Cleaning robot

Abstract

The utility model provides a cleaning robot. The cleaning robot comprises a robot body; the moving assembly is arranged on the robot body, and the moving assembly has a first state and a second state; the moving assembly is used for recognizing the edge of the to-be-cleaned face with the frame in the first state and recognizing the edge of the to-be-cleaned face without the frame in the second state. According to the method, the edge of the to-be-cleaned face with the frame and the edge of the to-be-cleaned face without the frame can be recognized, the application range is wide, collision between the cleaning robot and the frame is avoided, and falling of the cleaning robot is avoided.

Description

Technical Field

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

[0002] With the development of modern technology, household cleaning tools such as vacuum cleaners and sweepers have entered thousands of households, helping people reduce the burden of cleaning. However, the above cleaning tools require the user to operate them before they can clean. Based on this, household robots that can automatically clean have emerged.

[0003] After detecting an obstacle in the area to be cleaned, the existing cleaning robot changes the cleaning route to avoid the obstacle. However, the detection function of the existing cleaning robot is limited, and it can only detect physical obstacles but not virtual obstacles (such as collapsed areas). Therefore, the cleaning robot is only suitable for areas to be cleaned with borders, and cannot be used for areas to be cleaned without borders. Utility Model Content

[0004] In order to overcome the defects of the above-mentioned prior art, the present application provides a cleaning robot, and the specific technical solution is as follows:

[0005] A cleaning robot, comprising:

[0006] Robot body;

[0007] A moving component is arranged on the robot body, and the moving component has a first state and a second state; the moving component is used to identify the edge of the framed surface to be cleaned in the first state, and to identify the edge of the frameless surface to be cleaned in the second state.

[0008] In a specific embodiment, the first state includes a compressed state, and the moving component recognizes the edge of the framed surface to be cleaned in the compressed state;

[0009] The second state comprises an extended state, in which the moving component identifies the edge of the frameless surface to be cleaned; and / or the second state comprises a rotated state, in which the moving component identifies the edge of the frameless surface to be cleaned.

[0010] In a specific embodiment, the moving assembly includes a first elastic member, the first elastic member having a first squeezed state, a second squeezed state, and an extended state;

[0011] The first elastic member is used for being in the first extrusion state when the cleaning robot contacts the surface to be cleaned;

[0012] The first elastic member is used to switch from the first extrusion state to the second extrusion state when the cleaning robot contacts the frame of the surface to be cleaned, so that the moving component is in the compressed state and recognizes the edge of the framed surface to be cleaned;

[0013] The first elastic member is used to switch from the first extruded state to the extended state when the cleaning robot is separated from the surface to be cleaned, so that the moving component has the extended state and recognizes the edge of the frameless surface to be cleaned.

[0014] In a specific embodiment, the moving assembly includes a rotating member, and the rotating member is used to rotate when the cleaning robot is separated from the surface to be cleaned, so that the moving assembly is in the rotating state and identifies the edge of the frameless surface to be cleaned;

[0015] The rotating member is provided with a second elastic member, and the second elastic member is used to compress when the cleaning robot contacts the frame of the surface to be cleaned, so that the moving component has a compressed state and recognizes the edge of the framed surface to be cleaned.

[0016] In a specific embodiment, the moving component includes a third elastic member, and the third elastic member is used to release potential energy to drive the rotating member to rotate when the cleaning robot is separated from the surface to be cleaned, so that the moving component is in the rotating state and identifies the edge of the frameless surface to be cleaned.

[0017] In a specific embodiment, an abutment member is provided at one end of the moving component that contacts the surface to be cleaned, and the abutment member is used to change the type of force applied when the moving component contacts the surface to be cleaned.

[0018] In a specific embodiment, the cleaning robot further includes a cleaning component, and the cleaning component rotates to drive the cleaning robot to operate and clean the surface to be cleaned.

[0019] In a specific embodiment, the cleaning robot further includes a negative pressure component. An adsorption chamber is formed on the cleaning component. The negative pressure component is used to pump negative pressure into the adsorption chamber so that the cleaning robot is adsorbed on the surface to be cleaned.

