Sweeping robot

Abstract

The utility model relates to a sweeping robot. Based on the application, the sweeping robot can comprise the rotary rolling brush and the adjusting mechanism used for adjusting the suspension height of the rotary rolling brush, so that the sweeping robot can be supported to selectively use the rotary rolling brush to implement winding operation suitable for hard ground or winding and beating combined operation suitable for hairy ground. For example, if the sweeping robot carries out winding operation with relatively high winding strength by adjusting the height of the rotary rolling brush when the sweeping robot advances on the hairy ground and is assisted by flapping operation, dirt stored in hair clusters of the hairy ground can be wound more easily, and therefore the cleaning efficiency of the sweeping robot on the hairy ground can be improved; when the sweeping robot advances on the hard ground, the height of the rotary rolling brush is adjusted to implement winding operation with relatively low strength, and flapping operation is stopped, so that noise and abrasion generated by the rotary rolling brush can be reduced.

Description

Technical Field

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

[0002] The mobile chassis of the sweeping robot is equipped with a hoisting assembly, and the hoisting assembly has a rotating shaft and a hoisting brush. Therefore, when the sweeping robot moves through the mobile chassis, the rotating shaft of the hoisting assembly rotates to drive the hoisting brush to perform a hoisting operation on the target ground area below the mobile chassis, so as to hoist the dirt in the target ground area below the mobile chassis into the sweeping robot.

[0003] However, when the target floor area is a hairy floor such as a carpet, the dirt is stored at the roots of the hair on the hairy floor, and the hair on the hairy floor hinders the lifting operation of the lifting brush. Therefore, the lifting efficiency of the lifting brush on the hairy floor is not high, resulting in low cleaning efficiency of the sweeping robot on the hairy floor.

[0004] As can be seen from the above, how to improve the cleaning efficiency of the sweeping robot on the rough floor has become a technical problem to be solved in the prior art. Summary of the invention

[0005] In an embodiment of the present application, a sweeping robot is provided to help improve the cleaning efficiency of the sweeping robot on rough floors.

[0006] An embodiment of the present application provides a sweeping robot, comprising:

[0007] A mobile chassis, wherein the mobile chassis has a chassis opening;

[0008] A roller brush cover, wherein the roller brush cover is mounted on the mobile chassis;

[0009] A rotating roller brush, wherein the rotating roller brush is suspended by the roller brush cover at the chassis opening;

[0010] An adjusting mechanism, wherein the adjusting mechanism is installed on the mobile chassis, and the adjusting mechanism drives the roller brush cover to selectively suspend the rotating roller brush at a first calibrated height suitable for hard ground or a second calibrated height suitable for rough ground by cooperating with the roller brush cover;

[0011] Wherein, the second calibrated height is lower than the first calibrated height, and:

[0012] The rotating roller brush performs a hoisting operation with a first hoisting intensity on a target ground area below the mobile chassis by rotating at the first calibrated height;

[0013] The rotating roller brush performs a combined operation of the hoisting operation and the beating operation at a second hoisting intensity on the target ground area by rotating at the second calibrated height, and the second hoisting intensity is higher than the first hoisting intensity.

[0014] In some examples, optionally, the rotating roller brush includes a rolling brush and an auxiliary sheet, wherein the rolling operation includes intermittent interference contact between the rolling brush and the target ground area, the flapping operation includes intermittent interference contact between the auxiliary sheet and the target ground area, the rolling intensity of the rolling operation is associated with the interference depth of the interference contact between the rolling brush and the target ground area, and: during the rotation period when the rotating roller brush is at the first rated height, the rolling brush intermittently interferes with the target ground area at a first interference depth, and a gap is continuously maintained between the auxiliary sheet and the target ground area; during the rotation period when the rotating roller brush is at the second rated height, the rolling brush intermittently interferes with the target ground area at a second interference depth greater than the first interference depth, and the auxiliary sheet intermittently interferes with the target ground area at a third interference depth less than the second interference depth.

[0015] In some examples, optionally, the adjustment mechanism causes the roller brush cover to swing in pitch and pitch relative to the chassis opening by cooperating with the roller brush cover, and the pitch and pitch swing causes the rotating roller brush to switch between the first calibrated height and the second calibrated height.

[0016] In some examples, optionally, the adjustment mechanism cooperates with the first shell edge of the roller brush cover to induce the pitch and pitch swing by adjusting the edge height of the first shell edge; the swing fulcrum of the pitch and pitch swing is located at the second shell edge of the roller brush cover; wherein the first shell edge and the second shell edge are respectively the opposite side edges of the roller brush cover in the traveling direction of the sweeping robot, and: when the first shell edge is at a first edge height, the rotating roller brush is suspended at the first calibrated height; when the first shell edge is at a second edge height lower than the first edge height, the rotating roller brush is suspended at the second calibrated height.

[0017] In some examples, optionally, the adjustment mechanism includes: a translation member, which is slidingly matched with the first cover edge of the roller brush cover; a toggle member, which is slidingly matched with the translation member, and the toggle member causes the translation position of the translation member to switch in response to the power output generated by the adjustment drive motor, so that: when the translation member is in the first translation position, the first cover edge is at the first edge height; when the translation member is in the second translation position, the first cover edge is at the second edge height.

[0018] In some examples, optionally, the translation member includes: a translation block, which is slidably engaged with the toggle member; and a drive rod, which extends from the translation block toward the first cover edge of the roller brush cover parallel to the travel direction of the sweeping robot; wherein the first cover edge of the roller brush cover has a cover groove extending parallel to the travel direction of the sweeping robot, and the sliding engagement of the drive rod with the cover groove is used to convert the translation position switching of the translation member into adjustment of the edge height of the first cover edge.

[0019] In some examples, optionally, the toggle member includes a cam, the translation block includes a wheel groove, and the sliding fit between the translation block and the toggle member includes a sliding fit between the cam and a hole wall of the wheel groove.

[0020] In some examples, optionally, the slide slot opening of the cover shell slide slot faces downward, the inner wall of the slot top of the cover shell slide slot has a slot top inclined step, the outer wall of the rod top of the driving rod has a rod top inclined step, and the sliding fit between the driving rod and the cover shell slide slot includes the sliding fit between the slot top inclined step and the rod top inclined step.

[0021] In some examples, optionally, the driving rods and the cover housing slide grooves are arranged in pairs.

[0022] In some examples, optionally, the first edge height is not lower than the mobile chassis, and the second edge height is lower than the mobile chassis.

[0023] In some examples, optionally, the roller brush cover has a cover inner cavity and a cover opening, the cover opening is exposed to the chassis opening, the hoisting operation is used to hoist dirt toward the cover opening, the cover inner cavity is also connected to the suction channel of the sweeping robot, and the suction airflow induced by the suction channel is used to transport the dirt from the cover opening through the cover inner cavity to the dust collecting component of the sweeping robot; wherein the roller brush cover is provided with a cover guard frame at the cover opening, and the airflow flow area of ​​the guard frame window of the cover guard frame causes the suction airflow to gather and pressurize when entering the cover opening.

