Sweeping robot

Abstract

The utility model relates to a sweeping robot. Based on the application, the sweeping robot can comprise the rotary rolling brush used for implementing winding operation and the rotary rolling teeth suitable for implementing beating operation on the hairy ground, and the rotation of the rotary rolling brush and the rotation of the rotary rolling teeth are mutually independent, so that the sweeping robot can be supported to selectively start the rotary rolling teeth. If the floor mopping robot starts the rotary rolling brush and the rotary rolling teeth at the same time when advancing on the hairy ground, dirt stored in the hairy ground can be in a floating state which is easily winched due to flapping operation of the rotary rolling teeth, so that the winching efficiency of the rotary rolling brush on the dirt stored in the hairy ground is improved, and the cleaning efficiency of the floor mopping robot is improved. The cleaning efficiency of the floor sweeping robot on the wool floor is improved; if the rotary hobbing stops when the sweeping robot travels on the hard ground, noise and meaningless abrasion caused by the fact that the rotary hobbing flaps the hard ground can be avoided.

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 rotating roller brush, and the rotating roller brush has a rotating shaft and a hoisting brush. Therefore, when the sweeping robot moves through the mobile chassis, the rotating shaft of the rotating roller brush 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 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, and the chassis opening has a first opening area and a second opening area adjacent to each other in the traveling direction of the cleaning robot;

[0008] a rotating roller brush, the rotating roller brush being suspended in the first opening area, and the rotating roller brush performing a hoisting operation on a target ground area below the mobile chassis by rotating;

[0009] a rotating hob, the rotating hob being suspended from the second opening area and performing a flapping operation on the target ground area by rotating;

[0010] Wherein, the rotations of the rotating roller brush and the rotating roller gear are independent of each other.

[0011] In some examples, optionally, the rotating gear hob includes a gear hob shaft and a flapping cam, the flapping cam is disposed on the periphery of the gear hob shaft, and the flapping cam is intermittently in interference contact with the target ground area during the flapping operation; wherein the flapping cam is distributed in a local phase interval of the gear hob shaft, the local phase interval is less than 180°, and when the rotating gear hob is in the storage phase posture, the flapping cam distributed in the local phase interval is stationary above the mobile chassis.

[0012] In some examples, optionally, the local phase interval is smaller than 120°.

[0013] In some examples, optionally, a calibrated interference depth of the intermittent interference contact between the flapping cam and the target ground area is 1 mm.

[0014] In some examples, optionally, the flapping cam teeth include at least two groups of cam teeth, each group of cam teeth are arranged at intervals along the axial direction of the gear hobbing shaft, there is a phase interval between each two adjacent groups of cam teeth, and: the positions of any two groups of cam teeth in the axial direction of the gear hobbing shaft are staggered and complementary, and / or the phase interval between each two adjacent groups of cam teeth is equal.

[0015] In some examples, optionally, the flapping teeth are integrally formed on a covering sleeve, and the covering sleeve is wrapped around the outer circumference of the gear rolling shaft, wherein: the hardness of the flapping teeth and the covering sleeve is lower than the hardness of the gear rolling shaft, and / or the outer circumference of the gear rolling shaft has reinforcing ribs that engage with the inner circumference of the covering sleeve.

[0016] In some examples, optionally, the flapping teeth include three groups of teeth, each group of teeth is arranged at intervals along the axial direction of the gear hobbing shaft, the positions of each two groups of teeth in the axial direction of the gear hobbing shaft are staggered and complementary, and the phase interval between each two adjacent groups of teeth is 55°.

[0017] In some examples, optionally, the gear hobbing shaft is transmission-connected to the gear hobbing drive motor of the sweeping robot, and the rotation of the rotating gear hobbing is triggered by the starting operation of the gear hobbing drive motor. The gear hobbing drive motor also generates a rotation-stop constraint on the rotating gear hobbing when powered on and self-locked, and the rotation-stop constraint constrains the rotating gear hobbing to the storage phase posture.