[0020] In a specific embodiment, the cleaning component includes:

[0021] A walking disc, the walking disc is rotatably connected to the robot body, and the walking disc rotates to drive the cleaning robot to walk;

[0022] A cleaning disc is rotatably connected to the robot body, and the cleaning disc rotates to clean the surface to be cleaned.

[0023] In a specific embodiment, the number of the cleaning components is at least two, the central axes of the walking disks of at least two of the cleaning components are inclined relative to the central axis of the robot body, and the rotation directions of the two walking disks are opposite.

[0024] This application has at least the following beneficial effects:

[0025] A cleaning robot of the present application comprises: a robot body; a moving component, which is arranged on the robot body and has a first state and a second state; the moving component is used to identify the edge of a framed surface to be cleaned in the first state, and to identify the edge of a frameless surface to be cleaned in the second state.

[0026] The present application identifies the edge of the framed surface to be cleaned by moving components, can accurately identify the position of the frame, and change the running direction in time to avoid collision between the cleaning robot and the frame. This can not only prevent the cleaning robot and the frame from being damaged during collision, but also prevent the cleaning robot from losing control or misoperation caused by collision.

[0027] The present application uses a mobile component to identify the edge of the frameless surface to be cleaned, and automatically adjusts its action or stops working when reaching the boundary, which can prevent the cleaning robot from falling, effectively prevent the occurrence of falling accidents of the cleaning robot, and significantly enhance the safety of the use of the cleaning robot. It not only protects the cleaning robot itself from damage, but also ensures the safety of the surrounding environment.

[0028] At the same time, the cleaning robot can recognize the edges of the framed surface to be cleaned and the frameless surface to be cleaned, so that the cleaning robot can automatically adjust its operating route at the edges of the framed / frameless surface to be cleaned during the cleaning process, and will not waste time at the edges of the framed / frameless surface to be cleaned, which helps to improve the cleaning efficiency of the cleaning robot, while ensuring the continuity and uniformity of cleaning, and improving the cleaning quality of the cleaning robot.

[0029] In addition, the cleaning robot's ability to recognize the edges of framed and frameless surfaces to be cleaned also enhances the cleaning robot's intelligence level. Through precise recognition technology, the cleaning robot can better adapt to different cleaning environments and can automatically complete cleaning tasks without human intervention, providing users with a more convenient and efficient cleaning experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 Schematic diagram of the structure of the cleaning robot provided in Example 1 Figure 1 ;

[0032] Figure 2 Schematic diagram of the structure of the cleaning robot provided in Example 1 Figure 2 ;

[0033] Figure 3 Schematic diagram of the structure of the cleaning robot provided in Example 1 Figure 3 ;

[0034] Figure 4 Schematic diagram of the structure of the cleaning robot provided in Example 1 Figure 4 ;

[0035] Figure 5 Schematic diagram of the structure of the cleaning robot provided in Example 1 Figure 5 ;

[0036] Figure 6 Schematic diagram of the structure of the cleaning robot provided in Example 2 Figure 1 ;

[0037] Figure 7 Schematic diagram of the structure of the cleaning robot provided in Example 2 Figure 2 ;

[0038] Figure 8 Schematic diagram of the structure of the cleaning robot provided in Example 2 Figure 3 ;

[0039] Fig. 9 Schematic diagram of the structure of the cleaning robot provided in Example 2 Figure 4 ;

[0040] Fig.10 for Fig. 9 A partial enlarged view of the middle A area;

[0041] Fig.11 Schematic diagram of the structure of the mobile assembly provided in Example 2 Figure 1 ;

[0042] Fig.12 Schematic diagram of the structure of the mobile assembly provided in Example 2 Figure 2 .

[0043] Reference numerals:

[0044] 1- robot body; 2- moving component; 3- cleaning component; 4- negative pressure component; 11- first sensing member; 12- second sensing member; 21- first elastic member; 22- first moving member; 23- rotating member; 24- second elastic member; 25- third elastic member; 26- second moving member; 31- walking disk; 32- cleaning disk; 33- adsorption chamber; 221- bump; 231- channel; 232- second bump; 233- connecting part; 261- first bump. DETAILED DESCRIPTION

[0045] Hereinafter, various embodiments of the present application will be described more fully. The present application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present application to the specific embodiments disclosed herein, but the present application should be understood to cover all adjustments, equivalents and / or alternatives within the spirit and scope of the various embodiments of the present application.