[0024] In some examples, optionally, the adjustment mechanism adjusts the edge height of a first cover edge of the roller brush cover by cooperating with the roller brush cover, and the adjustment of the edge height of the first cover edge causes the rotating roller brush to switch between the first calibrated height and the second calibrated height, and the first cover edge is the front cover edge of the roller brush cover in the direction of travel of the sweeping robot; the guard frame window has a front window edge and a rear window edge in the direction of travel of the sweeping robot, and the front window edge rises and falls synchronously with the change in edge height of the first cover edge, and a front overhang stop is deployed on the front window edge. The invention relates to a sheet, wherein: when the edge of the first cover shell is at a first edge height, the rotating roller brush is suspended at the first calibrated height, and the front side hanging baffle is in a free extended state separated from the target ground area and tilted out of the guard frame window, so that the airflow flow surface is configured as a first airflow flow area; when the edge of the first cover shell is at a second edge height lower than the first edge height, the rotating roller brush is suspended at the second calibrated height, and the front side hanging baffle is in a bent state of interference contact with the target ground area, so that the airflow flow surface is configured as a second airflow flow area smaller than the first airflow flow area.

[0025] In some examples, optionally, the front side overhanging baffle has a first bending groove and a second bending groove, the second bending groove is located below the first bending groove, the first bending groove is used to guide the front side overhanging baffle to bend to avoid the obstacle when it is blocked by the obstacle, and the second bending groove is used to guide the front side overhanging baffle to bend when it is in interference contact with the target ground area.

[0026] In some examples, optionally, the guard frame window also has a pair of window side edges extending between the front edge of the window and the rear edge of the window, the window side edges are disposed with flexible edge strips, and the rear edge of the window is disposed with a rear overhanging scraper; the guard frame window is tiltedly arranged on the lower frame surface of the cover shell guard frame close to the target ground area, the rear overhanging scraper is in normal contact with the target ground area, and: when the first cover shell edge is at the first edge height, the guard frame window is tilted relative to the target ground area, and the flexible edge strip is separated from the target ground area; when the first cover shell edge is at the second edge height, the guard frame window is parallel to the target ground area, and the flexible edge strip, the front overhanging baffle and the rear overhanging scraper contact the target ground area together to form a closed-loop shielding fence surrounding the guard frame window.

[0027] In some examples, optionally, a drive control module and a ground feature detection module are further included, wherein the ground feature detection module is used to generate a ground feature detection signal to the drive control module, and the ground feature detection signal indicates that the target ground area is a hairy ground or a hard ground, so that: the adjustment mechanism drives the roller brush cover to suspend the rotating roller brush at the first calibrated height while the sweeping robot is moving on the hard ground, and the adjustment mechanism drives the roller brush cover to suspend the rotating roller brush at the second calibrated height while the sweeping robot is moving on the hairy ground.

[0028] In some examples, optionally, the ground feature detection module includes: an ultrasonic detection module, the ultrasonic detection module is fixedly mounted on the mobile chassis, the ultrasonic detection module is located on the front side of the chassis opening in the traveling direction of the sweeping robot, the ultrasonic detection module includes an ultrasonic transmitter and an ultrasonic receiver, the ultrasonic transmitter is used to generate an ultrasonic transmission signal to the target ground area, the ultrasonic receiver is used to receive an ultrasonic echo signal returned from the target ground area, and the ground feature detection signal includes the ultrasonic echo signal.

[0029] In some examples, optionally, a current detection module is used to generate a current detection signal for the driving current of the roller brush drive motor and / or the side brush drive motor, wherein: the power output generated by the roller brush drive motor causes the rotating roller brush to rotate; and / or, the side brush drive motor is used to drive a flat-rotating side brush installed under the mobile chassis, and the flat-rotating side brush is located on the front side of the chassis opening in the traveling direction of the sweeping robot, and the ground feature detection signal includes the current detection signal.

[0030] Based on the above embodiments of the present application, the sweeping robot may include a rotating roller brush and an adjustment mechanism for adjusting the suspension height of the rotating roller brush, so that the sweeping robot can selectively use the rotating roller brush to implement a hoisting operation suitable for hard floors, or a combined hoisting and beating operation suitable for hairy floors. For example, if the sweeping robot adjusts the height of the rotating roller brush to implement a relatively high-intensity hoisting operation and supplements it with a beating operation when traveling on a hairy floor, it is more conducive to hoisting the dirt stored in the hair of the hairy floor, thereby improving the sweeping robot's cleaning efficiency on the hairy floor; if the sweeping robot adjusts the height of the rotating roller brush to implement a relatively low-intensity hoisting operation and disables the beating operation when traveling on a hard floor, the noise and wear generated by the rotating roller brush can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The following drawings are only used to illustrate and explain the present application, and do not limit the scope of the present application:

[0032] Figure 1 Schematic diagram of the structure of the sweeping robot in the embodiment of the present application;

[0033] Figure 2 It is a partially enlarged schematic diagram of the mobile chassis of the sweeping robot in the embodiment of the present application;

[0034] Figure 3 Schematic diagram of the structure of the rotary roller brush of the sweeping robot in the embodiment of the present application;

[0035] Figure 4 Schematic diagram of the assembly structure of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application;

[0036] Figure 5 It is a schematic diagram of the rotary roller brush of the sweeping robot in the embodiment of the present application being at a first calibrated height;

[0037] Figure 6 It is a schematic diagram of the rotary roller brush of the sweeping robot in the embodiment of the present application being at a second calibrated height;

[0038] Figure 7 Schematic diagram of the disassembled state of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application;

[0039] Figure 8 Schematic diagram of the matching relationship between the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application;

[0040] Fig. 9 It is a cross-sectional view of the assembly state of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application;

[0041] Fig.10It is a structural schematic diagram of a housing frame of a sweeping robot in an embodiment of the present application;

[0042] Fig.11 Schematic diagram of the free extension state of the front hanging flexible sheet of the sweeping robot in the embodiment of the present application;

[0043] Fig.12 Schematic diagram of the interference bending state of the front hanging flexible sheet of the sweeping robot in the embodiment of the present application;

[0044] Fig.13 A schematic diagram of the deployment position of the flexible side strips of the sweeping robot in an embodiment of the present application;

[0045] Fig.14 This is a schematic diagram of an exemplary flow chart of a cleaning control method for a sweeping robot in an embodiment of the present application.

[0046] Description of Reference Numerals

[0047] 10 Rotating brush

[0048] 11 Roller brush shaft

[0049] 12 Roller Brush

[0050] 13 auxiliary sheet

[0051] 15 Roller brush drive motor

[0052] 16 Roller brush speed reduction mechanism

[0053] 20 Roller brush cover

[0054] 21 Inner cavity of housing

[0055] 22 Shell opening

[0056] 25 cover slide

[0057] 255 slot top inclined step

[0058] 30 Adjustment mechanism

[0059] 31 Translational member

[0060] 311 Translation Block

[0061] 312 drive rod

[0062] 313 wheel groove

[0063] 315 top slope step

[0064] 32 Toggle component

[0065] 320 Cam

[0066] 35 Adjust the drive motor

[0067] 50 mobile chassis

[0068] 500 chassis opening

[0069] 60 housing frame

[0070] 600 frame window

[0071] 61 Front overhanging baffle

[0072] 611 first bending groove

[0073] 612 second bending groove

[0074] 62 rear overhang scraper

[0075] 63 Flexible edge strips

[0076] 71 driving wheel

[0077] 72 driven wheel

[0078] 73 flat rotating side brush

[0079] 75 Ultrasonic detection module DETAILED DESCRIPTION

[0080] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0081] Figure 1 Schematic diagram of the structure of the mobile chassis of the sweeping robot in the embodiment of the present application. Figure 2 This is a partially enlarged schematic diagram of the mobile chassis of the sweeping robot in the embodiment of the present application. Figure 1 and Figure 2 In an embodiment of the present application, the cleaning robot may include a mobile chassis 50 and a rotating roller brush 10 .

