Cleaning apparatus and cleaning system

Abstract

The present disclosure relates to the technical field of smart home, and provides a cleaning device and a cleaning system. The cleaning device comprises a dust storage cavity and a cleaning module. The cleaning module comprises a cleaning cover, the cleaning cover comprising a main air duct and a secondary air duct, the secondary air duct being in communication with the dust storage cavity; a roller brush, the roller brush being arranged in the main air duct so that at least part of the secondary air duct is idle; the roller brush comprising a first roller brush; a second roller brush, the second roller brush being arranged at intervals from the first roller brush; wherein the second roller brush and the first roller brush are arranged along the length direction of the cleaning cover; a third roller brush, the third roller brush being arranged along the width direction of the cleaning cover from the first roller brush; and a fourth roller brush, the fourth roller brush being arranged at intervals from the third roller brush along the length direction of the cleaning cover and arranged along the width direction of the cleaning cover from the second roller brush.

Description

[0001] This disclosure is a divisional application. The original application has the application number 202210730367.3 and the invention title is "Cleaning Equipment and Cleaning System". Technical Field

[0002] This disclosure relates to the field of smart home technology, and in particular to a cleaning device and cleaning system. Background Technology

[0003] The cleaning robots in this technology collect dust from the ground into a dust box located inside them during the cleaning process. Summary of the Invention

[0004] This disclosure provides a cleaning device and cleaning system to facilitate the cleaning of dust.

[0005] According to a first aspect of this disclosure, a cleaning device is provided, including a dust collection chamber and a cleaning module, the cleaning module comprising: The cleaning hood includes a main air duct and a secondary air duct, with the secondary air duct connected to the dust collection chamber. A roller brush is installed inside the main air duct so that at least part of the secondary air duct is left unused.

[0006] The roller brush includes: First roller brush; The second roller brush is spaced apart from the first roller brush. The second roller brush and the first roller brush are arranged along the length of the cleaning hood; The third roller brush is set along the width of the cleaning hood, along with the first roller brush. The fourth roller brush is spaced apart from the third roller brush along the length of the cleaning cover and is positioned along the width of the cleaning cover along with the second roller brush.

[0007] In one embodiment of this disclosure, the main air duct and the secondary air duct are arranged along the width direction of the cleaning hood.

[0008] In one embodiment of this disclosure, the volume of the main air duct is greater than the volume of the secondary air duct.

[0009] In one embodiment of this disclosure, the cleaning hood is provided with an air duct opening, and the secondary air duct and the dust storage chamber are connected through the air duct opening; The air duct opening is positioned offset from the center of the cleaning hood along its length.

[0010] In one embodiment of this disclosure, the secondary air duct includes a first air duct section and a second air duct section, which are arranged along the length of the cleaning hood, and the end of the second air duct section away from the first air duct section is connected to a ventilation duct opening.

[0011] In one embodiment of this disclosure, the extension direction of the first air duct segment and the extension direction of the second air duct segment are not parallel.

[0012] In one embodiment of this disclosure, there is an arc transition between the first air duct segment and the second air duct segment.

[0013] In one embodiment of this disclosure, there are at least two main air ducts, and secondary air ducts are located between adjacent main air ducts.

[0014] In one embodiment of this disclosure, a portion of the main air duct is left vacant along the length of the cleaning hood.

[0015] In one embodiment of this disclosure, the roller brush includes: First roller brush; The second roller brush is spaced apart from the first roller brush. The second roller brush and the first roller brush are arranged along the length of the cleaning hood.

[0016] In one embodiment of this disclosure, the roller brush further includes: The third roller brush is set along the width of the cleaning hood, along with the first roller brush. The fourth roller brush is spaced apart from the third roller brush along the length of the cleaning cover and is positioned along the width of the cleaning cover along with the second roller brush.

[0017] According to a second aspect of this disclosure, a cleaning device is provided, including a dust storage chamber and a cleaning module. The cleaning module includes an air duct opening, which is connected to the dust storage chamber. The air duct opening is located off-center from the center of the length direction of the cleaning module.

[0018] In one embodiment of this disclosure, the cleaning module includes: Cleaning cover; A roller brush is installed inside the cleaning hood, and the air duct opening is located on the cleaning hood. The air duct opening is positioned offset from the center of the cleaning hood along its length.

[0019] In one embodiment of this disclosure, the minimum vertical distance between the air duct opening and the center position of the cleaning hood along the length direction of the cleaning hood is greater than the minimum vertical distance between the air duct opening and the inner wall of the cleaning hood.

[0020] In one embodiment of this disclosure, the cleaning hood includes a main air duct and a secondary air duct, with a roller brush disposed within the main air duct such that at least a portion of the secondary air duct is left unattended.

[0021] In one embodiment of this disclosure, the secondary air duct is connected to the dust storage chamber through an air duct opening.

[0022] In one embodiment of this disclosure, a dust suction duct is further included, which connects the cleaning hood and the dust collection chamber. The dust suction duct includes an air inlet connected to the cleaning hood and an air outlet connected to the dust collection chamber. The dust extraction duct is inclined relative to the horizontal plane.

[0023] In one embodiment of this disclosure, the dust extraction duct includes a third duct and a fourth duct that are connected to each other. The cleaning hood has an air duct opening. The third duct is connected to the cleaning hood through the air duct opening, and the fourth duct is connected to the dust storage chamber. The third air duct is either inclined or vertical relative to the air duct opening.

[0024] In one embodiment of this disclosure, The third air duct is inclined upward relative to the horizontal plane, from the direction closest to the cleaning hood to the direction furthest from the cleaning hood.

[0025] In one embodiment of this disclosure, the third air duct has an arc-shaped structure, and the sidewall of the third air duct includes a curved surface.

[0026] In one embodiment of this disclosure, The fourth air duct is an approximately horizontal air duct, and the sidewalls of the fourth air duct include curved surfaces.

[0027] In one embodiment of this disclosure, the third air duct and the fourth air duct are an integral structure or a separate structure; and / or, the third air duct and the cleaning hood are an integral structure or a separate structure.

[0028] In one embodiment of this disclosure, the third air duct is made of a rigid material; and / or, the fourth air duct is made of a flexible material.

[0029] According to a third aspect of this disclosure, a cleaning system is provided, including the cleaning equipment described above, and the cleaning system further includes a cleaning base station. Attached Figure Description

[0030] The various objectives, features, and advantages of this disclosure will become more apparent from the following detailed description of preferred embodiments of the disclosure, taken in conjunction with the accompanying drawings. The drawings are merely illustrative of the present disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein: Figure 1 This is a structural schematic diagram of a cleaning robot from a first perspective, according to an exemplary embodiment; Figure 2 This is a structural schematic diagram of a cleaning robot from a second perspective, according to an exemplary embodiment. Figure 3 This is a structural schematic diagram of a cleaning robot from a third perspective, according to an exemplary embodiment. Figure 4 This is a structural schematic diagram of a cleaning robot from a fourth perspective, according to an exemplary embodiment. Figure 5 This is a structural schematic diagram from one perspective of a portion of a cleaning robot according to an exemplary embodiment; Figure 6 This is a structural schematic diagram from another perspective of a part of a cleaning robot according to an exemplary embodiment; Figure 7 This is a structural schematic diagram of the dustbin of a cleaning robot according to an exemplary embodiment, from one perspective. Figure 8 This is a structural schematic diagram of the dustbin of a cleaning robot from another perspective, according to an exemplary embodiment; Figure 9 This is a schematic diagram of the structure of the first chamber for releasing the dust box of a cleaning robot according to an exemplary embodiment; Figure 10 This is a schematic diagram of the structure of the second chamber for releasing the dust box of a cleaning robot according to an exemplary embodiment; Figure 11 This is a schematic diagram of the structure of the first and second chambers for releasing the dustbin of a cleaning robot according to an exemplary embodiment; Figure 12 This is a schematic diagram of the internal structure of the dust box of a cleaning robot according to an exemplary embodiment; Figure 13 This is a structural schematic diagram from a first perspective of the base of a cleaning robot according to an exemplary embodiment; Figure 14 This is a structural schematic diagram from a second perspective of a base for a cleaning robot, according to an exemplary embodiment. Figure 15 This is a structural schematic diagram of the base of a cleaning robot from a third perspective, according to an exemplary embodiment. Figure 16 This is a cross-sectional structural schematic diagram of the base of a cleaning robot according to an exemplary embodiment; Figure 17 This is a schematic diagram of the bottom cover and locking mechanism of a cleaning robot according to an exemplary embodiment; Figure 18 This is a schematic diagram of the structure of a cyclone separator for a cleaning robot according to an exemplary embodiment; Figure 19 This is a schematic cross-sectional view of a cyclone separator for a cleaning robot according to an exemplary embodiment. Figure 20A This is a structural schematic diagram from one perspective of a cleaning module of a cleaning robot according to an exemplary embodiment; Figure 20B This is a structural schematic diagram of a cleaning module of a cleaning robot in one state, according to an exemplary embodiment. Figure 20C This is a structural schematic diagram of another state of a cleaning module of a cleaning robot according to an exemplary embodiment; Figure 20D This is a schematic diagram of the combined structure of a cleaning module of a cleaning robot with a first connecting component, a second connecting component, and a protective cover, according to an exemplary embodiment. Figure 20E This is a schematic diagram of the combined structure of a cleaning module, a first connecting component, and a second connecting component of a cleaning robot, according to an exemplary embodiment. Figure 20F This is a schematic diagram of the cleaning hood and suction duct of a cleaning robot according to an exemplary embodiment; Figure 21 This is a structural schematic diagram from another perspective of a cleaning module of a cleaning robot, according to an exemplary embodiment. Figure 22 This is a structural schematic diagram from one perspective of the cleaning cover of a cleaning module of a cleaning robot, according to an exemplary embodiment. Figure 23 This is a structural schematic diagram from another perspective of the cleaning hood of a cleaning module of a cleaning robot, according to an exemplary embodiment. Figure 24 This is a schematic diagram of the drive structure of a cleaning module of a cleaning robot according to an exemplary embodiment; Figure 25 This is a schematic diagram of the drive structure of a cleaning module of a cleaning robot according to an exemplary embodiment, from another perspective. Figure 26 This is a schematic diagram of the structure of a cleaning module of a cleaning robot according to another exemplary embodiment; Figure 27A This is a schematic diagram of the structure of a fan assembly of a cleaning robot according to an exemplary embodiment; Figure 27B This is an exploded structural diagram of a fan assembly of a cleaning robot according to an exemplary embodiment; Figure 28This is an exploded structural diagram of a fan assembly of a cleaning robot according to an exemplary embodiment, from another perspective. Figure 29 This is an exploded structural diagram of the filter section of a fan assembly of a cleaning robot according to an exemplary embodiment. Figure 30 This is a structural schematic diagram of an integrated pile according to an exemplary embodiment; Figure 31 This is a partial structural schematic diagram of an integrated pile according to an exemplary embodiment; Figure 32 This is a structural schematic diagram from one perspective of a stop member of an integrated pile according to an exemplary embodiment; Figure 33 This is a structural schematic diagram from another perspective of a stop member of an integrated pile, according to an exemplary embodiment.

[0031] The annotations in the attached figures are explained as follows: 1. Pile body; 2. Dust inlet channel; 3. Dust inlet; 4. Dust bin; 7. Fan structure; 9. Stop component; 91. First stop component; 911. First rack; 92. Second stop component; 921. Second rack; 93. Drive component; 931. Motor; 932. First gear; 933. Second gear; 94. Adsorption component; 10. Dust box; 11. Dust storage chamber; 111. First chamber; 1111. First opening; 1112. Waste inlet; 112. Second chamber; 1121. Second opening; 1122. Third opening; 1123. Exhaust vent; 113. Transition channel; 12. Door; 121. First door component; 122. Second door component; 13. Cyclone separator; 131. Primary separation cyclone; 132. Secondary separation cyclone; 133. Separation filter; 14. Base; 141. Clearance space; 15. Bottom cover; 151. Rolling part; 16. Locking part; 161. Actuating part; 162. First locking part; 163. Second locking part; 20. Main body; 21. Position determining device; 22. Top main plane; 23. Top raised plane; 24. Transition surface; 25. Buffer; 26. Forward part; 27. Rearward part; 28. Protective cover; 30. Cleaning module; 31. Cleaning hood; 311. Mounting cavity; 3111. Main air duct; 3112. Secondary air duct; 3113. First air duct section; 3114. Second air duct section; 312. Air duct opening; 32. First roller brush; 33. Second roller brush; 331. Main support component; 3311. Slot; 332. Adapter; 333. Buckle; 334. Elastic component; 335. Power adapter; 34. Third roller brush; 35. Fourth roller brush; 36. Drive structure; 361. Power unit; 362. 363. First wheel; 364. Second wheel; 365. Third wheel; 366. Fourth wheel; 367. Fifth wheel; 368. Sixth wheel; 369. Seventh wheel; 360. Eighth wheel; 3610. Transmission rod; 3611. Ninth wheel; 3612. Tenth wheel; 3613. Eleventh wheel; 3614. Twelfth wheel; 3615. Thirteenth wheel; 37. Side brush; 38. First gap; 39. Second gap; 301. First roller brush structure; 302. Second roller brush structure; 40. Fan assembly; 41. Fan; 42. Air duct; 421. First air duct opening; 422. Second air duct opening; 43. Filter section; 431. Filter layer; 432. Frame; 44. Silencing section; 441. Sound channel through hole; 442. Sound absorption hole; 45. Filter element; 46. Protective cover; 50. Drive system; 51. First drive wheel module; 52. Second drive wheel module; 53. Driven wheel; 60. First connecting component; 61. First link; 62. Second link; 70. Second connecting component; 71. Third link; 72. Fourth link; 73. Dust suction duct; 731. Third duct; 732. Fourth duct; 733. Air outlet. Detailed Implementation

[0032] Typical embodiments embodying the features and advantages of this disclosure will be described in detail in the following description. It should be understood that this disclosure can have various variations in different embodiments without departing from the scope of this disclosure, and the descriptions and drawings therein are illustrative in nature and not intended to limit this disclosure.