[0046] Hereinafter, the term "include" or "may include" used in various embodiments of the present application indicates the presence of a disclosed function, operation, or element, and does not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present application, the terms "include", "have", and their cognates are intended only to indicate a specific feature, number, step, operation, element, component, or combination of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components, or a combination of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or a combination of the foregoing.

[0047] In various embodiments of the present application, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0048] The expressions (such as "first", "second", etc.) used in the various embodiments of the present application may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present application, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0049] It should be noted that in this application, unless otherwise clearly specified and defined, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] In the present application, a person of ordinary skill in the art should understand that the terms indicating orientation or positional relationship herein are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] The terms used in the various embodiments of the application are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the application. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments of the application. The terms (such as the terms defined in the dictionary generally used) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments of the application.

[0052] like Figures 1 to 5 As shown, this embodiment provides a cleaning robot, comprising:

[0053] Robot body 1;

[0054] The mobile component 2 is arranged on the robot body 1, and the mobile component 2 has a first state and a second state; the mobile component 2 is used to identify the edge of the framed surface to be cleaned in the first state, and to identify the edge of the frameless surface to be cleaned in the second state.

[0055] This embodiment identifies the edge of the framed surface to be cleaned by the mobile component 2, can accurately identify the position of the frame, and change the running direction in time to avoid the cleaning robot from colliding with the frame. This can not only prevent the cleaning robot and the frame from being damaged during the collision, but also prevent the cleaning robot from losing control or misoperation caused by the collision.

[0056] This embodiment identifies the edge of the frameless surface to be cleaned by the mobile component 2, and automatically adjusts its action or stops working when reaching the boundary, which can prevent the cleaning robot from falling, effectively prevents the occurrence of falling accidents of the cleaning robot, and significantly enhances the safety of the use of the cleaning robot, which not only protects the cleaning robot itself from damage, but also ensures the safety of the surrounding environment.

[0057] At the same time, the cleaning robot can recognize the edges of the framed surface to be cleaned and the frameless surface to be cleaned, so that the cleaning robot can automatically adjust its operating route at the edges of the framed / frameless surface to be cleaned during the cleaning process, and will not waste time at the edges of the framed / frameless surface to be cleaned, which helps to improve the cleaning efficiency of the cleaning robot, while ensuring the continuity and uniformity of cleaning, and improving the cleaning quality of the cleaning robot.

[0058] In addition, the cleaning robot's ability to recognize the edges of framed and frameless surfaces to be cleaned also enhances the cleaning robot's intelligence level. Through precise recognition technology, the cleaning robot can better adapt to different cleaning environments and can automatically complete cleaning tasks without human intervention, providing users with a more convenient and efficient cleaning experience.

[0059] like Figure 3 As shown, in one embodiment, the first state includes a compressed state, and the moving component 2 recognizes the edge of the framed surface to be cleaned in the compressed state. Specifically, when the cleaning robot moves to the edge of the framed surface to be cleaned, the moving component 2 is squeezed and contracted by the frame of the surface to be cleaned, so that the moving component 2 recognizes the edge of the framed surface to be cleaned in the compressed state.

[0060] like Figure 4 As shown, in one embodiment, the second state includes an extended state, and the mobile component 2 identifies the edge of the frameless surface to be cleaned in the extended state. Specifically, when the cleaning robot moves to the edge of the frameless surface to be cleaned, the mobile component 2 is separated from the surface to be cleaned and extends outward, so that the mobile component 2 identifies the edge of the frameless surface to be cleaned in the extended state.

[0061] In one embodiment, the second state includes a rotating state, and the mobile component 2 identifies the edge of the frameless surface to be cleaned in the rotating state. Specifically, when the cleaning robot moves to the edge of the frameless surface to be cleaned, the mobile component 2 rotates due to gravity after separating from the surface to be cleaned, so that the mobile component 2 identifies the edge of the frameless surface to be cleaned in the rotating state.