[0082] In an embodiment of the present application, the mobile chassis 50 may be equipped with a wheel set, and the mobile chassis 50 may travel along a predetermined path by rotating the wheel set. For example, the wheel set of the mobile chassis 50 may include a pair of driving wheels 71 and a driven wheel 72, and the driven wheel 72 may be located in front of the pair of driving wheels 71 in the direction of travel of the sweeping robot, and the rotation of each driving wheel 71 may be triggered by the start-up operation of the corresponding wheel shaft drive motor, and the driving control module of the sweeping robot adjusts the stop state and the rotation speed of the pair of driving wheels 71 by respectively controlling the wheel shaft drive motors of the pair of driving wheels 71, so that the coordinated rotation of the pair of driving wheels 71 and the driven wheel 72 can allow the mobile chassis 50 to travel along a predetermined path.

[0083] In the embodiment of the present application, the mobile chassis 50 may further have a chassis opening 500 . For example, the chassis opening 500 may be located between a pair of driving wheels 71 .

[0084] In the embodiment of the present application, the rotating roller brush 10 can be suspended in the chassis opening 500. For example, the sweeping robot can also include a roller brush cover 20, which is installed on the mobile chassis 50, and the roller brush cover 20 can cover the upper part of the chassis opening 500, and the rotating roller brush 10 can be suspended in the chassis opening 500 by rotating the roller brush cover 20.

[0085] In the embodiment of the present application, the rotating roller brush 10 can perform a hoisting operation on a target ground area below the moving chassis 50 by rotating.

[0086] Figure 3 Schematic diagram of the structure of the rotary roller brush of the sweeping robot in the embodiment of the present application. Figure 3 In an embodiment of the present application, the rotating roller brush 10 may include a roller brush shaft 11 (e.g., a cylindrical hard plastic shaft) and a rolling brush 12, wherein the roller brush shaft 11 may be transmission-connected to a roller brush drive motor 15 of a sweeping robot, the rolling brush 12 may be disposed on the periphery of the roller brush shaft 11, and the rolling brush 12 may be intermittently in interference contact with the target ground area during the rolling operation.

[0087] Illustratively, in an embodiment of the present application, the roller brush shaft 11 can be rotatably connected between a pair of end walls of the roller brush cover 20, a roller brush reduction mechanism 16 can be fixedly installed outside one end wall of the roller brush cover 20, and the roller brush drive motor 15 can be transmission-connected to the roller brush shaft 11 through the roller brush reduction mechanism 16 outside the roller brush cover 20, so that the rotation of the rotating roller brush 10 can be triggered by the start-up operation of the roller brush drive motor 15.

[0088] Exemplarily, in an embodiment of the present application, the roller brush cover 20 has a cover cavity 21, a cover opening 22 and a suction window (not shown in the figure), the cover opening 22 is exposed to the chassis opening 500 of the mobile chassis 50, and the hoisting operation is used to hoist dirt toward the cover opening 22. The cover cavity 21 is also connected to the suction channel of the sweeping robot through the suction window, and the suction airflow induced by the suction channel is used to transport dirt from the cover opening 22 to the dust collecting component (such as a dust box) of the sweeping robot.

[0089] As a further preferred solution of the embodiment of the present application, illustratively, in the embodiment of the present application, the hoisting brush 12 may include at least two groups of brushes spaced apart in a 360° full phase interval, wherein the thickness of each group of brushes may be 1 mm, and there may be a phase interval between any two groups of brushes, thereby improving the hoisting efficiency. On this basis, each group of brushes may be symmetrically tilted relative to the axial direction of the roller brush shaft 11, for example, the angle between the two symmetrical segments of each group of brushes may be 165°, so as to guide the dirt to gather toward the middle of the rotating roller brush 10, thereby being more conducive to the dirt being hoisted to the cover opening 22 in a concentrated and gathered form.

[0090] Still see Figure 3 In an embodiment of the present application, the rotating roller brush 10 may further include an auxiliary sheet 13 , and a radial dimension of the auxiliary sheet 13 is smaller than a radial dimension of the rolling brush 12 .

[0091] In the embodiment of the present application, the auxiliary sheet 13 can participate in the hoisting operation (for example, when the sweeping robot is traveling on a hard ground), and can also perform a flapping operation on the target ground area below the mobile chassis 50 when necessary (for example, when the sweeping robot is traveling on a hairy ground), that is, the auxiliary sheet 13 has the function of assisting the hoisting operation, and the function of the auxiliary sheet 13 is not limited to the hoisting operation, but can also include a flapping operation. In addition, the auxiliary sheet 13 can reduce the probability of filamentous dirt such as hair being entangled in the roller brush shaft 11 during the hoisting operation.

[0092] Figure 4 Schematic diagram of the assembly structure of the roller brush housing and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Figure 4 In an embodiment of the present application, the sweeping robot may further include an adjusting mechanism 30, which is mounted on the mobile chassis 50, and the adjusting mechanism 30 drives the roller brush cover 20 to selectively suspend the rotating roller brush 10 at a first calibrated height H1 suitable for hard floors, or a second calibrated height H2 suitable for hairy floors, through linkage cooperation with the roller brush cover 20, wherein the second calibrated height H2 suitable for hairy floors is lower than the first calibrated height H1 suitable for hard floors.

[0093] Exemplarily, in an embodiment of the present application, the adjusting mechanism 30 can cause the roller brush cover 20 to swing up and down relative to the chassis opening 500 by cooperating with the roller brush cover 20, and the roller brush cover 20 can cause the rotating roller brush 10 to switch between the first calibrated height H1 and the second calibrated height H2.

[0094] For example, if the adjustment mechanism 30 causes the rolling brush housing 20 to swing up and down relative to the chassis opening 500 by cooperating with the rolling brush housing 20, the adjustment mechanism 30 can cooperate with the first housing edge of the rolling brush housing 20 to cause the rolling and down swinging by adjusting the edge height of the first housing edge, that is, by adjusting the edge height of the first housing edge of the rolling brush housing 20, the rotating rolling brush 10 is selectively suspended at the first calibrated height H1 suitable for hard ground or the second calibrated height H2 suitable for hairy ground, that is:

[0095] When the first housing edge of the roller brush housing 20 is at the first edge height, the rotating roller brush 10 is suspended at a first calibrated height H1 suitable for hard ground;

[0096] When the first housing edge of the roller brush housing 20 is at a second edge height lower than the first edge height, the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for a rough floor.

[0097] For example, the first edge height may not be lower than the mobile chassis 50, that is, when the first cover edge of the roller brush cover shell 20 is at the first edge height, the roller brush cover shell 20 may be located as a whole above the chassis opening 500 of the mobile chassis 50; and, the second edge height may be lower than the mobile chassis 50, that is, when the first cover edge of the roller brush cover shell 20 is at the second edge height, the roller brush cover shell 20 may be partially (for example, a small part where the cover opening 22 is located) sunk from the chassis opening 500 to the bottom of the mobile chassis 50.