[0033] In the following description of various exemplary embodiments of this disclosure, reference is made to the accompanying drawings, which form part of this disclosure, and which illustrate by way of example different exemplary structures, systems, and steps that may implement various aspects of this disclosure. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of this disclosure. Furthermore, while the terms “above,” “between,” “within,” etc., may be used in this specification to describe different exemplary features and elements of this disclosure, these terms are used herein only for convenience, such as according to the orientation of the examples in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of this disclosure.

[0034] like Figures 1 to 33 As shown, the cleaning system of this embodiment includes a cleaning robot and a cleaning base station.

[0035] like Figures 1 to 29 As shown, the cleaning robot includes a main body 20, a dust box 10, a cleaning module 30, a fan assembly 40, a drive system 50, a sensing system, a control module, an energy system, and a human-machine interaction system.

[0036] like Figure 1 As shown, the main body 20 includes a forward portion 26 and a rearward portion 27. The cleaning robot has an approximately circular shape (both front and rear are circular), but it may also have other shapes, including but not limited to an approximately D-shaped shape with a circular front and rear, and a rectangular or square shape with a circular front and rear. The cleaning direction of the cleaning robot can be considered as the direction from the rearward portion 27 to the forward portion 26.

[0037] like Figures 1 to 3 As shown, the sensing system may include a position determination device 21 located on the main body 20, a collision sensor and a proximity sensor disposed on the buffer 25 of the forward portion 26 of the main body 20, a cliff sensor disposed on the lower part of the machine body, and sensing devices such as magnetometers, accelerometers, gyroscopes, and odometers disposed inside the machine body, used to provide the control module with various position information and motion status information of the machine. The position determination device 21 includes, but is not limited to, a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor).

[0038] like Figure 1 and Figure 3As shown, the forward portion 26 of the main body 20 can carry the buffer 25. During the cleaning process, when the drive system 50 propels the cleaning robot to walk on the ground, the buffer 25 detects one or more events in the cleaning robot's travel path via a sensor system, such as an infrared sensor, mounted thereon. The cleaning robot can control the drive system 50 to respond to the events detected by the buffer 25, such as obstacles or walls, by moving away from the obstacles.

[0039] The control module is located on the main circuit board within the main body 20. It includes non-transitory memory, such as hard disks, flash memory, and random access memory, and a computing processor, such as a central processing unit and an application processor. The application processor uses localization algorithms, such as Simultaneous Localization and Mapping (SLAM), to create a real-time map of the cleaning robot's environment based on obstacle information fed back by the laser rangefinder. Furthermore, it combines distance and speed information fed back by sensors on the buffer 25, such as cliff sensors, magnetometers, accelerometers, gyroscopes, and odometry, to comprehensively determine the cleaning robot's current working state, location, and posture. This includes situations such as crossing a threshold, stepping onto a carpet, being on a cliff, getting stuck above or below, a full dustbin, or being picked up. It also provides specific next action strategies for different situations, resulting in better cleaning performance and a better user experience.

[0040] like Figure 3 and Figure 4 As shown, the drive system 50 can manipulate the main body 20 to travel across the ground based on drive commands with distance and angle information (e.g., x, y, and θ components). The drive system 50 includes a first drive wheel module 51 and a second drive wheel module 52. The first drive wheel module 51 and the second drive wheel module 52 are arranged along a transverse axis defined by the main body 20. To enable the cleaning robot to move more stably or with greater mobility on the ground, the cleaning robot may include one or more driven wheels 53, including but not limited to omnidirectional wheels. The drive wheel module includes a walking wheel and a drive motor, as well as control circuitry for controlling the drive motor. The drive wheel module may also be connected to circuitry for measuring drive current and an odometer. The drive wheel module can be detachably attached to the main body 20 for easy disassembly and maintenance. The drive wheel may have an offset drop suspension system, which is movably secured, for example, rotatably attached, to the main body 20 and receives a spring bias that is offset downwards and away from the main body 20. The spring bias allows the drive wheel to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot also contact the ground with a certain pressure.

[0041] The main body 20 defines a horizontal axis and a vertical axis, which are perpendicular to each other. The horizontal axis and the vertical axis can be understood as the horizontal center line and the vertical center line of the main body 20, respectively.

[0042] The energy system includes rechargeable batteries, such as nickel-metal hydride (NiMH) and lithium-ion batteries. These batteries can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit connects to a charging station via charging electrodes located on the side or bottom of the device for charging.

[0043] The human-machine interface system includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine status or available functions; and it may include a mobile client application. For path-navigation type automatic cleaning equipment, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, and can provide users with richer and more user-friendly functions.

[0044] In this embodiment of the cleaning robot, a dustbin 10 is disposed on a main body 20, and at least a portion of a position determining device 21 protrudes from the main body 20. Since the top of the dustbin 10 is not lower than the top of at least a portion of the main body 20, and the top of the position determining device 21 is higher than the top of the dustbin 10, this design ensures that the dustbin 10 is made as tall as possible while also guaranteeing that the position determining device 21 triggers the obstacle first, thereby indirectly protecting the dustbin 10 or the main body 20 from being jammed by the obstacle.

[0045] It should be noted that since the top of the dust box 10 is not lower than at least part of the top of the main body 20, the height of the dust box 10 is made as high as possible relative to the height of the main body of the cleaning robot in the related technology, without changing the original height of the main body, so as to increase the dust collection capacity of the dust box 10, without increasing the height of the cleaning robot.

[0046] In the embodiments disclosed herein, such as Figure 1 and Figure 2 As shown, the main body 20 includes a top main plane 22, at least a portion of the position determining device 21 protrudes from the top main plane 22, and the top of the dust box 10 is higher than the top main plane 22. The top main plane 22 is the upper large surface of the cleaning robot, and by having at least a portion of the position determining device 21 protrude from the top main plane 22, it is ensured that the position determining device 21 can reliably identify obstacles. The top of the dust box 10 being higher than the top main plane 22 ensures that the dust box 10 has sufficient dust collection capacity.

[0047] In the embodiments disclosed herein, such as Figure 1 and Figure 2 As shown, the main body 20 also includes a top protruding plane 23, which is higher than the top main plane 22 and lower than the top of the position determining device 21; wherein at least a portion of the dust box 10 is located below the top protruding plane 23. The top protruding plane 23 is the upper small surface of the cleaning robot, and placing the top of the position determining device 21 above the top protruding plane 23 ensures that the position determining device 21 can reliably identify obstacles. The fact that at least a portion of the dust box 10 is located below the top protruding plane 23 prevents the dust box 10 from contributing excessive height to the cleaning robot, and the main body 20 also provides protection for the dust box 10.

[0048] In the embodiments disclosed herein, such as Figure 1 and Figure 2 As shown, the main body 20 also includes a transition surface 24, which connects the top main plane 22 and the top protruding plane 23. The top main plane 22 and the top protruding plane 23 are approximately parallel, and the transition surface 24 is inclined to the top protruding plane 23. This not only improves the aesthetics of the design but also allows the main body 20 to easily pass through low obstacles, preventing the cleaning robot from getting stuck. Specifically, the transition surface 24 effectively prevents obstacles with a height between the top of the position determining device 21 and the top main plane 22 from causing the cleaning robot to get stuck.

[0049] In this embodiment, a portion of the dust box 10 is located below the top main plane 22, and another portion of the dust box 10 is located below the top protruding plane 23. This allows a portion of the dust box 10 to be higher, facilitating the arrangement of other structures or increasing the dust collection space locally. The other portion of the dust box 10 can be adapted to the height of the main body of the cleaning robot, and the main body 20 can effectively protect the dust box 10, preventing damage to the dust box 10 and other problems.

[0050] As an optional embodiment of this disclosure, the top of the position determining device 21 is 0.2mm-10mm higher than the top of the dust box 10. This ensures that the position determining device 21 triggers the obstacle first, and also makes the height of the dust box 10 relatively high, which is beneficial to improving the dust collection capacity.

[0051] In this embodiment, the dustbin 10 is located behind the position determining device 21 along the cleaning operation direction of the cleaning robot. The position determining device 21 is located in the middle of the cleaning robot, while the dustbin 10 is located behind the cleaning robot. The vertical projections of the position determining device 21 and the dustbin 10 may not overlap, thereby ensuring that at least a portion of the height of the dustbin 10 is greater than the top main plane 22 without having to consider interference between the position determining device 21 and the dustbin 10. This further guarantees the height of the dustbin 10.

[0052] The cleaning robot provided in this embodiment is used to cooperate with a cleaning base station to discharge dust into the cleaning base station. The cleaning robot includes: a dust storage chamber 11, the dust storage chamber 11 including an opening; and a door 12, the door 12 being movably disposed relative to the dust storage chamber 11 to release or block the opening; wherein, after the cleaning robot docks with the cleaning base station, the door 12 can release the opening so that the opening is connected to the dust inlet of the cleaning base station.

[0053] The cleaning robot of this embodiment has a door 12 at the opening of the dust storage chamber 11, and the door 12 is movably disposed relative to the dust storage chamber 11. After the cleaning robot docks with the cleaning base station, the door 12 can release the opening, thereby connecting the opening with the dust inlet of the cleaning base station and discharging the dust in the dust storage chamber 11 into the cleaning base station, thereby improving the dust discharge efficiency of the cleaning robot and improving the performance of the cleaning robot.

[0054] In this embodiment, the dust storage chamber 11 can be formed by the main body 20, that is, the interior of the main body 20 forms a cavity for collecting dust, which is used as the dust storage chamber 11. The main body 20 can be provided with a door 12 to block the opening of the dust storage chamber 11 and prevent dust leakage. When the dust in the dust storage chamber 11 is discharged, the door 12 can be opened to release the opening of the dust storage chamber 11, so that the dust in the dust storage chamber 11 can be discharged, for example, the dust in the dust storage chamber 11 can be discharged into the cleaning base station.

[0055] In this embodiment, the dust storage chamber 11 can be formed by a dust box 10 on the main body 20. The dust box 10 is disposed on the main body 20, and the dust box 10 and the main body 20 constitute the robot body. The door 12 is disposed on the dust box 10, thereby realizing the release or blocking of the opening of the dust storage chamber 11.

[0056] The dust box 10 provided in this embodiment includes a dust storage chamber 11, which includes: a first chamber 111, which includes a waste inlet 1112; a second chamber 112, which includes an exhaust vent 1123; and a transition channel 113, through which the first chamber 111 is connected to the second chamber 112.

[0057] Combination Figures 7 to 16 As shown, the dust box 10 of this embodiment includes a first chamber 111 and a second chamber 112 that are independently arranged. The first chamber 111 is connected to the second chamber 112 through a transition channel 113, thereby enabling the initial separation of dust in the first chamber 111, reducing the probability of dust clogging the transition channel 113, and reliably collecting dust to improve the dust collection capacity of the dust box 10.

[0058] Dust entering from the cleaning module 30 enters the first chamber 111 through the waste inlet 1112 for initial separation, and then enters the second chamber 112 through the transition channel 113, thereby achieving effective dust recovery. The filtered gas is discharged from the dust box 10 through the exhaust port 1123.

[0059] In this embodiment of the present disclosure, the transition channel 113 is approximately tangent to the second chamber 112, which allows dust to reliably enter the second chamber 112 through the transition channel 113 and facilitates gas flow, thereby improving the flowability of dust in the dust storage chamber 11 and thus enhancing the dust collection capacity of the dust box 10.

[0060] As an optional embodiment of this disclosure, the transition channel 113 is approximately tangent to the first chamber 111, thereby allowing dust to reliably enter the transition channel 113 from the first chamber 111, which is beneficial for gas flow and thus improves the flowability of dust in the dust storage chamber 11.

[0061] A cyclone separator 13 is installed in the second chamber 112. When gas enters the second chamber 112 tangentially, it passes through the cyclone separator 13 to separate fine dust and gas, ensuring the cleanliness of the filter screen. The cyclone separator 13 can be a conical tube with cyclone separation.

[0062] In this embodiment of the disclosure, the sidewall of the transition channel 113 includes a curved surface, which allows dust to flow smoothly within the transition channel 113, thereby avoiding problems such as dust blockage.