[0062] In one embodiment, at least a portion of the moving assembly 2 has an extended state. In one embodiment, at least a portion of the moving assembly 2 has a rotated state.

[0063] When the moving component 2 of this embodiment is in a compressed state, it means that the cleaning robot is located at the edge of the framed surface to be cleaned; when the moving component 2 is in an extended state and / or a rotating state, it means that the cleaning robot is located at the edge of the frameless surface to be cleaned.

[0064] Compared with the technical solutions adopted in the prior art of setting a micro switch on the side of the cleaning robot for detection and identification and installing an encoder on the walking motor of the cleaning robot for detection and identification, this embodiment identifies the location of the cleaning robot through the state change of the moving component 2, with a low probability of misjudgment, high recognition accuracy, simple structure and low production cost.

[0065] like Figure 2 , Figure 3 and Figure 4 As shown, in one embodiment, the moving assembly 2 includes a first elastic member 21, and the first elastic member 21 has a first squeezed state, a second squeezed state and an extended state;

[0066] like Figure 2 As shown, the first elastic member 21 is used for being squeezed by the surface to be cleaned when the cleaning robot contacts the surface to be cleaned, and the first elastic member 21 is in a first squeeze state;

[0067] like Figure 3 As shown, the first elastic member 21 is used for when the cleaning robot contacts the frame of the surface to be cleaned, the first elastic member 21 is squeezed by the frame of the surface to be cleaned, and the first elastic member 21 switches from the first squeezing state to the second squeezing state, so that the moving component 2 is in a compressed state and identifies the edge of the framed surface to be cleaned;

[0068] like Figure 4 As shown, the first elastic member 21 is used to detach from the surface to be cleaned when the cleaning robot moves to the edge of the frameless surface to be cleaned, and the first elastic member 21 switches from the first squeezed state to the extended state, so that the moving component 2 has an extended state and recognizes the edge of the frameless surface to be cleaned.

[0069] In this embodiment, the first elastic member 21 is provided to make the movable component 2 have an elastic structure with a simple structure, and ensure that the movable component 2 is in a compressed state when it contacts the frame of the surface to be cleaned, and is in an extended state when the movable component 2 moves to the edge of the frameless surface to be cleaned.

[0070] like Figure 2 , Figure 3 and Figure 4As shown, in one embodiment, the moving assembly 2 includes a first elastic member 21 and a first moving member 22. The first moving member 22 is arranged on the robot body 1 through the first elastic member 21, and the first moving member 22 is used to contact the surface to be cleaned. The first moving member 22 is provided with a protrusion 221, and the robot body 1 is provided with a first induction member 11 and a second induction member 12.

[0071] When the first moving member 22 contacts the surface to be cleaned, the surface to be cleaned generates a supporting force on the first moving member 22, so that the surface to be cleaned squeezes the first elastic member 21 through the first moving member 22, and the first elastic member 21 is in a first squeezing state. At this time, the protrusion 221 is located between the first sensing member 11 and the second sensing member 12;

[0072] When the first moving member 22 contacts the frame of the surface to be cleaned, the surface to be cleaned and the frame both generate a supporting force on the first moving member 22, and the first moving member 22 moves toward the direction close to the robot body 1, so that the surface to be cleaned and the frame squeeze the first elastic member 21 through the first moving member 22, and the first elastic member 21 switches from the first squeezing state to the second squeezing state, at which time the protrusion 221 contacts the first sensing member 11;

[0073] When the first movable member 22 moves to the edge of the frameless surface to be cleaned, the first movable member 22 detaches from the surface to be cleaned, and the first movable member 22 moves in a direction away from the robot body 1 , and the first elastic member 21 switches from the first extrusion state to the extended state, at which time the protrusion 221 contacts the second sensing member 12 .

[0074] This embodiment realizes the identification of the cleaning robot at the edge of the framed surface to be cleaned and the cleaning robot at the edge of the frameless surface to be cleaned through the cooperation of the first elastic member 21 and the first movable member 22. The structure is simple, and there is no need to use micro switches and encoders, so that the production cost is low, the probability of misjudgment is low, and the identification accuracy is high.