[0098] In this case, the swing fulcrum of the pitch and tilt swing of the roller brush housing 20 may be located at the second housing edge of the roller brush housing 20, and the first housing edge and the second housing edge of the roller brush housing 20 may be the opposite side edges of the roller brush housing 20 in the traveling direction of the sweeping robot. For example, the first housing edge of the roller brush housing 20 may be the front housing edge of the roller brush housing 20 in the traveling direction of the sweeping robot, and the pitch and tilt swing of the roller brush housing 20 may be based on the rear housing edge of the roller brush housing 20 in the traveling direction of the sweeping robot as the swing fulcrum, that is, the second housing edge of the roller brush housing 20 may be the rear housing edge of the roller brush housing 20 in the traveling direction of the sweeping robot.

[0099] In the embodiment of the present application, the height change of the rotating roller brush 10 can change the hoisting strength of the hoisting operation implemented by the rotating roller brush 10 based on the hoisting brush 12, and can also control the activation and deactivation of the flapping operation provided by the rotating roller brush 10 based on the auxiliary sheet 13. In addition to being associated with the rotation speed of the rotating roller brush 10, the hoisting strength of the hoisting operation can also be associated with the interference depth of the interference contact between the hoisting brush 12 and the target ground area under the mobile chassis 50; the activation and deactivation of the flapping operation is associated with whether interference contact occurs between the auxiliary sheet 13 and the target ground area under the mobile chassis 50.

[0100] That is, in the embodiments of the present application, it can be considered that: the hoisting operation can at least include intermittent interference contact between the hoisting brush 12 and the target ground area under the mobile chassis 50, the hoisting operation can further include the auxiliary sheet 13 following the rotation of the rotating roller brush 10 (roller brush shaft 11) to accelerate the airflow that causes the dirt to quickly reach the cover opening 12, and the patting operation can include intermittent interference contact between the auxiliary sheet 13 and the target ground area under the mobile chassis 50.

[0101] Figure 5 Schematic diagram of the rotary roller brush of the sweeping robot in the embodiment of the present application at the first calibrated height. Figure 5 In the embodiment of the present application, if the roller brush housing 20 suspends the rotating roller brush 10 at a first calibrated height H1 suitable for hard ground, then:

[0102] The rotating roller brush 10 can perform a hoisting operation with a first hoisting intensity on a target ground area below the moving chassis 50 by rotating at the first calibrated height H1.

[0103] For example, during the rotation period when the rotating roller brush 10 is at the first calibrated height H1, the hoisting brush 12 can be in contact with the target ground area ( Figure 5 The target ground area is indicated by a dotted line in the figure, and a gap is continuously maintained between the auxiliary sheet 13 and the target ground area below the mobile chassis 50 (for example, the minimum gap at the bottom end of the outer contour of the rotating roller brush 10 is 1 mm). Therefore, the rotating roller brush 10 can perform a hoisting operation with a first hoisting intensity on the target ground area below the mobile chassis 50 based on the intermittent interference contact of the hoisting brush 12 with the first interference depth t1 and the contactless idling of the auxiliary sheet 13.

[0104] Figure 6 Schematic diagram of the rotary roller brush of the sweeping robot in the embodiment of the present application at the second calibrated height. Figure 6In the embodiment of the present application, if the roller brush housing 20 suspends the rotating roller brush 10 at a second calibrated height H2 suitable for a wooly floor, then:

[0105] The rotating roller brush 10 can perform a combined operation of a hoisting operation with a second hoisting intensity and a slapping operation on the target ground area below the mobile chassis 50 by rotating at the second calibrated height H2, and the second hoisting intensity is higher than the first hoisting intensity.

[0106] For example, during the rotation period when the rotating roller brush 10 is at the second calibration height H2, the hoisting brush 12 is in contact with the target ground area ( Figure 6 The target ground area is indicated by a dotted line in the figure, and the auxiliary sheet 13 is in intermittent interference contact with the target ground area below the mobile chassis 50 with a third interference depth t3 (for example, 1 mm) which is less than the second interference depth t2. Therefore, the rotating roller brush 10 can perform a combined operation of a hoisting operation with a second hoisting intensity and a beating operation on the target ground area below the mobile chassis 50 based on the intermittent interference contact of the hoisting brush 12 with the second interference depth t2 and the intermittent interference contact of the auxiliary sheet 13 with the target ground area.

[0107] That is, in the embodiments of the present application, the sweeping robot is supported to perform a patting operation, but no attempt is made to synchronously bind the patting operation with the hoisting operation. This is because, if the patting operation is synchronously bound with the hoisting operation, then when the target ground area is a hard ground such as a cement floor, a tiled floor with tiles, or a board floor with abutment boards, even if the hoisting operation does not require the assistance of the patting operation, the patting operation will still occur synchronously with the occurrence of the hoisting operation, and thus, the patting operation on the hard ground will continue to generate patting noise, and the components performing the patting operation will also produce unnecessary wear.

[0108] Based on the above-mentioned embodiments of the present application, the sweeping robot may include a rotating roller brush 10 and an adjustment mechanism 30 for adjusting the suspension height of the rotating roller brush 10. Therefore, the sweeping machine can selectively use the rotating roller brush 10 to implement a winch operation suitable for hard floors, or a winch and beating combination operation suitable for rough floors. For example, if the sweeping robot adjusts the height of the rotating roller brush 10 (i.e., adjusts it to a relatively low second calibration height H2) when traveling on a hairy floor, and performs a relatively high-intensity hoisting operation, supplemented by a patting operation, then the hoisting operation can penetrate into the hair clumps of the hairy floor (e.g., the hoisting brush 12 can penetrate into the hair clumps of the hairy floor to perform hoisting), and at the same time, the stored dirt in the hair clumps of the hairy floor can be patted (e.g., by the patting operation of the auxiliary sheet 13) and be in a floating state that is easy to be hoisted, which is more conducive to hoisting the dirt stored in the hair clumps of the hairy floor, thereby improving the cleaning efficiency of the sweeping robot on the hairy floor; if the sweeping robot adjusts the height of the rotating roller brush 10 (i.e., adjusts it to a relatively high first calibration height H1) when traveling on a hard floor, and performs a relatively low-intensity hoisting operation, and disables the patting operation, then the noise and wear generated by the rotating roller brush 10 can be reduced.

[0109] In the embodiment of the present application, in order to enable the sweeping robot to realize autonomous lifting and lowering control of the rotating roller brush 10, the sweeping robot may further include a ground feature detection module, wherein:

[0110] The ground feature detection module can be used to generate a ground feature detection signal to the drive control module. The ground feature detection signal can indicate that the target ground area below the mobile chassis 50 is a rough ground or a hard ground, so that:

[0111] When the sweeping robot travels on a hard ground, the rotating roller brush 10 is suspended at a first calibrated height H1 suitable for the hard ground, so as to perform a hoisting operation with a first hoisting intensity on the target ground area below the mobile chassis 50 by rotating;

[0112] When the sweeping robot travels on a rough floor, the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for the rough floor, so as to perform a combined operation of a hoisting operation with a second hoisting intensity and a beating operation on the target floor area below the mobile chassis 50 through rotation.