[0063] In this embodiment, the extension length of the transition channel 113 is greater than the minimum wall thickness between the first chamber 111 and the second chamber 112, so that the airflow carrying dust can pass through the transition channel 113 for a relatively long time, thereby avoiding the problem of a large amount of dust accumulating and causing the transition channel 113 to be blocked.

[0064] It should be noted that the extension length of the transition channel 113 can be considered as the distance the airflow travels within the transition channel 113. The first chamber 111 and the second chamber 112 are separated by the wall of the dust box 10. Therefore, the extension length of the transition channel 113 is greater than the minimum wall thickness between the first chamber 111 and the second chamber 112 to avoid dust accumulation and blockage of the transition channel 113.

[0065] In the embodiments of this disclosure, the door 12 is rotatably mounted on the dust box 10, thereby allowing the door 12 to easily release or block the opening of the dust storage chamber 11.

[0066] The door 12 can be connected to a drive mechanism, thereby driving the door 12 to rotate relative to the dustbin 10. Alternatively, after the cleaning robot is docked with the cleaning base station, the door 12 can be opened or closed by the airflow generated by the fan assembly 40 of the cleaning robot. Alternatively, after the cleaning robot is docked with the cleaning base station, the door 12 can be opened or closed by the suction generated by the power assembly of the cleaning base station.

[0067] As an optional embodiment of this disclosure, the door 12 is movably disposed relative to the dust box 10. The door 12 can be driven by a drive mechanism to achieve horizontal movement of the door 12. For example, the drive mechanism can be an electric push rod, which drives the door 12 to move horizontally relative to the dust box 10.

[0068] In this embodiment of the disclosure, at least a portion of the dust box 10 is located on the outside of the main body 20 so that when the door 12 releases the opening, the opening can be directly connected to the dust inlet, thereby facilitating the discharge of dust from the dust box 10 into the cleaning base station.

[0069] After the door 12 opens, a part of the door 12 can be inserted into the inside of the dust inlet for storage, thereby ensuring that the opening of the dust storage chamber 11 is reliably connected with the dust inlet, thus ensuring that dust can be effectively collected into the clean base station.

[0070] The dust box 10 and the main body 20 form at least part of the outer surface of the cleaning robot, so that after the cleaning robot docks with the cleaning base station, the dust box 10 docks directly with the cleaning base station. Therefore, after the door 12 is opened, the opening of the dust storage chamber 11 can reliably dock with the dust inlet.

[0071] In the embodiments disclosed herein, such as Figures 11 to 13 As shown, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112. The door 12 can selectively release the first chamber 111 and the second chamber 112, so that the first chamber 111 and the second chamber 112 can be selectively connected to the dust inlet, thereby realizing the phased discharge of dust in the dust storage chamber 11, avoiding problems such as blockage when a large amount of dust is discharged, thereby improving the dust collection efficiency.

[0072] The first chamber 111 and the second chamber 112 can be set independently, so that both the first chamber 111 and the second chamber 112 can store dust. However, the dust in the first chamber 111 and the second chamber 112 can be dust from different stages. For example, during the cleaning process, the dust first enters the first chamber 111, and then some of the dust enters the second chamber 112. Therefore, the dust particle sizes in the first chamber 111 and the second chamber 112 can be different.

[0073] As an optional embodiment of this disclosure, the door 12 may be a single door 12 movably disposed relative to the dust box 10, thereby allowing the door 12 to selectively release the first chamber 111 and the second chamber 112.

[0074] In the embodiments disclosed herein, such as Figure 8 and Figure 9 As shown, the door body 12 includes a first door body component 121 and a second door body component 122. The first door body component 121 and the second door body component 122 are separate. The first door body component 121 and the second door body component 122 correspond to the first chamber 111 and the second chamber 112, respectively. Thus, the first chamber 111 and the second chamber 112 can be conveniently released by opening the first door body component 121 and the second door body component 122 respectively.

[0075] The first door component 121 and the second door component 122 are rotatably mounted on the dust box 10. By controlling the opening of the first door component 121 and the second door component 122 respectively, the opening of the first chamber 111 and the second chamber 112 can be controlled. For example, the opening time of the first door component 121 and the second door component 122 can be controlled by driving the first door component 121 and the second door component 122 through two different drive mechanisms.

[0076] In the embodiments disclosed herein, such as Figure 12 As shown, the dust box 10 also includes a cyclone separator 13, which is disposed in the second chamber 112. It should be noted that the cyclone separator 13 can be any cyclone separator known in the related art. The working principle of the cyclone separator is based on the rotational motion caused by the tangential introduction of the airflow. When particles rotate at high speed in the airflow, the centrifugal force is much greater than the gravity, and the greater the speed, the greater the centrifugal settling velocity of the particles. When solid particles enter the conical cylinder tangentially with the gas and rotate inside the cylinder, the airflow collides with the pipe wall, and the particles hit the pipe wall and rotate down, thus achieving the purpose of separating solids and gases.

[0077] like Figure 18 and Figure 19 As shown, the cyclone separator 13 includes a primary separation cyclone 131 and a secondary separation cyclone 132. The secondary separation cyclone 132 may include multiple cyclone separators, each with a conical body that is larger at the top and smaller at the bottom, and these separators are distributed around the axis of the secondary separation cyclone 132. The arrangement of multiple cyclone separators improves the dust separation efficiency of the secondary separation cyclone, further enhancing the dust collection capacity of the cleaning base station. The number of secondary cyclone separators can be nine, twelve, or fifteen; the more separators, the higher the separation efficiency.

[0078] The outer periphery of the secondary separation cyclone 132 is a separation filter 133. The outer surface of the primary separation cyclone 131, the inner surface of the dust box 10, and the outer surface of the separation filter 133 together form a primary cyclone. The air separated by the primary cyclone has already separated larger particles from the airflow, which fall to the outside of the primary separation cyclone 131. The separation filter 133 is used to filter the airflow that has passed through the primary cyclone and enters the secondary separation cyclone 132. The separation filter 133 preferably uses a metal filter screen, which can increase its service life and improve the filtration effect. The separation filter 133 is a ring-shaped mesh, and the support frame of the primary separation cyclone 131 is used to support the bottom of the separation filter 133. The particles filtered out by the separation filter 133 are collected below the support frame of the primary separation cyclone 131. The outer edge of the support frame of the primary separation cyclone 131 can extend downward to form a skirt shape, preventing the particles separated by the first-stage cyclone from moving upward. Each secondary separation cyclone 132 forms a gas-solid separation cyclone, and the separated solid particulate waste falls into the inner side of the primary separation cyclone 131.

[0079] In the embodiments disclosed herein, such as Figures 9 to 11 As shown, the first chamber 111 includes a first opening 1111, and the second chamber 112 includes a second opening 1121 and a third opening 1122 that are separated from each other. The second opening 1121 connects to the portion of the second chamber 112 located outside the cyclone separator 13, and the third opening 1122 connects to the portion of the second chamber 112 located inside the cyclone separator 13. The first door member 121 releases or blocks the first opening 1111, and the second door member 122 simultaneously releases or blocks the second opening 1121 and the third opening 1122.

[0080] Dust enters the second chamber 112 from the first chamber 111. After passing through the cyclone separator 13, the dust falls into the inner side of the primary separation cyclone 131. After the first door 121 releases the first opening 1111, the dust in the first chamber 111 can be discharged. The second door 122 can simultaneously release the second opening 1121 and the third opening 1122, allowing the dust in the second chamber 112 to be discharged. That is, dust falling into the outer side of the primary separation cyclone 131 and dust falling into the inner side of the primary separation cyclone 131 can be discharged through the second opening 1121 and the third opening 1122, respectively. The dust can include solid waste. The primary separation cyclone 131 can separate coarse particles, while the secondary separation cyclone 132 can separate fine particles, thus ensuring the separation effect of the cyclone separator 13.

[0081] In this embodiment, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112. The first chamber 111 and the second chamber 112 each include a first opening 1111 and a second opening 1121. The door 12 includes a first door component 121 and a second door component 122. The first door component 121 and the second door component 122 correspond to the first opening 1111 and the second opening 1121, respectively, to release or block the first opening 1111 and the second opening 1121. Thus, after the cleaning robot docks with the cleaning base station, the first door component 121 and the second door component 122 can release the first opening 1111 and / or the second opening 1121, so that the first opening 1111 and / or the second opening 1121 are connected to the dust inlet of the cleaning base station, thereby allowing the dust in the dust storage chamber 11 to be discharged into the cleaning base station.

[0082] In this embodiment, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112. The first chamber 111 and the second chamber 112 each include a first opening 1111 and a second opening 1121. The door 12 includes a first door component 121 and a second door component 122, which correspond to the first opening 1111 and the second opening 1121, respectively, to release or block the first opening 1111 and the second opening 1121. Therefore, when the cleaning robot separates from the cleaning base station, the first door component 121 and the second door component 122 can block the first opening 1111 and the second opening 1121, preventing dust from flowing out of the dust storage chamber 11. For example, during the cleaning process of the cleaning robot, it is necessary to ensure that the first door component 121 and the second door component 122 can block the first opening 1111 and the second opening 1121.

[0083] In this embodiment of the disclosure, the area of ​​the first opening 1111 can be larger than the area of ​​the second opening 1121, and the area of ​​the second opening 1121 can be larger than the area of ​​the third opening 1122.

[0084] As an optional embodiment of this disclosure, the area of ​​the first opening 1111 may be equal to or equal to the area of ​​the second opening 1121, and the area of ​​the second opening 1121 may be less than or equal to the area of ​​the third opening 1122.

[0085] In the embodiments disclosed herein, such as Figure 7 and Figure 8 As shown, the dust box 10 also includes: a base 14; a bottom cover 15, the bottom cover 15 is disposed on the base 14, the bottom cover 15 and the base 14 form a first chamber 111 and a second chamber 112, and the door 12 is movably disposed on the bottom cover 15 to release or cover the first chamber 111 and the second chamber 112.

[0086] At least one of the base 14 and the bottom cover 15 is connected to the body 20, thereby achieving a fixed connection between the dust box 10 and the body 20. The bottom cover 15 forms part of the bottom outer surface of the cleaning robot. The base 14 and the bottom cover 15 form a closed first chamber 111 and a second chamber 112, while a transition channel 113 is formed inside the base 14 to connect the first chamber 111 and the second chamber 112.

[0087] At least one of the base 14 and the bottom cover 15 is connected to the body 20; wherein at least a portion of the base 14 and the bottom cover 15 form a portion of the outer surface of the cleaning robot, thereby forming at least a portion of the outer surface of the cleaning robot with the body 20.

[0088] The base 14 can be a single integral structure, meaning that the bottom opening of the base 14 can be closed by the bottom cover 15. Alternatively, the base 14 can include a main structure and a top cover, with the top cover and bottom cover 15 arranged opposite to each other, and the top cover and bottom cover 15 can respectively close the top opening and the bottom opening of the base 14.

[0089] Combination Figures 8 to 11 As shown, the bottom cover 15 is provided with a first opening 1111, a second opening 1121 and a third opening 1122, so that the first door body 121 can release or block the first opening 1111, and the second door body 122 can release or block the second opening 1121 and the third opening 1122 at the same time.

[0090] In this embodiment of the present disclosure, the first door member 121 and the second door member 122 are rotatably disposed on the bottom cover 15. For example, after the cleaning robot returns to the cleaning base station and the door 12 docks with the dust inlet of the cleaning base station, the first door member 121 and / or the second door member 122 rotate relative to the bottom cover 15, thereby releasing the first opening 1111 and / or the second opening 1121 and the third opening 1122.

[0091] In this embodiment, the bottom cover 15 is detachably mounted on the base 14, thereby enabling cleaning or maintenance of the interior of the base 14. After the bottom cover 15 is removed from the base 14, the interior space of the base 14 can be released, thereby enabling the cleaning of dust and the maintenance and cleaning of the components inside the base 14, such as the maintenance of the cyclone separator 13 in the second chamber 112.

[0092] The bottom cover 15 can be snapped into the base 14. The bottom cover 15 can be connected to the base 14 via structural components.

[0093] In the embodiments disclosed herein, such as Figure 7 and Figure 17As shown, the dust box also includes a locking member 16, which is disposed on the base 14 and is movably disposed relative to the bottom cover 15 to detach from or connect to the bottom cover 15, thereby enabling the bottom cover 15 to be fixed or released.

[0094] Combination Figure 17 As shown, the locking member 16 may include a toggle part 161, a first latching part 162, and a second latching part 163. The first latching part 162 and the second latching part 163 are respectively connected to both sides of the toggle part 161. The toggle part 161 is movably disposed on the base 14, and a part of the toggle part 161 is exposed on the outside of the base 14. Thus, the first latching part 162 and the second latching part 163 can be moved relative to the bottom cover 15 by the toggle part 161. When the first latching part 162 and the second latching part 163 are connected to the bottom cover 15, the bottom cover 15 is fixed on the base 14. After the first latching part 162 and the second latching part 163 are disengaged from the bottom cover 15, the bottom cover 15 can be removed from the base 14.

[0095] It should be noted that the bottom cover 15 can be removed entirely from the base 14, or the bottom cover 15 can be hinged to the base 14. After the first latching part 162 and the second latching part 163 are disengaged from the bottom cover 15, the bottom cover 15 can be rotated relative to the base 14, thereby releasing the internal space of the base 14.