[0075] Specifically, the first sensing element and / or the second sensing element is a photoelectric switch.

[0076] In one embodiment, an abutment member (not shown in the figure) is provided at one end of the moving component 2 that contacts the surface to be cleaned, and the abutment member is used to change the type of force applied when the moving component 2 contacts the surface to be cleaned.

[0077] Specifically, the abutment member is a rolling member, which changes the sliding friction generated when the moving component 2 contacts the surface to be cleaned into rolling friction. In this embodiment, the rolling member contacts the surface to be cleaned, thereby reducing the direct contact area between the moving component 2 and the surface to be cleaned, thereby reducing friction resistance, reducing energy loss, and improving travel efficiency.

[0078] Specifically, the abutment member is a roller or a universal wheel, but is not limited thereto.

[0079] like Figure 1 As shown, in one embodiment, the cleaning robot further includes a cleaning component 3, which rotates to drive the cleaning robot to run and clean the surface to be cleaned. In this embodiment, the running structure and the cleaning structure are integrated to form the cleaning component 3, so that the cleaning component 3 has both running function and cleaning function, making the structure of the cleaning robot compact.

[0080] like Figure 5 As shown, in one embodiment, the cleaning robot further includes a negative pressure component 4, and an adsorption chamber 33 is formed on the cleaning component 3. The negative pressure component 4 is used to pump negative pressure into the adsorption chamber 33 so that the cleaning robot is adsorbed on the surface to be cleaned. In this embodiment, the negative pressure component 4 is provided to allow the cleaning robot to be adsorbed on the surface to be cleaned, so that the cleaning component 3 is in close contact with the surface to be cleaned, so as to improve the cleaning effect of the cleaning component.

[0081] like Figure 5 As shown, in one embodiment, the cleaning component 3 includes: a walking disc 31, which is rotatably connected to the robot body 1, and the walking disc 31 rotates to drive the cleaning robot to walk; a cleaning disc 32, which is rotatably connected to the robot body 1, and the cleaning disc 32 rotates to clean the surface to be cleaned.

[0082] In one embodiment, the cleaning disc 32 is connected to the robot body 1 through the walking disc 31. The cleaning disc 32 is sleeved on the outer periphery of the walking disc 31. The rotation of the walking disc 31 drives the cleaning disc 32 to rotate synchronously. In this embodiment, the cleaning disc 32 assists in supporting the walking disc 31 to prevent the walking disc 31 from slipping when encountering water, so that the walking disc 31 can move stably.

[0083] like Figure 5 As shown, in one embodiment, the number of the cleaning components 3 is at least two, the central axes of the walking disks 31 of at least two cleaning components 3 are inclined relative to the central axis of the robot body 1, and the rotation directions of the two walking disks 31 are opposite.

[0084] In this embodiment, the central axis of the walking disc 31 is tilted relative to the central axis of the robot body 1, so that when the cleaning robot is working, the walking disc 31 has a high friction area and a low friction area in contact with the surface to be cleaned, and the friction between the high friction area and the surface to be cleaned is greater than the friction between the low friction area and the surface to be cleaned. At the same time, in this embodiment, the rotation directions of at least two walking discs 31 are opposite, so that the cleaning robot walks in a specific direction.

[0085] Example 2

[0086] like Figures 6 to 12 As shown, in one embodiment, the moving assembly 2 includes a rotating member 23. Figure 7As shown, the rotating member 23 is used to rotate when the cleaning robot is separated from the surface to be cleaned, so that the moving component 2 is in a rotating state and identifies the edge of the frameless surface to be cleaned;

[0087] like Figure 7 As shown, the rotating member 23 is provided with a second elastic member 24, which is used to compress when the cleaning robot contacts the frame of the surface to be cleaned, so that the moving component 2 has a compressed state and recognizes the edge of the framed surface to be cleaned.

[0088] Specifically, Figure 8 As shown, the rotating member 23 is rotatably arranged on the robot body 1, and the rotating member 23 contacts the surface to be cleaned when the cleaning robot is working. When the rotating member 23 moves to the edge of the frameless surface to be cleaned, the rotating member 23 is separated from the surface to be cleaned, and the rotating member 23 rotates due to gravity.