[0113] Therefore, in the embodiment of my application, the driving control module of the sweeping robot can be used for:

[0114] Detecting (for example, based on a ground feature detection signal) ground features of a target ground area below the mobile chassis 50 of the cleaning robot, wherein the ground features are used to characterize whether the target ground area is a rough ground or a hard ground;

[0115] Based on the ground features of the target ground area below the mobile chassis 50, the suspension height of the rotary roller brush 10 of the sweeping robot is determined, wherein:

[0116] When the sweeping robot is traveling on a hard ground, the adjusting mechanism 30 is controlled to suspend the rotating roller brush 10 at a first calibrated height H1 suitable for the hard ground, so as to perform a hoisting operation with a first hoisting intensity on the target ground area below the mobile chassis 50 through rotation;

[0117] When the sweeping robot moves on a rough floor, the adjusting mechanism 30 is controlled to suspend the rotating roller brush 10 at a second calibrated height H2 suitable for the rough floor, so that a combined operation of a hoisting operation with a second hoisting intensity and a beating operation is performed on the target floor area below the mobile chassis 50 through rotation.

[0118] Exemplarily, the ground feature detection module may include at least one of an ultrasonic detection module 75 and a current detection module.

[0119] For example, the ultrasonic detection module 75 can be fixedly mounted on the mobile chassis 50, and the ultrasonic detection module 75 can be located on the front side of the chassis opening 500 in the traveling direction of the sweeping robot. The ultrasonic detection module 75 can include an ultrasonic transmitter and an ultrasonic receiver. The ultrasonic transmitter is used to generate an ultrasonic transmission signal to a target ground area under the mobile chassis 50, and the ultrasonic receiver can be used to receive an ultrasonic echo signal returned from the target ground area under the mobile chassis 50.

[0120] Since the echo energy and / or echo duration of the ultrasonic echo signal will be different when the target ground area under the mobile chassis 50 is a hard ground and a rough ground respectively, if the ground feature detection module includes an ultrasonic detection module 75, the ground feature detection signal may include an ultrasonic echo signal.

[0121] For another example, the current detection module can be used to generate a current detection signal for the drive current of the roller brush drive motor 15 and / or the side brush drive motor, wherein:

[0122] The rotation of the rotating roller brush 10 is triggered by the start-up of the roller brush driving motor 15, which is started when the sweeping robot is traveling on hard and rough surfaces.

[0123] The side brush drive motor is used to drive the flat rotating side brush 73 installed below the mobile chassis 50 (in order to simplify the diagram in the present embodiment, only the side brush 73 is shown in FIG. Figure 1The dotted line in the figure indicates the installation position of the flat-rotating side brush 73, but the brush body of the flat-rotating side brush 73 is not shown). The flat-rotating side brush 73 is located at the front side of the chassis opening 500 in the moving direction of the sweeping robot. The flat-rotating side brush 73 is arranged in pairs on both sides in the width direction perpendicular to the moving direction of the sweeping robot. The side brush drive motor is started and operated when the sweeping robot moves on the hard ground and the rough ground.

[0124] Since the resistances encountered by the rotating roller brush 10 and the rotating side brush 73 are different when the target ground areas below the mobile chassis 50 are hard ground and rough ground respectively, and the difference in resistances may cause a current difference between the driving currents of the rotating roller brush drive motor 15 and the side brush drive motor, if the ground feature detection module includes a current detection module, the ground feature detection signal may include a current detection signal.

[0125] In the embodiments of the present application, the driving control module of the sweeping robot can also be used for:

[0126] Based on the ground features (eg, ground feature signals) detected by the ground feature detection module, the traveling speed of the cleaning robot and / or the rotation speed of the rotating roller brush 10 are determined.

[0127] For example, the sweeping robot can have a first travel speed when traveling on a hard floor, and can have a second travel speed lower than the first travel speed when traveling on a rough floor; and / or, the rotating roller brush 10 can have a first rotation speed when the sweeping robot travels on a hard floor, and the rotating roller brush 10 can have a second rotation speed higher than the first rotation speed when the sweeping robot travels on a rough floor, that is, the first hoisting strength is also associated with the first rotation speed, and the second hoisting strength is associated with the second rotation speed.

[0128] Figure 7 This is a schematic diagram of the exploded state of the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Figure 8 Schematic diagram of the matching relationship between the roller brush cover and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Fig. 9 This is a cross-sectional view of the assembly state of the roller brush housing and the adjustment mechanism of the sweeping robot in the embodiment of the present application. Figures 7 to 9 In an embodiment of the present application, if the adjustment mechanism 30 selectively suspends the rotating roller brush 10 at a first calibrated height H1 suitable for hard floors, or a second calibrated height H2 suitable for rough floors, by adjusting the edge height of the first cover edge of the roller brush cover 20, then the adjustment mechanism 30 may include a translation member 31, a toggle member 32 and an adjustment drive motor 35. For example, the adjustment drive motor 35 may be a stepping motor.

[0129] In the embodiment of the present application, the translation member 31 can be slidably matched with the first housing edge (e.g., the front housing edge) of the roller brush housing 20, the toggle member 32 can be slidably matched with the translation member 31, and the toggle member 32 can trigger the translation position switching of the translation member 31 in response to the power output generated by the adjustment drive motor 35, so that:

[0130] When the translation member 31 is at the first translation position, the first housing edge (e.g., the front housing edge) of the roller brush housing 20 is at a first edge height, so that the rotating roller brush 10 is suspended at a first calibrated height H1 suitable for hard ground;

[0131] When the translation member 31 is in the second translation position, the first housing edge (eg, the front housing edge) of the roller brush housing 20 is at a second edge height, so that the rotating roller brush 10 is suspended at a second calibrated height H2 suitable for rough floors.

[0132] Exemplarily, in an embodiment of the present application, the translation member 31 may include a translation block 311 and a driving rod 312, the translation block 311 may be slidably engaged with the toggle member 32, and the driving rod 312 extends from the translation block 311 parallel to the travel direction of the sweeping robot toward the first cover edge (e.g., the front cover edge) of the roller brush cover 20, that is, the driving rod 312 is used to slidably engage with the first cover edge (e.g., the front cover edge) of the roller brush cover 20.

[0133] Exemplarily, in the illustrated representation of the embodiment of the present application, the toggle member 32 may include a cam 320, the translation block 311 may include a wheel groove 313, and the sliding fit between the translation block 311 and the toggle member 32 may include: the cam 320 slidingly fits with the hole wall of the wheel groove 313 when a phase change occurs in response to adjusting the power output of the drive motor 35.

[0134] Exemplarily, in the illustrated representation of the embodiment of the present application, the first shell edge (e.g., the front shell edge) of the roller brush cover shell 20 may have a shell slide groove 25 extending parallel to the travel direction of the sweeping robot, and the sliding fit between the drive rod 312 and the shell slide groove 25 may be used to convert the translational position switching of the translational member 31 into adjusting the edge height of the first shell edge (e.g., the front shell edge) of the roller brush cover shell 20.

[0135] For example, in the illustrated representation of the embodiment of the present application, the opening of the housing chute 25 can face downward, the inner wall of the top of the housing chute 25 can have a top slope step 255, the outer wall of the top of the driving rod 312 can have a top slope step 315, and the sliding fit between the driving rod 312 and the housing chute 25 can include: the sliding fit between the top slope step 255 and the top slope step 315. The height difference (e.g., 4 mm) formed by the top slope step 255 and the top slope step 315 in the sliding fit is used to trigger the edge height switch between the first housing edge (e.g., the front housing edge) of the roller brush housing 20 between the first edge height and the second edge height.