[0096] In this embodiment of the disclosure, the dust box 10 is detachably mounted on the main body 20, thereby facilitating the cleaning or maintenance of the dust box 10.

[0097] At least a portion of the dust box 10 is located on the outside of the main body 20, which not only facilitates the installation and removal of the dust box 10, but also allows for adaptive adjustments to the specific structure of the dust box 10, making it convenient to set up the dust box 10 and meeting the maximum dust collection capacity of the dust box 10.

[0098] In the embodiments disclosed herein, such as Figure 7 and Figure 8 As shown, a clearance space 141 is provided on the base 14. The clearance space 141 is adjacent to the bottom cover 15, thereby avoiding the handle space and preventing the hand from directly contacting the bottom cover 15, which facilitates the operation when installing or removing the dust box 10.

[0099] In the embodiments disclosed herein, such as Figure 10 As shown, a rolling part 151 is provided on the bottom cover 15 to prevent excessive wear on the bottom cover 15. The rolling part 151 can reduce the contact resistance between the bottom cover 15 and the ground or the cleaning base station. The rolling part 151 is rotatably disposed on the bottom cover 15; wherein, the bottom end of the rolling part 151 is not lower than the bottom surface of the bottom cover 15, so that the rolling part 151 can make contact with the surface or the cleaning base station, thereby reducing the contact resistance.

[0100] The rolling part 151 can be a roller, and there can be one or more rolling parts 151.

[0101] As an optional embodiment of this disclosure, the bottom cover 15 may be fixed to the base 14, and further, the bottom cover 15 may not be detached from the base 14.

[0102] As an optional embodiment of this disclosure, the dust box 10 can be fixed to the main body 20, and further, the dust box 10 cannot be detached from the main body 20.

[0103] As an optional embodiment of this disclosure, the dust box 10 may be entirely located inside the main body 20.

[0104] The cleaning robot provided in this embodiment has a cleaning module 30 disposed on the main body 20, and the cleaning module 30 performs cleaning of the surface to be cleaned.

[0105] In this embodiment, the cleaning module 30 can be a dry cleaning module, and the dry cleaning system can include a roller brush. The roller brush, which interferes with the ground to some extent, sweeps up debris from the ground and rolls it up to the debris inlet 1112 between the roller brush and the dustbin 10. Then, it is drawn into the dustbin 10 by the suction gas generated by the fan assembly 40 and passing through the dustbin 10. The dust removal capability of the cleaning robot can be characterized by the dust pickup efficiency (DPU). The dust pickup efficiency (DPU) is affected by the roller brush structure and material, the wind power utilization rate of the air duct formed by the debris inlet 1112, dustbin 10, fan 41, air outlet, and the connecting parts between the four, and is also affected by the type and power of the fan. It is a complex system design problem. Compared to ordinary plugged-in vacuum cleaners, improved dust removal capability is more significant for energy-limited automated cleaning equipment. The improved dust removal capability directly and effectively reduces energy requirements. This means a machine that could clean 80 square meters on a single charge can now clean 180 square meters or more. Furthermore, the reduced number of charging cycles significantly extends battery life, reducing the frequency of battery replacements. More intuitively and importantly, the improved dust removal capability directly impacts user experience, allowing users to directly judge whether the cleaning is effective. The cleaning robot may also include side brushes 37 with rotating axes at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning system.

[0106] As an optional embodiment of this disclosure, the cleaning module 30 can be a wet cleaning module, which may include a wet cleaning head and a liquid supply unit. The liquid supply unit delivers cleaning liquid into the wet cleaning head, enabling the wet cleaning head to perform wet cleaning on the surface to be cleaned. In other embodiments of this disclosure, the cleaning liquid inside the liquid supply unit can also be directly sprayed onto the surface to be cleaned, and the wet cleaning head cleans the surface by spreading the cleaning liquid evenly. Exemplarily, the wet cleaning module can be assembled and applied to other types of cleaning equipment, and this disclosure does not limit it in this regard.

[0107] The cleaning head is used to clean the surface to be cleaned, and the drive system 50 is used to drive the cleaning head to reciprocate substantially along a target surface, which is a part of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and the contact surface between the cleaning head and the surface is provided with a cleaning cloth or cleaning plate. Through the reciprocating motion, high-frequency friction is generated between the cleaning head and the surface to be cleaned, thereby removing stains from the surface. The cleaning head can be a mopping roller brush.

[0108] A higher friction frequency means more friction cycles per unit time. High-frequency reciprocating motion, also known as reciprocating vibration, has a much greater cleaning ability than ordinary reciprocating motion, such as rotation or friction cleaning. Optionally, a friction frequency close to sound waves will result in a cleaning effect far superior to rotational friction cleaning at tens of revolutions per minute. On the other hand, the bristles on the cleaning head surface will extend more uniformly in the same direction under the vibration of high-frequency vibration, resulting in a more even overall cleaning effect. This is unlike low-frequency rotation where only downward pressure is applied to increase friction and improve the cleaning effect. Simply applying downward pressure will not cause multiple bristles to extend in a nearly uniform direction. The effect is that the watermarks on the surface to be cleaned after high-frequency vibration cleaning are more uniform, without leaving messy water stains.

[0109] Reciprocating motion can be repeated along one or more directions within the surface to be cleaned, or it can be vibration perpendicular to the surface to be cleaned; there are no strict limitations on this. Optionally, the reciprocating motion direction of the cleaning module is approximately perpendicular to the machine's travel direction. This is because reciprocating motion parallel to the machine's travel direction can introduce instability into the moving machine itself. The thrust and resistance in the travel direction can easily cause the drive wheels to slip. The impact of slippage is more pronounced when a wet cleaning module is included, as the slipperiness of the surface to be cleaned increases the likelihood of slippage. In addition to affecting the smooth movement and cleaning of the machine, slippage can also cause inaccurate distance measurement by sensors such as the odometer and gyroscope. This can lead to navigation-type automatic cleaning equipment being unable to accurately locate and map. In cases of frequent slippage, the impact on SLAM (Simplified Latitude and Longitude Mapping) cannot be ignored. Therefore, it is necessary to minimize machine slippage. Besides slippage, the cleaning head motion component in the machine's travel direction causes the machine to be constantly pushed forward and backward during movement, resulting in an unstable and jerky movement.

[0110] Combination Figures 4 to 6 As shown in the embodiment of the present disclosure, the cleaning robot has at least a portion of a cleaning module 30 that is vertically movably disposed relative to the main body 20. A dust box 10 is connected to the cleaning module 30, and a cyclone separator 13 is disposed within the dust box 10. By connecting the fan assembly 40 to the dust box 10, reliable cleaning of the surface to be cleaned by the cleaning module 30 is achieved. Because at least a portion of the cleaning module 30 is vertically movably disposed relative to the main body 20, and in conjunction with the cyclone separator 13, the current drawn by the cleaning robot during cleaning is not excessive, thereby increasing the cleaning time.

[0111] It should be noted that the cyclone separator 13 has a large air volume and high negative pressure. When the cleaning robot is cleaning the carpet, by setting at least part of the cleaning module 30 to be movable up and down relative to the main body 20, the current of the cleaning module 30 can be reduced, the burden on the cleaning module 30 can be reduced, and the cleaning robot can clean the carpet for a longer period of time.

[0112] In this embodiment, the cleaning robot further includes a lifting structure connected to the cleaning module 30. The lifting structure is configured to allow at least a portion of the cleaning module 30 to move vertically relative to the main body 20. In practical use, the lifting structure can be connected to the cleaning module 30 independently to allow the cleaning module 30 to move vertically relative to the main body 20. Alternatively, the lifting structure can be equipped with additional power equipment to enable it to actively rise or fall, thereby allowing at least a portion of the cleaning module 30 to actively rise or fall relative to the main body 20.

[0113] As an optional embodiment of this disclosure, the lifting structure may be an elastic component, such that at least a portion of the cleaning module 30 can be passively raised or lowered.

[0114] In the embodiments disclosed herein, such as Figure 20A and Figure 21 As shown, the cleaning module 30 includes: a cleaning cover 31; a roller brush, which is disposed inside the cleaning cover 31; wherein, the lifting structure is connected to the cleaning cover 31, thereby driving the roller brush to move up and down, so as to ensure that the roller brush can reliably clean the surface to be cleaned and can adapt to different surfaces to be cleaned.

[0115] The lifting structure can be connected to the main body 20, and the lifting structure can be connected to the cleaning cover 31. The roller brush can be connected to the cleaning cover 31, so that the lifting structure can drive the roller brush to move up and down relative to the main body 20 through the cleaning cover 31.

[0116] In the embodiments disclosed herein, such as Figure 20D and Figure 20EAs shown, the lifting structure includes: a first connecting component 60, with its two ends connected to the main body 20 and the cleaning cover 31, respectively; and a second connecting component 70, spaced apart from the first connecting component 60, with its two ends connected to the main body 20 and the cleaning cover 31, respectively. The first connecting component 60 and the second connecting component 70 reliably connect the cleaning cover 31 to the main body 20, and allow the cleaning module 30 to remain pressed down under its own weight. When the surface to be cleaned is uneven, the cleaning module 30 can move up and down, thereby ensuring the cleaning performance of the cleaning module 30.

[0117] In the embodiments disclosed herein, such as Figure 20D and Figure 20E As shown, the first connecting assembly 60 includes a first link 61 and a second link 62, which are parallel to each other. The two ends of the first link 61 and the second link 62 are hinged to the main body 20 and the cleaning cover 31, respectively. The second connecting assembly 70 includes a third link 71 and a fourth link 72, which are parallel to each other. The two ends of the third link 71 and the fourth link 72 are hinged to the main body 20 and the cleaning cover 31, respectively. The first link 61 and the third link 71 are parallel. The lifting structure is a four-bar linkage. This four-bar linkage not only allows the cleaning module 30 to move up and down, thus ensuring its cleaning performance, but also restricts the degrees of freedom of the cleaning module 30, ensuring that it moves as required.

[0118] In embodiments of this disclosure, a protective cover 28 may be provided on the main body 20, the cleaning module 30 may be disposed inside the protective cover 28, and the first connecting component 60 and the second connecting component 70 are connected to the protective cover 28, such as... Figure 20D As shown. The protective cover 28 is detachably attached to the main body 20.

[0119] As an optional embodiment of this disclosure, the lifting structure can be connected to the main body 20 and can be connected to the roller brush, thereby enabling the lifting structure to drive the roller brush to move up and down, that is, the roller brush can move up and down relative to the cleaning cover 31. In this case, the cleaning cover 31 can be fixedly connected to the main body 20. Alternatively, the cleaning cover 31 can be fixedly connected to the main body 20, and the lifting structure can be connected to the cleaning cover 31 and can be connected to the roller brush, thereby enabling the lifting structure to drive the roller brush to move up and down, that is, the roller brush can move up and down relative to the cleaning cover 31.

[0120] The lifting structure may include: a first connecting component 60, with a roller brush and a cleaning cover 31 connected to its two ends respectively; and a second connecting component 70, spaced apart from the first connecting component 60, with the roller brush and cleaning cover 31 connected to its two ends respectively; wherein the cleaning cover 31 is fixedly connected to the main body 20. The first connecting component 60 and the second connecting component 70 can reliably connect the roller brush to the cleaning cover 31, and allow the roller brush to remain pressed down under its own weight. When the surface to be cleaned is uneven, the roller brush can move up and down, thereby ensuring the cleaning performance of the cleaning module 30.

[0121] The first connecting component 60 is connected to the roller brush via the drive structure 36; the second connecting component 70 is connected to the roller brush via the drive structure 36. That is, both the first connecting component 60 and the second connecting component 70 are connected to the drive structure 36, and the drive structure 36 is connected to the roller brush. Therefore, the roller brush and the drive structure 36 can be kept pressed down under their own weight. When the surface to be cleaned is uneven, the roller brush can move up and down, thereby ensuring the cleaning performance of the cleaning module 30.

[0122] In this embodiment, the first connecting component 60 and the second connecting component 70 can be similar. Figure 20D and Figure 20E The structure shown is different, except that the connection points are different.

[0123] In this embodiment, the roller brush cleans the surface by rotating. The cyclone separator 13 has a large air volume and high negative pressure. When cleaning carpets, the cleaning robot, by movably positioning at least a portion of the cleaning module 30 relative to the main body 20, can reduce the driving current of the roller brush, lessen the burden on the roller brush drive, and allow the cleaning robot to clean carpets for longer periods.

[0124] In the embodiments disclosed herein, such as Figure 21 , Figure 24 as well as Figure 25 As shown, the cleaning module 30 also includes a drive structure 36, which includes a power unit 361 and a transmission assembly. The power unit 361 drives the roller brush to rotate through the transmission assembly, thereby achieving reliable cleaning of the surface to be cleaned.

[0125] In this embodiment of the present disclosure, multiple power units 361 drive multiple roller brushes to rotate synchronously through a transmission assembly, thereby reducing the number of power units 361 while ensuring that multiple roller brushes clean synchronously, thus improving the cleaning ability of the cleaning robot.