[0089] Specifically, Figure 7 As shown, the moving assembly 2 further includes a second moving member 26, which is used to contact the surface to be cleaned. The second moving member 26 is movably arranged on the rotating member 23, and the second elastic member 24 is respectively connected to the rotating member 23 and the second moving member 26. When the second moving member 26 contacts the frame of the surface to be cleaned, the frame of the surface to be cleaned generates a supporting force on the second moving member 26, and the second moving member 26 moves in a direction close to the robot body 1, so that the frame of the surface to be cleaned squeezes the second elastic member 24 through the second moving member 26, and the second elastic member 24 contracts under pressure.

[0090] In this embodiment, by setting a rotating member 23 and a second elastic member 24, the movable component 2 has a rotating structure and an elastic structure, and the structure is simple; and it is ensured that the movable component 2 is in a rotating state when it moves to the edge of the frameless surface to be cleaned, and is in a compressed state when the movable component 2 contacts the frame of the surface to be cleaned.

[0091] like Figure 8 , Fig. 9 and Fig.10 As shown, in one embodiment, the moving component 2 includes a third elastic member 25, which is used to release potential energy and drive the rotating member 23 to rotate when the cleaning robot is separated from the surface to be cleaned, so that the moving component 2 is in a rotating state and identifies the edge of the frameless surface to be cleaned.

[0092] Specifically, the third elastic member 25 is respectively connected to the robot body 1 and the rotating member 23. When the rotating member 23 contacts the surface to be cleaned, the third elastic member 25 stores potential energy; when the rotating member 23 is separated from the surface to be cleaned, the third elastic member 25 releases the potential energy and drives the rotating member 23 to rotate.

[0093] like Figures 6 to 12As shown, in one embodiment, a first sensing element 11 and a second sensing element 12 are provided on the robot body 1 .

[0094] The rotating member 23 has a receiving cavity formed therein, and a channel 231 is provided on the rotating member 23, and the channel 231 is communicated with the receiving cavity; the second elastic member 24 and the second movable member 26 are located in the receiving cavity, and one end of the second movable member 26 extends out of the receiving cavity to contact the surface to be cleaned, and the second movable member 26 is provided with a first protrusion 261, which passes through the channel 231 and protrudes from the outer surface of the rotating member 23, and the first protrusion 261 is provided corresponding to the first sensing member 11. The outer surface of the rotating member 23 is provided with a second protrusion 232, and the second protrusion 232 is provided corresponding to the second sensing member 12.

[0095] like Figure 6 As shown, when the second moving member 26 contacts the surface to be cleaned, the first protrusion 261 separates from the first sensing member 11, and the second protrusion 232 contacts the second sensing member 12;

[0096] like Figure 7 As shown, when the second moving member 26 contacts the frame of the surface to be cleaned, the frame of the surface to be cleaned generates a supporting force on the second moving member 26, and the second moving member 26 moves toward the direction close to the robot body 1, the second elastic member 24 is compressed and contracted, the first protrusion 261 contacts the first sensing member 11, and the second protrusion 232 contacts the second sensing member 12;

[0097] like Figure 8 As shown, when the second movable member 26 and the rotating member 23 are separated from the surface to be cleaned, the second elastic member 24 releases potential energy, the second movable member 26 moves in a direction away from the robot body 1, the third elastic member 25 releases potential energy and drives the rotating member 23 to rotate, the first protrusion 261 is separated from the first sensing member 11, and the second protrusion 232 is separated from the second sensing member 12.

[0098] Specifically, the first sensing element 11 and / or the second sensing element 12 is a photoelectric switch.

[0099] In one embodiment, the rotating member 23 includes a rotating member body and an end cover. The rotating member 23 has a hollow structure. The end cover is located at one end of the rotating member body away from the surface to be cleaned, so that a receiving cavity is formed between the end cover and the rotating member body. The second moving member 26 is located in the receiving cavity. One end of the second elastic member 24 abuts against the end cover, and the other end abuts against the second moving member 26.