[0136] For example, in the illustrated embodiment of the present application, the drive rod 312 and the cover housing slide groove 25 can be arranged in pairs to enhance the stability of the linkage cooperation between the adjustment mechanism 30 (such as the translation member 31) and the roller brush cover 20.

[0137] Fig.10 Schematic diagram of the housing frame of the sweeping robot in the embodiment of the present application. Fig.10 In an embodiment of the present application, the roller brush cover 20 can also be equipped with a cover frame 60 at the cover opening 22, and the cover frame 60 has a frame window 600. The suction airflow entering the cover opening 22 passes through the frame window 600, and the airflow flow area provided by the frame window 600 for the suction airflow causes the suction airflow to gather and increase pressure when entering the cover opening 22.

[0138] Still see Fig.10 In the embodiment of the present application, the guard frame window 600 of the housing guard frame 60 may have a front window edge and a rear window edge in the traveling direction of the sweeping robot, the front window edge of the guard frame window 600 is disposed with a front overhanging baffle 61, and the rear window edge of the guard frame window 60 is disposed with a rear overhanging scraper 62. In this case, compared with the suction airflow generated in a completely open space, the suction airflow generated in the semi-enclosed space between the front overhanging baffle 61 and the rear overhanging scraper 62 may have a greater airflow intensity.

[0139] In the embodiment of the present application, if, as described above, the adjustment mechanism 30 causes the rotating roller brush 10 to switch between the first calibrated height H1 and the second calibrated height H2 by adjusting the edge height of the first housing edge (i.e., the front housing edge) of the roller brush housing 20, then:

[0140] The front edge of the window of the guard frame window 600 of the housing guard frame 60 rises and falls synchronously with the change in the edge height of the first housing edge (i.e., the front housing edge) of the roller brush housing 20, and the front side hanging baffle 61 can change its state due to the lifting and lowering of the window front edge of the guard frame window 600, that is, the front side hanging baffle 61 with a certain hardness can switch between a free extension state and an interference bending state, for example, the hardness of the front side hanging baffle 61 can be within the Rockwell hardness range of about 35 to 45A (preferably 40A);

[0141] The front edge of the window of the frame window 600 of the cover frame 60 can maintain a constant height like the second cover edge (i.e., the rear cover edge) where the swing fulcrum of the roller brush cover 20 is located, and the rear hanging scraper blade 62 can be in normal contact with the target ground area below the mobile chassis 50.

[0142] Fig.11 Schematic diagram of the free extension state of the front hanging flexible sheet of the sweeping robot in the embodiment of the present application. Fig.10 Combining Fig.11 When the first housing edge (i.e., the front housing edge) of the roller brush housing 20 is at a relatively high first edge height, the rotating roller brush 10 is suspended at a first calibrated height H1 adapted to the hard ground, and the front hanging baffle 61 can be in a free extension state separated from the target ground area below the mobile chassis 50 and tilted out of the guard frame window 600. For example, in the illustrated expression of the embodiment of the present application, the front hanging baffle 61 can be in an arc shape that arches out of the guard frame window 600 in the free extension state, for example, the diameter of the arc can be 45±5 mm.

[0143] In this case, the front side hanging baffle 61 in the freely extended state forms minimum obstruction to the frame window 600 in the flow direction of the suction airflow, so that the airflow flow surface of the frame window 600 at this time is configured as the first airflow flow area that is minimum obstructed by the front side hanging baffle 61.

[0144] Fig.12 Schematic diagram of the interference bending state of the front hanging flexible sheet of the sweeping robot in the embodiment of the present application. Fig.10 Combining Fig.12 When the first cover edge of the roller brush cover 20 (i.e., the front cover edge) is at a second edge height lower than the first edge height, the rotating roller brush 10 is suspended at a second calibrated height H2 adapted to the hairy ground, and the front hanging baffle 61 is in a bending state (i.e., an interference bending state) in which it is in interference contact with the target ground area under the moving chassis 50.

[0145] In this case, the blocking of the frame window 600 by the front hanging baffle 61 in the flow direction of the suction airflow will further increase the blocking increment of the bent part, so that the airflow flow surface of the frame window 600 at this time is configured to be a second airflow flow area smaller than the first airflow flow area, thereby enhancing the effect of gathering and pressurizing the suction airflow when entering the cover opening 22 for the wooly ground.

[0146] Still see Figures 10 to 12 In the embodiment of the present application, the front hanging baffle 61 may have a first bending groove 611 and a second bending groove 612, wherein the first bending groove 611 is close to the top of the window front edge of the front hanging baffle 61 connected to the guard frame window 600, and the second bending groove 612 is close to the hanging end of the front hanging baffle 61, that is, the second bending groove 612 is located below the first bending groove 611, therefore:

[0147] The first bending groove 611 can be used to guide the front overhanging baffle 61 to bend to avoid an obstacle in front of the sweeping robot (i.e., obstacle avoidance bending) when the obstacle blocks the front of the sweeping robot.

[0148] The second bending groove 612 can be used to guide the front side overhanging baffle 61 to generate a shielding incremental bending (i.e., interference bend) on the guard frame window 600 when the first cover edge (i.e., front cover edge) of the roller brush cover 20 is at a second edge height lower than the first edge height and when the front side overhanging baffle 61 is in interference contact with the target ground area under the moving chassis 50.

[0149] For example, in the embodiment of the present application, the groove depth of the second bending groove 612 can be greater than the groove depth of the first bending groove 611, so that the interference bending is easy to occur, thereby facilitating the control of the front side overhanging baffle 61 to generate an incremental shielding of the guard frame window 600 of the housing guard frame 60. For example, the groove depth of the first bending groove 611 can be one quarter of the thickness of the front side overhanging baffle 61, and the groove depth of the second bending groove 612 can be one half of the thickness of the front side overhanging baffle 61. That is, assuming that the thickness of the front side overhanging baffle 61 is 0.8 mm, the groove depth of the first bending groove 611 can be 0.2 mm, and the groove depth of the second bending groove 612 can be 0.4 mm.

[0150] For example, in the illustrated representation of the embodiment of the present application, the first bending groove 611 can be located on the rear surface of the front overhanging baffle 61, the second bending groove 612 can be located on the front surface of the front overhanging baffle 61, and the cross-sectional shape of the second bending groove 612 can be an arc.

[0151] Fig.13 Schematic diagram of the deployment position of the flexible side strips of the sweeping robot in the embodiment of the present application. Fig.10 And combined with Fig.13In an embodiment of the present application, the frame window 600 of the cover frame 60 also has a pair of window side edges extending between the front edge of the window and the rear edge of the window, and the window side edges of the frame window 600 can be deployed with flexible side strips 63 of a flexible material such as felt.

[0152] In the embodiments of the present application, Fig.13 It can be seen that the guard frame window 600 is arranged obliquely on the lower frame surface of the housing guard frame 60 close to the target ground area below the mobile chassis 50. For example, the guard frame window 600 can have an inclination angle of 6° to 8° (preferably 7°) relative to the upper frame surface of the housing guard frame 60. In this case:

[0153] When the first cover edge (i.e., the front cover edge) of the roller brush cover 20 is at a relatively high first edge height, the guard frame window 600 is tilted relative to the target ground area below the mobile chassis 50. For example, if the upper frame surface of the cover frame 60 is parallel to the target ground area below the mobile chassis 50, the guard frame window 600 has an inclination angle of 6° to 8° (preferably 7°) relative to the target ground area below the mobile chassis 50, and the flexible side strip 63 can be separated from the target ground area below the mobile chassis 50 at this time.

