controlling the drive unit 21 to stop working or causing the pressure plate 22 to retract in the reverse direction. When stopping, the pressure plate 22 maintains its current position, waiting for more fallen leaves to enter the storage cavity 121 before restarting the compaction operation; when retracting, the pressure plate 22 rises to its reset position, and the cleaning assembly 6 and suction assembly 5 continue working until the fallen leaves in the storage cavity 121 reach suitable compaction conditions.

[0040] To better understand this invention, the following is combined with... Figures 1 to 3 The technical solution of the present invention will be described in detail below: This invention discloses a leaf-sweeping robot and a leaf compaction control method, solving the problems of traditional sweeping robots' compaction plates lacking intelligent control, being easily damaged, and having low efficiency. The sweeping robot achieves efficient sweeping and intelligent compaction of fallen leaves through the coordinated work of its body component 1, drive component 2, and sensing component 3. Specifically, height sensor 31 and pressure sensor 32 are used to monitor the height of the fallen leaves and the force on the compaction plate, respectively, ensuring the intelligence and safety of the compaction process. In addition, the robot is equipped with a crushing component 4, a suction component 5, a sweeping component 6, and a pushing component 7, further improving sweeping efficiency and storage space utilization. The compaction control method, through multi-step intelligent decision-making, achieves intelligent processing of different compaction conditions of fallen leaves, effectively protecting the equipment and improving the compaction effect.

[0041] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A leaf-sweeping robot, characterized in that, include: The body assembly includes a connected body and a storage box, wherein the storage box has a storage cavity and an opening at the top; A driving assembly includes a driving member and a pressure plate. The pressure plate is located in the storage cavity and slidably connected to the storage box. The driving member is disposed in the storage box and connected to the pressure plate to drive the pressure plate to move up and down. The sensing component includes a height sensor and a pressure sensor connected to the drive unit. The height sensor is disposed on the wall of the storage cavity and can control the drive unit to drive the pressure plate to press down when the fallen leaves in the storage cavity exceed a preset height. The pressure sensor is disposed on the pressure plate and is used to sense the reaction force on the pressure plate.

2. The leaf-sweeping robot according to claim 1, characterized in that, The driving component includes a drive motor, a slider, and a lead screw. The drive motor is connected to the lead screw, the lead screw is threaded through the slider, the slider is connected to the pressure plate, and the drive motor is connected to the height sensor and the pressure sensor.

3. The leaf-sweeping robot according to claim 1, characterized in that, The leaf-sweeping robot also includes a shredding assembly, which includes a rotating rod and multiple blades. The rotating rod is rotatably mounted in the storage cavity, and the multiple blades are arranged at intervals along the length of the rotating rod.

4. The leaf-sweeping robot according to claim 3, characterized in that, The leaf-sweeping robot also includes a suction assembly, which includes a suction pump, an air duct, and a branch output pipe. The air duct is located on the body, the suction pump is located at one end of the air duct, one end of the branch output pipe is connected to the air duct, and the other end of the branch output pipe faces the storage cavity.

5. The leaf-sweeping robot according to claim 4, characterized in that, The suction assembly also includes a suction cup, which is located at the end of the air duct away from the suction pump. The suction cup is elongated and its size is larger than the diameter of the air duct.

6. The leaf-sweeping robot according to claim 4, characterized in that, The crushing component is located between the branch output pipe and the pressure plate.

7. The leaf-sweeping robot according to claim 1, characterized in that, The leaf-sweeping robot also includes a sweeping assembly, which includes a sweeping motor, a motion shaft, and a sweeping brush. The sweeping motor is located on the body and connected to the motion shaft. The motion shaft is connected to the sweeping brush, and the sweeping brush can rotate under the drive of the sweeping motor.

8. The leaf-sweeping robot according to claim 7, characterized in that, The cleaning assembly also includes a rotating arm and an adjusting motor. The adjusting motor is located on the machine body and connected to the rotating arm. The rotating arm is connected to the cleaning motor, and the rotating arm can rotate under the drive of the adjusting motor.

9. The leaf-sweeping robot according to claim 1, characterized in that, The leaf-sweeping robot also includes a pushing component, which is disposed on the body. The pushing component includes a pushing cylinder and a movable part. The movable part is slidably disposed on the body. The storage box is disposed on the movable part. The pushing cylinder is connected to the movable part and is used to drive the movable part to slide back and forth, so that the movable part drives the storage box to move inside and outside the body.

10. A method for controlling leaf compaction, implemented using a leaf-sweeping robot as described in any one of claims 1-9, characterized in that, The method for controlling leaf compaction includes the following steps: A height sensor is used to detect whether the fallen leaves in the storage cavity have reached the preset height position. If they have not reached the preset height position, the drive unit will not work. If the preset height position is reached, the height sensor generates the first sensing signal and controls the drive component to drive the pressure plate to press down the fallen leaf, and proceeds to the next step; The pressure sensor detects the reaction force on the pressure plate. If the reaction force increases steadily within a preset time and eventually reaches the preset pressure value, the pressure sensor generates a second sensing signal and controls the drive component to keep the pressure plate in the current position for 1-3 seconds to maintain pressure. Then the drive component drives the pressure plate to rise and reset. If the reaction force increases rapidly within a preset time and eventually exceeds the preset pressure value, the pressure sensor generates a third sensing signal and controls the drive component to automatically reduce speed. If the reaction force does not change within a preset time and ultimately fails to reach the preset pressure value, the pressure sensor generates a fourth sensing signal and controls the drive to stop working or reverse.

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