[0100] A notch is provided at one end of the end cover close to the rotating member body and / or one end of the rotating member body close to the end cover to form a channel 231 between the end cover and the rotating member body.

[0101] like Fig.10 and Fig.11As shown, in one embodiment, a connecting portion 233 is provided on the rotating member 23. When the cleaning robot contacts the surface to be cleaned (i.e., when the second movable member 26 contacts the surface to be cleaned), the connecting portion 233 is inclined relative to the surface to be cleaned, and the two ends of the third elastic member 25 respectively abut the robot body 1 and the connecting portion 233.

[0102] The other contents of this embodiment are the same as those of Embodiment 1 and will not be described again here.

[0103] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present application.

[0104] Those skilled in the art will appreciate that the modules in the device in the implementation scenario can be distributed in the device in the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0105] The above application serial numbers are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0106] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that: include: Robot body; A moving component is arranged on the robot body, and the moving component has a first state and a second state; the moving component is used to identify the edge of the framed surface to be cleaned in the first state, and to identify the edge of the frameless surface to be cleaned in the second state.

2. The cleaning robot according to claim 1, characterized in that: The first state includes a compressed state, and the moving component recognizes the edge of the framed surface to be cleaned in the compressed state; The second state comprises an extended state, in which the moving component identifies the edge of the frameless surface to be cleaned; and / or the second state comprises a rotated state, in which the moving component identifies the edge of the frameless surface to be cleaned.

3. The cleaning robot according to claim 2, characterized in that: The moving assembly includes a first elastic member, the first elastic member having a first squeezed state, a second squeezed state and an extended state; The first elastic member is used for being in the first extrusion state when the cleaning robot contacts the surface to be cleaned; The first elastic member is used to switch from the first extrusion state to the second extrusion state when the cleaning robot contacts the frame of the surface to be cleaned, so that the moving component is in the compressed state and recognizes the edge of the framed surface to be cleaned; The first elastic member is used to switch from the first extruded state to the extended state when the cleaning robot is separated from the surface to be cleaned, so that the moving component has the extended state and recognizes the edge of the frameless surface to be cleaned.

4. The cleaning robot according to claim 2, characterized in that: The moving assembly includes a rotating member, and the rotating member is used to rotate when the cleaning robot is separated from the surface to be cleaned, so that the moving assembly is in the rotating state and identifies the edge of the frameless surface to be cleaned; The rotating member is provided with a second elastic member, and the second elastic member is used to compress when the cleaning robot contacts the frame of the surface to be cleaned, so that the moving component has a compressed state and recognizes the edge of the framed surface to be cleaned.

5. The cleaning robot according to claim 4, characterized in that: The moving component includes a third elastic member, and the third elastic member is used to release potential energy to drive the rotating member to rotate when the cleaning robot is separated from the surface to be cleaned, so that the moving component is in the rotating state and identifies the edge of the frameless surface to be cleaned.

6. The cleaning robot according to claim 1, characterized in that: An abutment piece is arranged at one end of the moving component that contacts the surface to be cleaned, and the abutment piece is used to change the type of force applied when the moving component contacts the surface to be cleaned.

7. The cleaning robot according to claim 1, characterized in that: The cleaning robot further comprises a cleaning component, and the cleaning component rotates to drive the cleaning robot to run and clean the surface to be cleaned.

8. The cleaning robot according to claim 7, characterized in that: The cleaning robot further comprises a negative pressure component, an adsorption chamber is formed on the cleaning component, and the negative pressure component is used to pump negative pressure into the adsorption chamber so that the cleaning robot is adsorbed on the surface to be cleaned.

9. The cleaning robot according to claim 7, characterized in that: The cleaning component comprises: A walking disc, the walking disc is rotatably connected to the robot body, and the walking disc rotates to drive the cleaning robot to walk; A cleaning disc is rotatably connected to the robot body, and the cleaning disc rotates to clean the surface to be cleaned.

10. The cleaning robot according to claim 9, characterized in that: The number of the cleaning components is at least two, the central axes of the walking disks of at least two of the cleaning components are inclined relative to the central axis of the robot body, and the rotation directions of the two walking disks are opposite.

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