[0154] When the first cover shell edge (i.e., the front cover shell edge) of the roller brush cover shell 20 is at a second edge height lower than the first edge height, the guard frame window 600 can be parallel to the target ground area below the moving chassis 50, so that the flexible edge strip 63 contacts the target ground area below the moving chassis 50. Therefore, since the front side hanging baffle 61 is in interference contact with the target ground area below the moving chassis 50 at this time, and the rear side hanging scraper blade 62 is in interference contact with the target ground area below the moving chassis 50 normally, the flexible edge strip 63, the front side hanging baffle 61, and the rear side hanging scraper blade 62 can contact the target ground area together at this time to form a closed-loop shielding fence surrounding the guard frame window 600, thereby further improving the airflow intensity of the suction airflow for hairy floors.

[0155] Fig.14 Schematic diagram of an exemplary flow chart of a cleaning control method for a cleaning robot in an embodiment of the present application. Fig.14 In an embodiment of the present application, a cleaning control method for a cleaning robot is also provided, and the cleaning control method may include:

[0156] S1410: Detecting ground features of a target ground area below a mobile chassis of the sweeping robot, wherein the ground features are used to characterize whether the target ground area below the mobile chassis is a rough ground or a hard ground.

[0157] For example, the sweeping robot may include a ground feature detection module, which is used to generate a ground feature detection signal, and S1410 may specifically include: determining whether the target ground area is a rough ground or a hard ground based on the ground feature detection signal generated by the ground feature detection module. The specific implementation method of the ground feature detection module can be found in the previous text and will not be repeated here.

[0158] S1430: Determine a suspension height of a rotary brush of the sweeping robot based on the ground features of the target ground area below the mobile chassis of the sweeping robot, so that:

[0159] When the sweeping robot travels on a hard ground, the rotating roller brush is suspended at a first calibrated height suitable for the hard ground, so as to perform a hoisting operation with a first hoisting intensity on a target ground area below the mobile chassis through rotation;

[0160] When the sweeping robot moves on a rough floor, the rotating roller brush is suspended at a second calibrated height suitable for the rough floor, so as to perform a combined operation of a second hoisting intensity and a beating operation on the target floor area through rotation. The second calibrated height is lower than the first calibrated height, and the second hoisting intensity is higher than the first hoisting intensity.

[0161] For example, if the mobile chassis has a chassis opening, the sweeping robot also includes a roller brush cover, the roller brush cover is installed on the mobile chassis, and the rotating roller brush is suspended at the chassis opening by the roller brush cover, then S1430 may specifically include: based on the ground characteristics of the target ground area under the mobile chassis of the sweeping robot, the rotating roller brush is selectively suspended at a first calibrated height or a second calibrated height by adjusting the roller brush cover (for example, adjusting the edge height of the first cover edge of the roller brush cover).

[0162] Based on the above-mentioned embodiments of the present application, the cleaning control method can adjust the height of the rotating roller brush to implement a relatively high-intensity hoisting operation, assisted by a patting operation, when the sweeping robot is moving on a rough floor, so as to improve the cleaning efficiency of the sweeping robot on the rough floor; and, if the sweeping robot is moving on a hard floor, the height of the rotating roller brush can be adjusted to implement a relatively low-intensity hoisting operation, and the patting operation can be disabled to reduce the noise and wear generated by the rotating roller brush.

[0163] In an embodiment of the present application, the cleaning control method may further include:

[0164] Determine the travel speed of the cleaning robot based on the ground features of the target ground area below the mobile chassis of the cleaning robot (e.g., the ground feature detection signal generated by the ground feature detection module), so that the cleaning robot can have a first travel speed when traveling on a hard ground, and has a second travel speed lower than the first travel speed when traveling on a rough ground;

[0165] and / or,

[0166] Based on the ground features of the target ground area under the mobile chassis of the sweeping robot (for example, the ground feature detection signal generated by the ground feature detection module), the rotation speed of the rotating roller brush is determined so that the rotating roller brush has a first rotation speed when the sweeping robot is moving on a hard ground, and the rotating roller brush has a second rotation speed higher than the first rotation speed when the sweeping robot is moving on a rough ground.

[0167] 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 shall be included in the scope of protection of the present application.

Claims

1. A sweeping robot, characterized in that: include: A mobile chassis (50), wherein the mobile chassis (50) has a chassis opening (500); A roller brush cover (20), wherein the roller brush cover (20) is mounted on the mobile chassis (50); A rotating roller brush (10), wherein the rotating roller brush (10) is suspended on the chassis opening (500) by the roller brush cover (20); an adjusting mechanism (30), the adjusting mechanism (30) being mounted on the mobile chassis (50), and the adjusting mechanism (30) driving the roller brush cover (20) to selectively suspend the rotating roller brush (10) at a first calibrated height suitable for hard ground or a second calibrated height suitable for rough ground by cooperating with the roller brush cover (20); Wherein, the second calibrated height is lower than the first calibrated height, and: The rotating roller brush (10) performs a hoisting operation with a first hoisting intensity on a target ground area below the mobile chassis (50) by rotating at the first calibrated height; The rotating roller brush (10) performs a combined operation of the hoisting operation and the beating operation at a second hoisting intensity on the target ground area by rotating at the second calibrated height, wherein the second hoisting intensity is higher than the first hoisting intensity.

2. The sweeping robot according to claim 1, characterized in that: The rotating roller brush (10) comprises a hoisting brush (12) and an auxiliary sheet (13), wherein the hoisting operation comprises intermittent interference contact between the hoisting brush (12) and the target ground area, the slapping operation comprises intermittent interference contact between the auxiliary sheet (13) and the target ground area, the hoisting intensity of the hoisting operation is associated with the interference depth of the interference contact between the hoisting brush (12) and the target ground area, and: During the rotation period when the rotating roller brush (10) is located at the first calibrated height, the hoisting brush (12) is in intermittent interference contact with the target ground area at a first interference depth, and the auxiliary sheet (13) is continuously spaced from the target ground area; During the rotation period when the rotating roller brush (10) is located at the second calibrated height, the hoisting brush (12) is in intermittent interference contact with the target ground area at a second interference depth greater than the first interference depth, and the auxiliary sheet (13) is in intermittent interference contact with the target ground area at a third interference depth less than the second interference depth.

3. The sweeping robot according to claim 1, characterized in that: The adjusting mechanism (30) causes the roller brush cover (20) to swing in pitch and in pitch relative to the chassis opening (500) by cooperating with the roller brush cover (20), and the pitch and in pitch swing causes the rotating roller brush (10) to switch between the first calibrated height and the second calibrated height.

4. The sweeping robot according to claim 3, characterized in that: The adjustment mechanism (30) cooperates with the first cover edge of the roller brush cover (20) to induce the pitch swing by adjusting the edge height of the first cover edge; The swing fulcrum of the pitching swing is located at the second cover edge of the roller brush cover (20); The first cover shell edge and the second cover shell edge are respectively the edges of the roller brush cover (20) on opposite sides in the moving direction of the sweeping robot, and: When the edge of the first housing is at a first edge height, the rotating roller brush (10) is suspended at the first calibrated height; When the first casing edge is at a second edge height lower than the first edge height, the rotating roller brush (10) is suspended at the second rated height.