[0126] In the embodiments disclosed herein, such as Figure 20A , Figure 22 and Figure 23As shown, the cleaning hood 31 has a mounting cavity 311, which may include a main air duct 3111 and a secondary air duct 3112.

[0127] Combination Figure 22 and Figure 23 As shown, the cleaning robot of this embodiment includes a cleaning hood 31 comprising a main air duct 3111 and a secondary air duct 3112. The secondary air duct 3112 is connected to the dust storage chamber 11. A roller brush is disposed in the main air duct 3111, such that at least a portion of the secondary air duct 3112 is left unattended. This allows dust entering the cleaning hood 31 to enter the dust storage chamber 11 through the secondary air duct 3112, preventing a large amount of dust from getting stuck on the roller brush, thereby ensuring the cleaning robot's cleaning ability.

[0128] It should be noted that the cleaning hood 31 is equipped with a main air duct 3111 and a secondary air duct 3112. The roller brush is located in the main air duct 3111, and at least part of the secondary air duct 3112 is left unattended. This allows the waste to move through the secondary air duct 3112, making it less likely for the waste to get stuck on the roller brush.

[0129] In this embodiment, the main air duct 3111 and the secondary air duct 3112 are arranged along the width direction of the cleaning cover 31, thereby ensuring the length of the roller brush in the main air duct 3111 and thus ensuring the cleaning area of ​​the roller brush.

[0130] As an optional embodiment of this disclosure, the main air duct 3111 and the secondary air duct 3112 may be arranged along the length of the cleaning hood 31.

[0131] In this embodiment, the volume of the main air duct 3111 is larger than the volume of the secondary air duct 3112, which can effectively accommodate the roller brush and avoid the cleaning cover 31 from having an excessively large volume. While ensuring the cleaning ability of the cleaning robot, it can also prevent the cleaning module 30 from occupying too much space in the cleaning robot.

[0132] The cleaning robot provided in this embodiment includes a cleaning module 30 with an air duct opening 312. The cleaning module 30 is connected to the dust storage chamber 11 through the air duct opening 312. The air duct opening 312 is set off from the center position of the length direction of the cleaning module 30, so that the cleaning module 30 can discharge dust into the dust storage chamber 11 in a timely manner, avoiding dust jamming and thus improving the cleaning ability of the cleaning robot.

[0133] In the embodiments disclosed herein, such as Figure 21 As shown, the cleaning cover 31 is provided with an air duct opening 312, and the secondary air duct 3112 and the dust storage chamber 11 are connected through the air duct opening 312; wherein, the air duct opening 312 is set off from the center position of the length direction of the cleaning cover 31, so as to avoid dust jamming and ensure the cleaning ability of the cleaning robot.

[0134] The air duct opening 312 can be connected to the waste inlet 1112 of the dust box 10.

[0135] In this embodiment of the present disclosure, along the length of the cleaning cover 31, the minimum vertical distance between the air duct opening 312 and the center position of the cleaning cover 31 is greater than the minimum vertical distance between the air duct opening 312 and the inner wall of the cleaning cover 31, so that the air duct opening 312 can be offset as far as possible from the center position of the cleaning cover 31, thereby ensuring that dust can be reliably discharged.

[0136] As an optional embodiment of this disclosure, the air duct opening 312 may be located at the center of the cleaning hood 31 along its length.

[0137] In the embodiments disclosed herein, such as Figure 22 and Figure 23 As shown, the secondary air duct 3112 includes a first air duct section 3113 and a second air duct section 3114. The first air duct section 3113 and the second air duct section 3114 are arranged along the length direction of the cleaning cover 31. The end of the second air duct section 3114 away from the first air duct section 3113 is connected to the ventilation duct opening 312, so that the ventilation duct opening 312 can be set off from the center position of the length direction of the cleaning cover 31.

[0138] It should be noted that the first air duct section 3113 and the second air duct section 3114 are arranged along the length of the cleaning cover 31. The key point is that the secondary air duct 3112 extends along the length of the cleaning cover 31, and along the length of the cleaning cover 31, the secondary air duct 3112 can be divided into the first air duct section 3113 and the second air duct section 3114. The end of the second air duct section 3114 away from the first air duct section 3113 is connected to the ventilation duct opening 312. That is, the ventilation duct opening 312 is approximately located at the end of the secondary air duct 3112, thereby ensuring that the ventilation duct opening 312 is set off from the center position of the length of the cleaning cover 31.

[0139] In this embodiment, the extension direction of the first air duct section 3113 and the extension direction of the second air duct section 3114 are not parallel. The gas flow direction in the first air duct section 3113 is the extension direction of the first air duct section 3113, which can be the length direction of the cleaning hood 31. The gas flow direction in the second air duct section 3114 is the extension direction of the second air duct section 3114, which can deviate from the length direction of the cleaning hood 31. This allows the airflow in the secondary air duct 3112 to be a curved channel, ensuring that dust is reliably discharged into the dust box 10 while making the air duct arrangement more reasonable.

[0140] In this embodiment of the disclosure, the extension direction of the first air duct segment 3113 and the extension direction of the second air duct segment 3114 can be substantially perpendicular, that is, the second air duct segment 3114 forms an air duct segment that protrudes from the first air duct segment 3113.

[0141] As an optional embodiment of this disclosure, the extension direction of the first air duct section 3113 coincides with the extension direction of the second air duct section 3114. In this case, the air duct opening 312 is disposed on the bottom wall of the second air duct section 3114.

[0142] In this embodiment of the present disclosure, the first air duct section 3113 and the second air duct section 3114 are connected by an arc shape, which can ensure that dust can smoothly enter the second air duct section 3114 from the first air duct section 3113, thereby improving the dust removal capacity of the secondary air duct 3112.

[0143] As an optional embodiment of this disclosure, the first air duct section 3113 and the second air duct section 3114 may have a right-angle transition.

[0144] In this embodiment of the disclosure, there are at least two main air ducts 3111, and the secondary air ducts 3112 are located between adjacent main air ducts 3111, so that dust in the main air ducts 3111 can reliably enter the secondary air ducts 3112, thereby allowing the dust in the secondary air ducts 3112 to enter the dust box 10 through the air duct opening 312.

[0145] In this embodiment of the disclosure, combined with Figure 23 As shown, there are two main air ducts 3111, and there is a secondary air duct 3112 between the two main air ducts 3111. The volume of the main air duct 3111 is larger than the volume of the secondary air duct 3112.

[0146] In this embodiment of the present disclosure, a portion of the main air duct 3111 is left unattended along the length of the cleaning hood 31, so that dust on the roller brush can enter the secondary air duct 3112 from the unattended position of the main air duct 3111 and be discharged therefrom, thereby improving the cleaning ability of the cleaning robot.

[0147] As an optional embodiment of this disclosure, the length of the main air duct 3111 is consistent with the length of the roller brush along the length direction of the cleaning hood 31.

[0148] It should be noted that the horizontal axis of the cleaning robot is approximately parallel to the roller brush. In this case, the length direction of the cleaning cover 31 can be considered parallel to the horizontal axis of the cleaning robot. The width direction of the cleaning cover 31 can be considered parallel to the longitudinal axis of the cleaning robot.

[0149] As an optional embodiment of this disclosure, the lateral axis of the cleaning robot forms a preset angle with the roller brush. This reduces the probability of the roller brush getting stuck in the grout lines when the cleaning robot moves laterally across surfaces such as tile grout, thereby improving the cleaning efficiency and performance of the cleaning robot. The preset angle between the lateral axis and the roller brush can be an acute angle, ranging from 5 degrees to 70 degrees.

[0150] The cleaning module 30 may include a roller brush, which includes a cantilever structure that is conical. The first end of the conical structure is connected to the cleaning cover 31, and the second end of the conical structure is a cantilever end. The diameter of the first end is larger than the diameter of the second end.

[0151] like Figure 20A As shown, the cleaning module 30 may include a first cleaning group and a second cleaning group. The first cleaning group includes a first roller brush 32 and a second roller brush 33. The second cleaning group includes a third roller brush 34 and a fourth roller brush 35. The first roller brush 32 and the second roller brush 33 may be the same roller brush, or they may be different roller brushes. The third roller brush 34 and the fourth roller brush 35 may be the same roller brush, or they may be different roller brushes. The first roller brush has a conical structure, and / or the second roller brush has a conical structure.

[0152] The first cleaning roller brush 32 and the second cleaning roller brush 33 of the first cleaning group form a first gap, and the third cleaning roller brush 34 and the fourth cleaning roller brush 35 of the second cleaning group form a second gap. The first cleaning roller brush 32 and the second cleaning roller brush 33 can be arranged along the length direction of the cleaning cover 31, the third cleaning roller brush 34 and the fourth cleaning roller brush 35 can be arranged along the length direction of the cleaning cover 31, and the first cleaning group and the second cleaning group can be arranged along the width direction of the cleaning cover 31. Therefore, the first gap and the second gap can be arranged along the width direction of the cleaning cover 31.

[0153] As an optional embodiment of this disclosure, the first roller brush 32 and the second roller brush 33 can be arranged along the width direction of the cleaning cover 31, the third roller brush 34 and the fourth roller brush 35 can be arranged along the width direction of the cleaning cover 31, the first cleaning group and the second cleaning group can be arranged along the length direction of the cleaning cover 31, and the first gap and the second gap can be arranged along the length direction of the cleaning cover 31.

[0154] In this embodiment of the disclosure, the roller brush may include a first roller brush 32, a second roller brush 33, a third roller brush 34, and a fourth roller brush 35.

[0155] The second roller brush 33 is spaced apart from the first roller brush 32. The second roller brush 33 and the first roller brush 32 are arranged along the length of the cleaning cover 31, thereby forming a first gap between the second roller brush 33 and the first roller brush 32. This first gap allows dust to easily enter the secondary air duct 3112, thus ensuring the cleaning ability of the first roller brush 32 and the second roller brush 33, and allowing the dust on the first roller brush 32 and the second roller brush 33 to be discharged in time.

[0156] The third roller brush 34 and the first roller brush 32 are arranged along the width direction of the cleaning cover 31; the fourth roller brush 35 and the third roller brush 34 are arranged at intervals along the length direction of the cleaning cover 31, and are arranged along the width direction of the cleaning cover 31 with the second roller brush 33, so that two rows and two columns of roller brushes can be formed inside the cleaning cover 31, thereby providing the cleaning capability of the cleaning module 30.

[0157] The fourth roller brush 35 and the third roller brush 34 are spaced apart along the length of the cleaning cover 31, thereby forming a second gap between the fourth roller brush 35 and the third roller brush 34. This second gap allows dust to easily enter the secondary air duct 3112, thus ensuring the cleaning ability of the fourth roller brush 35 and the third roller brush 34, and allowing the dust on the fourth roller brush 35 and the third roller brush 34 to be discharged in a timely manner.

[0158] As an optional embodiment of this disclosure, the first roller brush 32 and the second roller brush 33 can be conical structures, while the third roller brush 34 and the fourth roller brush 35 can be cylindrical structures. The conical structure can be used to entangle hair, while the cylindrical structure has a better cleaning effect and can reduce costs. The first roller brush 32 and the second roller brush 33 can be cylindrical structures, while the third roller brush 34 and the fourth roller brush 35 can be conical structures.

[0159] As an optional embodiment of this disclosure, the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush are all conical structures or all cylindrical structures.

[0160] In this embodiment of the present disclosure, the third roller brush 34 and the first roller brush 32 can contact each other along the width direction of the cleaning cover 31. The third roller brush 34 and the first roller brush 32 can at least be in point contact, thereby improving the cleaning ability of the third roller brush 34 and the first roller brush 32.

[0161] In this embodiment of the present disclosure, the fourth roller brush 35 and the second roller brush 33 can contact each other along the width direction of the cleaning cover 31. The fourth roller brush 35 and the second roller brush 33 can at least make point contact, thereby improving the cleaning ability of the fourth roller brush 35 and the second roller brush 33.

[0162] The roller brush includes blades in its circumferential direction, which are used to achieve cleaning. The arrangement of the first roller brush 32, second roller brush 33, third roller brush 34, and fourth roller brush 35, during the cleaning process of the cleaning robot, enhances cleaning ability by increasing the contact line speed and contact time between the blades and the carpet, particularly the rear roller brush. Compared to single-brush sets in related technologies, this disclosure includes a rear roller brush that rotates in the opposite direction to the front roller brush, driving debris such as hair forward, thereby improving the cleaning effect on surfaces such as carpets.

[0163] In this embodiment of the present disclosure, the axis of the second roller brush 33 is not parallel to the axis of the first roller brush 32, thereby forming an angle between the end of the second roller brush 33 and the end of the first roller brush 32, which facilitates the removal of dust.

[0164] The axis of the fourth roller brush 35 is not parallel to the axis of the third roller brush 34, so that the end of the fourth roller brush 35 and the end of the third roller brush 34 form an angle, which facilitates the discharge of dust.

[0165] The ends of the second roller brush 33 and the first roller brush 32 form an angle with each other, and the ends of the fourth roller brush 35 and the third roller brush 34 are set at opposite angles. This arrangement facilitates dust discharge and avoids the problem of missed cleaning by the roller brushes.

[0166] In this embodiment of the disclosure, combined with Figure 20A As shown, a first gap 38 is formed between the second roller brush 33 and the first roller brush 32, and a second gap 39 is formed between the fourth roller brush 35 and the third roller brush 34. The first gap 38 and the second gap 39 are staggered, so that the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush 35 can form a closed cleaning space during the cleaning process, avoiding the problem of missed cleaning, and allowing dust to be reliably discharged through the first gap 38 and the second gap 39.

[0167] In the embodiments disclosed herein, such as Figure 20A As shown, the length of the first roller brush 32 is less than the length of the second roller brush 33, and the length of the third roller brush 34 is greater than the length of the fourth roller brush 35, so that a first gap is formed between the second roller brush 33 and the first roller brush 32, and a second gap is formed between the fourth roller brush 35 and the third roller brush 34, with the first gap and the second gap being alternately arranged.

[0168] As an optional embodiment of this disclosure, a first gap is formed between the second roller brush 33 and the first roller brush 32, and a second gap is formed between the fourth roller brush 35 and the third roller brush 34. The first gap and the second gap can be arranged opposite to each other, but the angle between the end of the second roller brush 33 and the end of the first roller brush 32 and the angle between the end of the fourth roller brush 35 and the end of the third roller brush 34 are arranged opposite to each other, so as to facilitate dust discharge and avoid the problem of missed cleaning by the roller brush.

[0169] As an optional embodiment of this disclosure, the length of the first roller brush 32 is approximately equal to the length of the third roller brush 34, and the length of the second roller brush 33 is approximately equal to the length of the fourth roller brush 35. However, they can be arranged opposite to each other by forming an angle between the end of the second roller brush 33 and the end of the first roller brush 32 and an angle between the end of the fourth roller brush 35 and the end of the third roller brush 34.

[0170] In this embodiment of the present disclosure, at least one of the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush 35 is a conical structure, which allows dust to be easily removed from the roller brush while ensuring that the roller brush can clean reliably.

[0171] In this embodiment of the present disclosure, the first end of the conical structure is connected to the cleaning cover 31, and the second end of the conical structure is a cantilever end, thereby forming a gap between adjacent conical structures, so as to ensure that dust can easily detach from the roller brush, and that dust can enter the secondary air duct 3112 through the gap, and finally be discharged into the dust box 10.

[0172] In this embodiment, the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush 35 rotate synchronously, thereby ensuring that the roller brushes can quickly clean the surface to be cleaned and improving the cleaning ability of the cleaning module 30.

[0173] In this embodiment of the disclosure, the first roller brush 32 and the second roller brush 33 are disposed in a main air duct 3111, while the third roller brush 34 and the fourth roller brush 35 are disposed in another main air duct 3111, and a secondary air duct 3112 is provided between the two main air ducts 3111.

[0174] The rotation direction of the first roller brush 32 and the second roller brush 33 is opposite to that of the third roller brush 34 and the fourth roller brush 35, so that dust can be quickly collected into the cleaning module 30, and then the dust can enter the dust box 10 through the secondary air duct 3112.

[0175] As an optional embodiment of this disclosure, the rotation direction of the first roller brush 32 and the second roller brush 33 is the same as the rotation direction of the third roller brush 34 and the fourth roller brush 35.

[0176] It should be noted that the rotation directions are opposite, one is clockwise and the other is counterclockwise.

[0177] like Figure 20F As shown, the airflow device provided in this embodiment of the invention includes a cleaning module 30, a dust collection chamber 11, and a suction duct 73. The cleaning module 30 includes a cleaning cover 31, and it is understood that the cleaning module 30 also includes a roller brush disposed within the cleaning cover 31. The dust collection chamber 11 can be either formed by the dust box 10 or by the machine body 20. The suction duct 73 connects the cleaning cover 31 and the dust collection chamber 11, and includes a connected inlet end and an outlet end 733. The inlet end is connected to the cleaning cover 31, and the outlet end 733 is connected to the dust collection chamber 11. In other words, in this invention, airflow passes through the cleaning cover 31, the suction duct 73, and the dust collection chamber 11 of the cleaning module 30 to the external environment, thus forming the airflow device. By setting the third air duct 731 at an angle relative to the horizontal plane, the airflow flowing out of the cleaning hood 31 is diverted within the inclined suction air duct 73, which reduces the noise generated by the airflow and thus reduces the noise generated during the operation of the cleaning robot, improving user comfort.

[0178] The suction duct 73 is inclined relative to the horizontal plane. This can be achieved by the suction duct 73 being inclined upwards relative to the horizontal plane from the side closest to the cleaning hood 31 to the side furthest from the cleaning hood 31, or by the suction duct 73 being inclined downwards relative to the horizontal plane from the side closest to the cleaning hood 31 to the side furthest from the cleaning hood 31. Specifically, the cleaning hood 31 has a duct opening 312 that communicates with the suction duct 73. When gas is discharged through the duct opening 312 of the cleaning hood 31, some of the airflow acts on the inner wall of the suction duct 73 opposite to the duct opening 312. Because the suction duct 73 is inclined relative to the horizontal plane—that is, the inner wall of the suction duct 73 opposite to the duct opening 312 is inclined relative to the horizontal plane—the airflow is diverted after acting on the inner wall of the suction duct 73 opposite to the duct opening 312, thereby reducing airflow noise.

[0179] The airflow device provided by the present invention, as shown in 20F, includes a dust extraction airflow 73 comprising a third airflow 731 and a fourth airflow 732 connected to each other. The cleaning hood 31 has an airflow opening 312. The third airflow 731 is connected to the cleaning hood 31 through the airflow opening 312, and the fourth airflow 732 is connected to the dust storage chamber 11. The third airflow 731 is inclined or vertically arranged relative to the airflow opening 312. In this way, when the gas is discharged through the airflow opening 312 of the cleaning hood 31, it will be diverted through the third airflow 731, which is inclined relative to the horizontal plane, and then flow into the dust storage chamber 11 through the fourth airflow 732, so as to achieve the purpose of gas circulation and noise reduction.

[0180] The suction duct 73 includes a third duct 731 and a fourth duct 732. The third duct 731 can be inclined or vertically positioned relative to the duct opening 312. The structure of the fourth duct 732 is rationally designed based on the connection position between the third duct 731 and the dust storage chamber 11, connecting the third duct 731 to the dust storage chamber 11, thereby achieving communication between the cleaning hood 31 and the dust storage chamber 11. The fourth duct 732, while ensuring a sufficient inclination angle between the third duct 731 and the cleaning hood 31 to reduce airflow noise, allows for a smooth transition between the third duct 731 and the dust storage chamber 11. This helps reduce the overall height of the suction duct 73, meeting the design requirements of a smaller and more compact cleaning robot.

[0181] Furthermore, the angle between the third air duct 731 and the air duct opening 312 can be less than 90°, equal to 90°, or greater than 90° to meet the requirement that the third air duct 731 is set in different directions relative to the air duct opening 312. Specifically, the angle between the third air duct 731 and the air duct opening 312 can be set to greater than 90°. This ensures that the airflow exiting the cleaning hood 31 flows quickly and smoothly through the third air duct 731, guaranteeing a good airflow effect. At the same time, the airflow is split within the third air duct 731, which reduces the noise generated by the airflow. Thus, while ensuring good cleaning efficiency, the noise generated during the operation of the cleaning robot is reduced, improving user comfort.

[0182] The third air duct 731 and the fourth air duct 732 can be either an integrated structure or a separate structure. An integrated structure allows for mass production, improving production efficiency, while a separate structure helps reduce maintenance and replacement costs. Specifically, the separate third air duct 731 and the fourth air duct 732 can be plugged together or connected using bolts or other fasteners. To ensure the airtightness of the connection between the third air duct 731 and the fourth air duct 732, a seal can be installed at the connection point.

[0183] The third air duct 731 and the cleaning cover 31 can be an integrated structure or a separate structure. If the third air duct 731 and the cleaning cover 31 are an integrated structure, mass production is possible, which is beneficial to improving production efficiency. If the third air duct 731 and the cleaning cover 31 are separate structures, maintenance and replacement costs can be reduced. Specifically, the separate third air duct 731 and the cleaning cover 31 can be connected by bolts or other fasteners. To ensure the sealing of the connection between the third air duct 731 and the cleaning cover 31, a sealing element can be installed at the connection point.

[0184] Specifically, the third air duct 731, the fourth air duct 732, and the cleaning cover 31 can be a single integrated structure, or the third air duct 731, the fourth air duct 732, and the cleaning cover 31 can be separate structures, or the third air duct 731 and the fourth air duct 732 can be a single integrated structure, with the two forming a single unit and the cleaning cover 31 forming a separate structure, or the third air duct 731 and the cleaning cover 31 can be a single integrated structure, with the two forming a single unit and the fourth air duct 732 forming a separate structure.

[0185] The third air duct 731 provided by the present invention is inclined upward relative to the horizontal plane from the direction close to the cleaning cover 31 to the direction far away from the cleaning cover 31. In this way, it can meet the design requirements of the small bottom space of the cleaning robot, so that the third air duct 731 and the cleaning cover 31 have a sufficient tilt angle to reduce airflow noise. At the same time, it has a good air passage effect to ensure that the cleaning robot has good cleaning efficiency.

[0186] Furthermore, the third air duct 731 has an arc-shaped structure. This arc-shaped structure ensures that gas can smoothly enter the fourth air duct 732 from the cleaning hood 31, and then enter the dust collection chamber 11 via the fourth air duct 732. This improves the ventilation capacity and efficiency of the suction air duct 73, reduces dust blockage, and ensures the cleaning efficiency of the cleaning robot. Specifically, the arc-shaped air duct is inclined upwards from the cleaning hood 31 to the fourth air duct 732.

[0187] The sidewall of the third air duct 731 includes a curved surface, which allows the airflow to flow smoothly within the third air duct 731, thereby avoiding problems such as dust blockage and improving the airflow efficiency and smoothness.

[0188] In the embodiments provided by the present invention, the fourth air duct 732 is an approximately horizontal air duct. An approximately horizontal air duct will not increase the height of the air duct device in the vertical direction, thereby meeting the design requirements of the cleaning robot being small in size and compact in structure. At the same time, it can ensure good airflow efficiency to ensure the cleaning efficiency of the cleaning robot.

[0189] It is understood that in some possible embodiments, the fourth air duct 732 may be inclined downward from the direction of the third air duct 731 to the dust storage chamber 11, or, without considering the overall height of the air duct device, the fourth air duct 732 may also be inclined upward from the direction of the third air duct 731 to the dust storage chamber 11.

[0190] The sidewall of the fourth air duct 732 includes a curved surface, which allows the airflow to flow smoothly within the fourth air duct 732, thereby avoiding problems such as dust blockage and improving the airflow efficiency and smoothness.

[0191] Optionally, the fourth air duct 732 is made of a flexible material, such as soft rubber or silicone. The cleaning hood (which includes a roller brush) floats up and down relative to the main body. When there are obstacles on the surface being cleaned, the up-and-down movement of the floating main brush structure reduces the interaction between the roller brush and the obstacles, thus assisting the automatic cleaning equipment in easily overcoming obstacles. The suction duct is located between the dust collection chamber and the cleaning hood structure, requiring it to be flexible, as a rigid duct cannot absorb the floating changes of the roller brush. When the fourth air duct is made of a flexible material such as soft rubber, it can deform during obstacle-crossing by being compressed by the floating bracket, thus smoothly achieving upward "floating". In the suction duct, the third air duct (the inclined part) is made of a rigid material (to make airflow smoother), while the fourth air duct is made of a flexible material.

[0192] In the embodiments disclosed herein, such as Figure 21 As shown, the cleaning module also includes a drive structure 36, which includes a power unit 361 and a transmission assembly. The power unit 361 drives the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush 35 to rotate synchronously through the transmission assembly, thereby achieving reliable cleaning of the surface to be cleaned. The power unit 361 drives multiple roller brushes to rotate synchronously through the transmission assembly, which can reduce the number of power units 361 while ensuring that multiple roller brushes clean synchronously, thereby improving the cleaning ability of the cleaning robot.

[0193] In the embodiments disclosed herein, such as Figure 24 and Figure 25 As shown, the transmission assembly includes a first wheel 362, a second wheel 363, a third wheel 364, a fourth wheel 365, a fifth wheel 366, a sixth wheel 367, a seventh wheel 368, an eighth wheel 369, a transmission rod 3610, a ninth wheel 3611, a tenth wheel 3612, an eleventh wheel 3613, a twelfth wheel 3614, and a thirteenth wheel 3615.

[0194] The power unit 361 can be connected to the first wheel 362, thereby enabling the power unit 361 to drive the first wheel 362 to rotate. The first wheel 362 drives the third wheel 364, which is connected to the second wheel 363, to rotate by meshing with the second wheel 363. The third wheel 364 meshes with the fourth wheel 365, and the fourth wheel 365 can simultaneously mesh with the fifth wheel 366, the sixth wheel 367, and the eighth wheel 369, thereby enabling the sixth wheel 367 to drive the third roller brush 34 to rotate in the first direction, and the eighth wheel 369 to drive the transmission rod 3610 to rotate. Correspondingly, the fifth wheel 366 can drive the seventh wheel 368, thereby enabling the seventh wheel 368 to drive the first roller brush 32 to rotate in the second direction, so that the rotation direction of the first roller brush 32 is opposite to the rotation direction of the third roller brush 34.