5. The sweeping robot according to claim 4, characterized in that: The regulating mechanism (30) comprises: A translation member (31), the translation member (31) being in sliding engagement with the first cover edge of the roller brush cover (20); A toggle member (32), wherein the toggle member (32) is slidably matched with the translation member (31), and the toggle member (32) triggers the translation position switching of the translation member (31) in response to the power output generated by the adjustment drive motor (35), so that: When the translation member (31) is in a first translation position, the first cover shell edge is at the first edge height; When the translation member (31) is in the second translation position, the first cover shell edge is at the second edge height.

6. The sweeping robot according to claim 5, characterized in that: The translational member (31) comprises: A translation block (311), the translation block (311) slidably cooperates with the toggle member (32); A driving rod (312), the driving rod (312) extending parallel to the moving direction of the sweeping robot from the translation block (311) toward the first housing edge of the roller brush housing (20); Wherein, the first cover edge of the roller brush cover (20) has a cover slide groove (25) extending parallel to the moving direction of the sweeping robot, and the sliding cooperation between the driving rod (312) and the cover slide groove (25) is used to convert the translational position switching of the translational member (31) into the adjustment of the edge height of the first cover edge.

7. The sweeping robot according to claim 6, characterized in that: The toggle member (32) comprises a cam (320), the translation block (311) comprises a wheel groove (313), and the sliding fit between the translation block (311) and the toggle member (32) comprises the sliding fit between the cam (320) and a hole wall of the wheel groove (313); and / or, The opening of the housing slide groove (25) faces downward, the inner wall of the groove top of the housing slide groove (25) has a groove top inclined surface step (255), the outer wall of the rod top of the driving rod (312) has a rod top inclined surface step (315), and the sliding fit between the driving rod (312) and the housing slide groove (25) includes the sliding fit between the groove top inclined surface step (255) and the rod top inclined surface step (315); and / or, The driving rod (312) and the housing slide groove (25) are arranged in pairs; and / or, The first edge height is not lower than the moving chassis (50), and the second edge height is lower than the moving chassis (50).

8. The sweeping robot according to claim 1, characterized in that: The roller brush housing (20) comprises a housing inner cavity (21) and a housing opening (22), wherein the housing opening (22) is exposed to the chassis opening (500), the hoisting operation is used to hoist dirt toward the housing opening (22), the housing inner cavity (21) is also connected to a suction channel of the sweeping robot, and the suction airflow generated by the suction channel is used to transport the dirt from the housing opening (22) through the housing inner cavity (21) to the dust collecting component of the sweeping robot; The roller brush housing (20) is provided with a housing protection frame (60) at the housing opening (22), and the air flow area of ​​the protection frame window (600) of the housing protection frame (60) causes the suction airflow to gather and increase pressure when entering the housing opening (22).

9. The sweeping robot according to claim 8, characterized in that: The adjusting mechanism (30) adjusts the edge height of a first shell edge of the roller brush shell (20) by cooperating with the roller brush shell (20), and the adjustment of the edge height of the first shell edge causes the rotating roller brush (10) to switch between the first calibrated height and the second calibrated height, and the first shell edge is the front shell edge of the roller brush shell (20) in the direction of travel of the sweeping robot; The guard frame window (600) has a front window edge and a rear window edge in the direction of travel of the sweeping robot, the front window edge rises and falls synchronously following the change in edge height of the first housing edge, and a front side overhanging baffle (61) is disposed on the front window edge, wherein: When the edge of the first housing is at a first edge height, the rotating roller brush (10) is suspended at the first calibrated height, and the front hanging baffle (61) is in a freely extended state separated from the target ground area and tilted outward of the guard frame window (600), so that the airflow flow surface is configured as a first airflow flow area; When the first cover shell edge is at a second edge height lower than the first edge height, the rotating roller brush (10) is suspended at the second calibrated height, and the front side overhanging baffle (61) is in a bent state of interference contact with the target ground area, so that the airflow flow surface is configured as a second airflow flow area smaller than the first airflow flow area.

10. The sweeping robot according to claim 9, characterized in that: The front side hanging baffle (61) comprises a first bending groove (611) and a second bending groove (612), wherein the second bending groove (612) is located below the first bending groove (611), the first bending groove (611) is used to guide the front side hanging baffle (61) to bend to avoid the obstacle when it is blocked by the obstacle, and the second bending groove (612) is used to guide the front side hanging baffle (61) to bend when it is in interference contact with the target ground area.

11. The sweeping robot according to claim 10, characterized in that: The guard frame window (600) also has a pair of window side edges extending between the window front edge and the window rear edge, the window side edges are provided with flexible side strips (63), and the window rear edge is provided with a rear overhanging scraper (62); The guard frame window (600) is arranged obliquely on the lower frame surface of the housing guard frame (60) close to the target ground area, the rear overhanging scraper blade (62) is in normal contact with the target ground area, and: When the edge of the first cover shell is at the first edge height, the guard frame window (600) is tilted upward relative to the target ground area, and the flexible edge strip (63) is separated from the target ground area; When the edge of the first cover shell is at the height of the second edge, the guard frame window (600) is parallel to the target ground area, and the flexible edge strip (63) contacts the target ground area together with the front hanging baffle (61) and the rear hanging scraper (62) to form a closed-loop shielding fence that surrounds the guard frame window (600).

12. The sweeping robot according to claim 1, characterized in that: It also includes a driving control module and a ground feature detection module, wherein the ground feature detection module is used to generate a ground feature detection signal to the driving control module, and the ground feature detection signal indicates that the target ground area is a hairy ground or a hard ground, so that: the adjustment mechanism (30) drives the roller brush cover (20) to suspend the rotating roller brush (10) at the first calibrated height while the sweeping robot is moving on the hard ground, and the adjustment mechanism (30) drives the roller brush cover (20) to suspend the rotating roller brush (10) at the second calibrated height while the sweeping robot is moving on the hairy ground.

13. The sweeping robot according to claim 12, characterized in that: The ground feature detection module comprises: an ultrasonic detection module (75), the ultrasonic detection module (75) being fixedly mounted on the mobile chassis (50), the ultrasonic detection module (75) being located at the front side of the chassis opening (500) in the direction of travel of the sweeping robot, the ultrasonic detection module (75) comprising an ultrasonic transmitter and an ultrasonic receiver, the ultrasonic transmitter being used to generate an ultrasonic transmission signal to the target ground area, the ultrasonic receiver being used to receive an ultrasonic echo signal returned from the target ground area, and the ground feature detection signal comprising the ultrasonic echo signal; and / or A current detection module, the current detection module is used to generate a current detection signal for the driving current of a roller brush drive motor (15) and / or a side brush drive motor, wherein: the power output generated by the roller brush drive motor (15) causes the rotating roller brush (10) to rotate; and / or, the side brush drive motor is used to drive a flat-rotating side brush (73) installed under the mobile chassis (50), the flat-rotating side brush (73) is located on the front side of the chassis opening (500) in the direction of travel of the sweeping robot, and the ground feature detection signal includes the current detection signal.

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