[0195] The transmission rod 3610 drives the ninth wheel 3611 connected to it to rotate. The ninth wheel 3611 meshes with the tenth wheel 3612. The tenth wheel 3612 meshes with the eleventh wheel 3613 and the twelfth wheel 3614. The eleventh wheel 3613 drives the fourth roller brush 35 to rotate in the first direction. The twelfth wheel 3614 meshes with the thirteenth wheel 3615. The thirteenth wheel 3615 drives the second roller brush 33 to rotate in the second direction, so that the rotation direction of the second roller brush 33 is opposite to the rotation direction of the fourth roller brush 35.

[0196] It should be noted that the aforementioned wheels can all be gears, and the power unit 361 can be an electric motor.

[0197] As an optional embodiment of this disclosure, the cleaning module 30 may include at least two motors, and each motor may drive one or two roller brushes to rotate. For example, there may be four motors, and four motors may be used to easily drive the rotation of the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush 35.

[0198] In this embodiment of the present disclosure, the roller brush is detachably mounted on the cleaning cover 31. At least one of the first roller brush 32, the second roller brush 33, the third roller brush 34, and the fourth roller brush 35 is detachably mounted on the cleaning cover 31, thereby facilitating the replacement and maintenance of the roller brushes.

[0199] In this embodiment, the second roller brush 33 is movably disposed along its axial direction so as to be detachable from the cleaning cover 31. The second roller brush 33 can be connected to the cleaning cover 31 by certain components. Under normal use, the second roller brush 33 is reliably fixed to the cleaning cover 31. When maintenance or replacement of the second roller brush 33 is required, it can be detached from the cleaning cover 31 by adjusting its position.

[0200] Combination Figures 20A to 20CAs shown, the second roller brush 33 is taken as an example.

[0201] like Figure 20B and Figure 20C As shown, the cleaning module further includes: a main support member 331, which is disposed on the cleaning cover 31; a connector 332, to which the second roller brush 33 is connected, the connector 332 being movably disposed relative to the main support member 331, having a first position connected to the main support member 331 and a second position detached from the main support member 331; and an elastic member 334, to which the elastic member 334 is connected and arranged along the axial direction of the second roller brush 33; wherein, when the second roller brush 33 moves along its axial direction with the connector 332 and the elastic member 334 is compressed, the connector 332 moves from the first position to the second position, the connector 332 is rotated, and the second roller brush 33 is able to detach from the main support member 331 along its axial direction with the connector 332.

[0202] The main support member 331 is provided with a slot 3311, and the adapter member 332 is provided with a buckle 333. When the adapter member 332 moves from the first position to the second position, the buckle 333 can disengage from the slot 3311. When the adapter member 332 is in the second position, the adapter member 332 is rotated to disengage the buckle 333 from the slot 3311.

[0203] The second roller brush 33 can be connected to the adapter 332. The adapter 332 is provided with a buckle 333, and one end of the adapter 332 is connected to an elastic member 334. The main support member 331 is connected to the cleaning cover 31 through the power adapter 335, and the adapter 332 can be connected to the main support member 331 through the buckle 333. The elastic member 334 is clamped between the adapter 332 and the power adapter 335. By driving the adapter 332 to move along the length direction of the second roller brush 33, that is, driving the adapter 332 along the axial direction of the second roller brush 33, the buckle 333 is disengaged from the buckle on the main support member 331. The adapter 332 and the second roller brush 33 can be rotated. At this time, the buckle 333 disengages from the slot 3311, so that the adapter 332 can be removed from the main support member 331, and the second roller brush 33 can be removed from the cleaning cover 31.

[0204] A portion of the adapter 332 can be inserted into the main support member 331, while the buckle 333 can be located within the slot 3311, thereby achieving a snap-fit ​​with the main support member 331. At this time, the second roller brush 33 is reliably fixed to the cleaning cover 31. By compressing the elastic member 334, the snap-fit ​​between the buckle 333 and the main support member 331 is released. Therefore, the buckle 333 can be disengaged from the slot 3311 by rotating the adapter 332. At this time, the main support member 331 can squeeze the buckle 333, so that the buckle 333 and the main support member 331 will not form a snap-fit ​​relationship. Therefore, the adapter 332 can be pulled out from the main support member 331, thereby removing the second roller brush 33 from the cleaning cover 31.

[0205] The main support member 331 has a tapered tube structure. Therefore, the snap fastener 333 can be released from the main support member 331 by compressing the elastic member 334. When the adapter 332 is rotated, the snap fastener 333 can be disengaged from the slot 3311. After all, the snap fastener 333 has moved from a small diameter position to a large diameter position, so it can be disengaged from the slot 3311.

[0206] The adapter 332 may be provided with multiple latches 333, which are elastically deformable. The elastic element 334 may be a spring, rubber ring, or other structure. The thirteenth wheel 3615 may be connected to the power adapter 335 to drive the second roller brush 33 to rotate.

[0207] It should be noted that the axial direction of the second roller brush 33 can include a direction from left to right and a direction from right to left.

[0208] As an optional embodiment of this disclosure, the cleaning module's roller brush may consist of only a first roller brush 32 and a second roller brush 33, meaning the cleaning robot can be a two-brush cleaning robot. The first roller brush 32 and the second roller brush 33 may be spaced apart on the cleaning cover 31 along its length.

[0209] As an optional embodiment of this disclosure, the cleaning module's roller brushes may consist only of a first roller brush 32, a second roller brush 33, and a third roller brush 34, meaning the cleaning robot can be a three-brush cleaning robot. The first roller brush 32 and the second roller brush 33 may be spaced apart on the cleaning cover 31 along its length, while the third roller brush 34 and the first roller brush 32 may be positioned on the cleaning cover 31 along its width. The two ends of the third roller brush 34 may be approximately flush with the ends of the first roller brush 32 and the second roller brush 33. Alternatively, the length of the third roller brush 34 may be less than the sum of the lengths of the first roller brush 32 and the second roller brush 33.

[0210] As an optional embodiment of this disclosure, such as Figure 26As shown, the cleaning module 30 includes a cleaning cover 31, a first roller brush structure 301, and a second roller brush structure 302. The first roller brush structure 301 and the second roller brush structure 302 are disposed inside the cleaning cover 31. Both the first roller brush structure 301 and the second roller brush structure 302 extend along the length direction of the cleaning cover 31, and the first roller brush structure 301 and the second roller brush structure 302 are arranged along the width direction of the cleaning cover 31, so that the first roller brush structure 301 and the second roller brush structure 302 can reliably clean the surface to be cleaned.

[0211] The lengths of the first roller brush structure 301 and the second roller brush structure 302 can be basically the same.

[0212] The first roller brush structure 301 and the second roller brush structure 302 can rotate in opposite directions, allowing dust to be quickly collected into the cleaning module 30. The first roller brush structure 301 and the second roller brush structure 302 can be driven by two independent drive mechanisms to achieve rotation. Alternatively, the first roller brush structure 301 and the second roller brush structure 302 can be driven by a single drive mechanism to achieve rotation. The specific structure of the drive mechanism is not limited; for example, it can be driven by a motor and a drive wheel assembly, thereby achieving synchronous drive of the first roller brush structure 301 and the second roller brush structure 302 by a single motor. Alternatively, two motors can be used to conveniently drive the rotation of the first roller brush structure 301 and the second roller brush structure 302, etc.

[0213] Combination Figures 27A to 29 As shown in the figure, the cleaning robot of this embodiment includes a fan assembly 40 comprising a fan 41, an air duct 42, and a filter 43. One end of the air duct 42 is connected to the fan 41, and the other end is connected to the dust collection chamber 11. The filter 43 is disposed between the dust collection chamber 11 and the air duct 42, thereby enabling the filter 43 to reliably filter the air discharged into the room. Since the air duct 42 connects the fan 41 and the filter 43, it not only allows the air to be reliably discharged into the room, but also allows the air duct 42 to be adapted to the layout of the internal space of the cleaning robot, maximizing the utilization rate of the internal space of the cleaning robot and thus improving the performance of the cleaning robot.

[0214] In this embodiment of the present disclosure, the dust box 10 includes a first chamber 111 and a second chamber 112 that are connected to each other. The first chamber 111 is connected to the cleaning module 30. The cyclone separator 13 is disposed in the second chamber 112. The fan assembly 40 is connected to the second chamber 112, so that the fan assembly 40 can reliably collect the dust from the surface to be cleaned into the dust box 10 through the cleaning module 30.

[0215] In this embodiment, the dust box 10 and the fan assembly 40 are arranged adjacent to each other and along the circumferential direction of the main body 20. This not only makes the structural distribution more reasonable, but also shortens the connection path between the dust box 10 and the fan assembly 40.

[0216] It should be noted that the air duct 42, as an airflow channel connecting the fan 41 and the filter unit 43, can be structurally adjusted according to the component distribution within the cleaning robot's internal space, thereby adapting to the position and structural form of the cleaning robot's internal space. For example, the fan 41 and the filter unit 43 can be staggered, and the fan 41 and the filter unit 43 can be arranged along the circumferential direction of the cleaning robot. In this case, the air duct 42 can effectively adapt to the arrangement of the fan 41 and the filter unit 43, ensuring that the internal space of the cleaning robot is utilized to the maximum extent.

[0217] The exhaust port 1123 of the dust storage chamber 11 is connected to the filter section 43, which is pressed between the air duct 42 and the dust box 10. Under the action of the fan 41, dust can enter the waste inlet 1112 of the dust storage chamber 11 from the cleaning module 30 and enter the dust storage chamber 11 for particulate matter separation. Finally, the gas enters the filter section 43 through the exhaust port 1123 for filtration, and then passes through the air duct 42, enters the fan 41, and is discharged from the cleaning robot to achieve dust collection.

[0218] In this embodiment of the disclosure, the wall surface of the air duct 42 includes at least one of curved surface and flat surface. The curved surface of the air duct 42 not only facilitates gas flow, but also allows for the use of the installation positions of the fan 41 and the filter 43, thereby improving the spatial adaptability of the air duct 42.

[0219] In the embodiments disclosed herein, such as Figures 27A to 28 As shown, the air duct 42 includes a first air duct opening 421 and a second air duct opening 422. The first air duct opening 421 is connected to the fan 41, and the second air duct opening 422 is connected to the dust storage chamber 11. The second air duct opening 422 is a curved opening, which can be adapted to the curved filter section 43 to ensure reliable structural adaptation and increase the filtration area of ​​the filter section 43, thereby increasing the filtration capacity of the filter section 43.

[0220] In this embodiment of the present disclosure, the area of ​​the first air duct opening 421 is smaller than the area of ​​the second air duct opening 422, so that the airflow in the dust storage chamber 11 can quickly enter the filter section 43 for filtration, and can accelerate the speed at which the airflow enters the fan 41.

[0221] In the embodiments disclosed herein, such as Figure 29As shown, the filter section 43 includes multiple stacked filter layers 431. The filter layers 431 are sheet-like structures. The stacking of multiple sheet-like structures not only increases the filtration capacity of the filter section 43, but also reduces the thickness dimension of the filter section 43, thereby reducing the internal space occupancy of the cleaning robot.

[0222] Combination Figure 29 As shown, the filter layer 431 can be three layers, and the thickness of each filter layer 431 can be the same or different. The area of ​​each filter layer 431 can be the same or different.

[0223] In this embodiment of the disclosure, multiple filter layers 431 are made of different materials to improve the filtration capacity of the filter section 43.

[0224] The filter layer 431 can be three layers, which can be an electrostatic cotton, filter cotton and sponge structure.

[0225] As an optional embodiment of this disclosure, the plurality of filter layers 431 may be made of the same material.

[0226] In the embodiments disclosed herein, such as Figure 29 As shown, the filter section 43 also includes a frame 432, and the filter layer 431 is disposed in the frame 432. The frame 432 is sandwiched between the air duct 42 and the dust storage chamber 11, thereby achieving reliable fixation of the filter section 43, preventing the filter section 43 from being crushed, and ensuring reliable filtration of the filter section 43.

[0227] In this embodiment, the filter layer 431 has three layers, with the middle filter layer 431 having the largest area, thus allowing for reliable fixation to the frame 432. The three filter layers 431 can be a structure of electrostatic cotton, filter cotton, and sponge, which can increase the dust holding capacity of the filter section 43. Furthermore, the frame 432 can be a soft rubber structure, which can be effectively compressed through the air duct 42 and the dust storage chamber 11, thereby achieving reliable filtration.

[0228] In the embodiments disclosed herein, such as Figures 27A to 28 As shown, the fan assembly 40 also includes a silencing part 44, which is located on the side of the fan 41 away from the air duct 42 and is connected to the air outlet of the fan 41. The silencing part 44 includes a sound channel through hole 441 and a sound absorption hole 442, which can reduce the noise of the fan 41 and the noise of gas flow.

[0229] After the exhaust fan 41 enters the silencing section 44, part of the gas is directly radiated into the environment through the sound channel opening 441, while the other part enters the silencing section 44 through the sound absorption holes 442 on the wall of the sound channel opening 441 and is absorbed therein, thereby achieving the purpose of reducing noise. The silencing section 44 can be sound-absorbing cotton or a porous material.

[0230] In this embodiment, there are multiple sound channel through holes 441, which are spaced apart along the height direction of the silencing part 44, thereby ensuring that gas can be discharged into the room and that the silencing part 44 can reliably achieve the purpose of noise reduction.

[0231] In this embodiment, the sound channel through-hole 441 includes a first port and a second port. The diameter of the first port is smaller than the diameter of the second port. The first port of the sound channel through-hole 441 is connected to the air outlet of the fan 41, and the second port of the sound channel through-hole 441 is connected to the outside, thereby achieving both effective exhaust and noise reduction. The diameter of the first port can be smaller than the diameter of the second port.

[0232] In the embodiments disclosed herein, such as Figure 27B and Figure 28 As shown, the fan assembly 40 also includes a filter element 45 and a protective cover 46. The filter element 45 is disposed at the end of the silencer 44 away from the fan 41, thereby achieving secondary filtration of the gas discharged from the silencer 44. The protective cover 46 can be connected to the main body 20 to effectively protect the fan assembly 40. The protective cover 46 can be a mesh structure to ensure reliable exhaust.

[0233] like Figures 30 to 33 As shown, the cleaning base station includes a pile body 1, a dust bin 4, a fan structure, a stop component 9, and a drive component 93.

[0234] The pile body 1 includes a dust inlet channel 2, which has a dust inlet 3. The dust inlet 3 is connected to the opening of the dust storage chamber 11 so that the dust in the dust storage chamber 11 can enter the dust inlet channel 2 through the dust inlet 3. The dust bin 4 is installed on the pile body 1 and is connected to the dust inlet channel 2 so that the dust bin 4 can be used to collect the dust in the dust box 10 of the cleaning robot.

[0235] In this embodiment of the disclosure, the stop 9 is disposed on the pile body 1. The stop 9 is used to contact or separate from the door body 12. When the stop 9 contacts the door body 12, the door body 12 can be prevented from opening the dust storage chamber 11. When the stop 9 separates from the door body 12, the door body 12 can open the dust storage chamber 11.

[0236] The stop member 9 can simultaneously contact the first door body member 121 and the second door body member 122 of the door body 12, or the stop member 9 can contact one of the first door body member 121 and the second door body member 122 and be separated from the other.

[0237] In this embodiment, the fan structure is mounted on the pile body 1 and is connected to the dust bin 4, so that the dust in the dust box 10 can be sucked into the dust bin 4 through the fan structure.

[0238] The fan structure is mounted on the pile body 1. The air inlet of the fan structure is connected to the airflow outlet of the dust bin 4. The fan structure generates negative pressure to ensure that the dust in the dust box 10 can enter the dust inlet channel 2 through the dust inlet 3, thus creating airflow. The dust in the dust box 10 includes debris. The fan structure can suck open the door 12 of the dust box 10.

[0239] Specifically, when the cleaning robot completes cleaning, runs out of power, or its dustbin is full of garbage, it can move back to the cleaning base station to recharge or unload the garbage from its dustbin into the cleaning base station.

[0240] During the process of the cleaning robot moving back to the cleaning base station, the cleaning robot continuously searches for the dust collection device through the signal receiving device. The cleaning base station includes a signal transmitting device, which continuously transmits communication signals within a certain angle range for the cleaning robot to capture. When the cleaning robot captures the communication signal, it determines the location of the cleaning base station and moves to the cleaning base station through the navigation function.

[0241] Furthermore, if the cleaning robot starts from the cleaning base station when cleaning begins, the location of the cleaning base station can be recorded on the map. Thus, during the return process, it can prioritize going to the cleaning base station location already recorded on the map, and determine the location of the cleaning base station based on the signal transmitter of the cleaning base station. It can then move to the cleaning base station through the navigation function, thereby reducing the time spent searching for the cleaning base station and improving the efficiency of returning to the cleaning base station.

[0242] In this embodiment, a stop 9 is disposed on the pile body 1 and is movably disposed relative to the pile body 1 to have a first position and a second position. When the stop 9 is in the first position, it prevents the door 12 from releasing the dust storage chamber 11. When the stop 9 is in the second position, the door 12 can release the opening, allowing the dust inlet 3 to connect with the opening. The door 12 releasing the opening means that the dust storage chamber 11 is in an open state.

[0243] The stop 9 can control when the door 12 opens. After the cleaning robot docks with the cleaning base station, the stop 9 can move from the first position that is in contact with the door 12 to the second position that is separated from the door 12. That is, the stop 9 moves from the position that blocks the door 12 from opening the dust storage chamber 11 to the position that does not hinder the door 12 from opening the dust storage chamber 11. At this time, the fan structure can be activated to allow the door 12 to release the dust storage chamber 11, so that the dust in the dust box 10 is sucked into the dust bucket 4.

[0244] In the embodiments disclosed herein, such as Figure 32 and Figure 33 As shown, the stop member 9 includes a first stop member 91 and a second stop member 92. The first stop member 91 and the second stop member 92 correspond to the first door body member 121 and the second door body member 122, respectively, so that the first door body member 121 and the second door body member 122 can independently open the first opening 1111 of the first chamber 111 and the second opening 1121 and the third opening 1122 of the second chamber 112.

[0245] After the cleaning robot docks with the cleaning base station, the first stop 91 can move from the first position to the second position, while the second stop 92 can remain in the first position. At this time, activating the fan structure allows the first door 121 to release the first chamber 111, thereby discharging the dust in the first chamber 111 into the dust bin 4. The second stop 92 can move from the first position to the second position, while the first stop 91 can move from the second position to the first position. The fan structure then allows the second door 122 to release the second chamber 112, thereby discharging the dust in the second chamber 112 into the dust bin 4.

[0246] The first chamber 111 and the second chamber 112 are opened separately, which allows for convenient and reliable suction of dust from inside the cleaning robot into the dust bin 4.

[0247] In the embodiments disclosed herein, such as Figure 32 and Figure 33 As shown, the cleaning base station also includes a drive component 93, which is driven to connect with the first stop component 91 and the second stop component 92, so that when the first stop component 91 is in the first position, the second stop component 92 is in the second position, or when the first stop component 91 is in the second position, the second stop component 92 is in the first position. This allows the first chamber 111 and the second chamber 112 to open in a staggered manner, which facilitates the reliable suction of dust from the cleaning robot into the dust bin 4.

[0248] The driving component 93 may include a motor 931, a first gear 932, and a second gear 933. The motor 931 can be connected to the first gear 932 and the second gear 933 via a drive shaft. The first gear 932 meshes with the first rack 911 of the first stop 91, and the second gear 933 meshes with the second rack 921 of the second stop 92. Thus, when the motor 931 is running, the first gear 932 and the second gear 933 rotate in the same direction, while the first rack 911 and the second rack 921 can rotate in different directions. This allows the second stop 92 to be in the second position when the first stop 91 is in the first position, or the second stop 92 to be in the first position when the first stop 91 is in the second position.

[0249] The motor 931 is simultaneously connected to the first gear 932 and the second gear 933. The first stop 91 includes a first rack 911, and the second stop 92 includes a second rack 921. The first gear 932 and the second gear 933 mesh with the first rack 911 and the second rack 921 respectively, so that when the first stop 91 is in contact with the first door body 121, the second stop 92 is separated from the second door body 122, or when the first stop 91 is separated from the first door body 121, the second stop 92 is in contact with the second door body 122. This allows the first stop 91 and the second stop 92 to correspond to the first door body 121 and the second door body 122 respectively, and the first chamber 111 and the second chamber 112 of the dust storage chamber 11 can be selectively opened.

[0250] In this embodiment, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112. The first chamber 111 includes a first opening 1111, and the second chamber 112 includes a second opening 1121 and a third opening 1122 that are separated from each other. The second opening 1121 connects to the portion of the second chamber 112 located outside the cyclone separator 13, and the third opening 1122 connects to the portion of the second chamber 112 located inside the cyclone separator 13. Thus, the dust storage chamber 11 can be considered to include three chambers. The door 12 includes a first door component 121 and a second door component 122. The first door component 121 corresponds to the first opening 1111, and the second door component 122 corresponds to both the second opening 1121 and the third opening 1122.

[0251] After the cleaning robot docks with the cleaning base station, the first stop 91 can abut against the first door body 121, allowing the cleaning base station to suck the debris in the second chamber 112 into the dustbin 4. The motor 931 then activates, and the second stop 92 can abut against the second door body 122, allowing the cleaning base station to suck the debris in the first chamber 111 into the dustbin 4. Alternatively, after the cleaning robot docks with the cleaning base station, the second stop 92 can abut against the second door body 122, allowing the cleaning base station to suck the debris in the first chamber 111 into the dustbin 4. The motor 931 then activates, and the first stop 91 can abut against the first door body 121, allowing the cleaning base station to suck the debris in the second chamber 112 into the dustbin 4. Because the first chamber 111 and the second chamber 112 are opened separately, their areas are relatively small. With the negative pressure remaining constant, the increased suction power allows the cleaning base station to collect dust from the cleaning robot more thoroughly.

[0252] In this embodiment, the stop member 9 may further include a first micro switch and a second micro switch, which are disposed on the pile body 1. When the first stop member 91 moves to the first position, it will activate the first micro switch, thereby stopping the motor 931. When the first stop member 91 moves to the second position, it will activate the second micro switch, thereby stopping the motor 931. This ensures that the stop member 9 can reliably stop and release the door body 12. Alternatively, the second stop member 92 may correspond to the first and second micro switches, which is not limited here.

[0253] As an optional embodiment of this disclosure, the first stop 91 and the second stop 92 can be driven by two independent drive mechanisms.

[0254] In the embodiments disclosed herein, such as Figure 30 and Figure 31 As shown, the adsorption element 94 is disposed on the pile body 1 so that after the door 12 opens the dust storage chamber 11, the adsorption element 94 is used to adsorb the door 12 to fix the door 12, thereby ensuring that the dust box 10 can be reliably opened.

[0255] In this embodiment, the adsorption member 94 is used to magnetically adsorb the door body 12 to fix the door body 12. The door body 12 may be provided with a magnetic structure, or the door body 12 itself may be a magnetic structure. There may be at least two adsorption members 94, and the first door body member 121 and the second door body member 122 may be conveniently corresponding to at least one adsorption member 94.

[0256] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and exemplary embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0257] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A cleaning device, characterized in that, It includes a dust storage chamber (11) and a cleaning module (30), the cleaning module (30) comprising: The cleaning hood (31) includes a main air duct (3111) and a secondary air duct (3112), the secondary air duct (3112) being connected to the dust storage chamber (11); A roller brush is disposed within the main air duct (3111) such that at least a portion of the secondary air duct (3112) is left unattended. The roller brush includes: First roller brush (32); The second roller brush (33) is spaced apart from the first roller brush (32); The second roller brush (33) and the first roller brush (32) are arranged along the length direction of the cleaning cover (31); The third roller brush (34) and the first roller brush (32) are arranged along the width direction of the cleaning cover (31); The fourth roller brush (35) is spaced apart from the third roller brush (34) along the length direction of the cleaning cover (31) and is spaced apart from the second roller brush (33) along the width direction of the cleaning cover (31). Along the width direction of the cleaning cover (31), the third roller brush (34) is in contact with the first roller brush (32); along the width direction of the cleaning cover (31), the fourth roller brush (35) is in contact with the second roller brush (33).

2. The cleaning equipment according to claim 1, characterized in that, The main air duct (3111) and the secondary air duct (3112) are arranged along the width direction of the cleaning hood (31).

3. The cleaning equipment according to claim 1, characterized in that, The volume of the main air duct (3111) is greater than the volume of the secondary air duct (3112).

4. The cleaning equipment according to claim 1, characterized in that, The cleaning cover (31) is provided with an air duct opening (312), and the secondary air duct (3112) and the dust storage chamber (11) are connected through the air duct opening (312); The air duct opening (312) is located off-center from the center of the cleaning hood (31) along its length.

5. The cleaning equipment according to claim 4, characterized in that, The secondary air duct (3112) includes a first air duct section (3113) and a second air duct section (3114). The first air duct section (3113) and the second air duct section (3114) are arranged along the length direction of the cleaning hood (31). The end of the second air duct section (3114) away from the first air duct section (3113) is connected to the air duct opening (312).

6. The cleaning equipment according to claim 5, characterized in that, The extension direction of the first air duct section (3113) is not parallel to the extension direction of the second air duct section (3114).

7. The cleaning equipment according to claim 6, characterized in that, There is an arc transition between the first air duct section (3113) and the second air duct section (3114).

8. The cleaning equipment according to claim 1, characterized in that, There are at least two main air ducts (3111), and the secondary air ducts (3112) are located between adjacent main air ducts (3111).

9. The cleaning equipment according to any one of claims 1 to 8, characterized in that, A portion of the main air duct (3111) is left vacant along the length of the cleaning hood (31).

10. A cleaning system, characterized in that, The cleaning system includes the cleaning equipment according to any one of claims 1 to 9, and further includes a cleaning base station.

Images