[0018] In some examples, optionally, it also includes: a drive control module; a ground feature detection module, which 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 rough ground or a hard ground, so that: the startup operation of the gear hobbing drive motor is limited by the drive control module to the period when the sweeping robot moves on the rough ground, and the gear hobbing drive motor is triggered by the drive control module to power on and self-lock during the period when the sweeping robot moves on the hard ground; a phase attitude detection module, which is used to generate a phase attitude detection signal to the drive control module, and the phase attitude detection signal indicates whether the rotating gear hobbing is in the storage phase attitude, so that: the power-on self-locking of the gear hobbing drive motor takes effect when the rotating gear hobbing is in the storage phase attitude.

[0019] 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.

[0020] In some examples, optionally, the ground feature detection module includes: a current detection module, the 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 rotation of the rotating roller brush is triggered by the start-up operation of the roller brush drive motor, and the roller brush drive motor is started and operated during the period when the sweeping robot moves on hard floors and hairy floors; and / or, the side brush drive motor is used to drive a flat-rotating side brush installed under the mobile chassis, the flat-rotating side brush is located on the front side of the chassis opening in the travel direction of the sweeping robot, and the side brush drive motor is started and operated during the period when the sweeping robot moves on hard floors and hairy floors, and the ground feature detection signal includes the current detection signal.

[0021] In some examples, optionally, the phase attitude detection module includes: a photoelectric detection module, the photoelectric detection module includes a light transmitter and a light receiver, the light transmitter is used to generate a light transmission signal, the light receiver is used to generate a light sensing signal, the relative position relationship between the light transmitter and the light receiver changes synchronously with the phase attitude of the rotating gear hobbing, and the phase attitude detection signal includes the light sensing signal; wherein the gear hobbing drive motor is connected to the gear hobbing shaft through a gear hobbing reduction mechanism, the gear phase of the output gear of the final reduction stage in the gear hobbing reduction mechanism is synchronized with the phase attitude of the rotating gear hobbing, and the photoelectric detection module is arranged at the output gear.

[0022] In some examples, optionally, the second opening area is located in front of the first opening area in the moving direction of the cleaning robot.

[0023] In some examples, optionally, the rotating roller brush includes a roller brush shaft, a rolling brush and a rolling sheet, the roller brush shaft is drivingly connected to the roller brush drive motor of the sweeping robot, the rolling brush and the rolling sheet are staggeredly arranged on the periphery of the roller brush shaft, the rolling brush and the rolling sheet cooperate to perform a rolling operation when following the rotating roller brush to rotate to the bottom of the first opening area, and during the rolling operation: the rolling brush is intermittently in interference contact with the target ground area, and the rolling sheet is continuously spaced from the target ground area.

[0024] In some examples, optionally, it also includes a roller brush cover and a gear roll cover, the roller brush cover covers the top of the first opening area, the rotating roller brush is suspended in the first opening area by being rotatably mounted on the roller brush cover, the gear roll cover covers the top of the second opening area, and the rotating gear roll is suspended in the second opening area by being rotatably mounted on the gear roll cover.

[0025] In some examples, optionally, the roller brush cover has a cover inner cavity, a cover opening and a suction window, the cover opening is exposed in the first opening area, 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 through the suction window, the suction airflow induced by the suction channel is used to transport the dirt from the cover opening to the dust collecting component of the sweeping robot, the roller brush cover is provided with a cover guard frame at the cover opening, and the cover opening is partially exposed through the guard frame window of the cover guard frame, so as to cause the suction airflow flowing through the cover opening to be gathered and pressurized by the guard frame window.

[0026] In some examples, optionally, the roller brush cover is fixedly mounted on the mobile chassis above the first opening area, and the gear hobbing cover is fixedly mounted on a side of the roller brush cover close to the second opening area above the mobile chassis.

[0027] Based on the above embodiments of the present application, the sweeping robot may include a rotating roller brush for implementing a hoisting operation, and a rotating roller gear for implementing a slapping operation on a hairy floor, wherein the rotating roller brush and the rotating roller gear may be disposed adjacent to each other in different opening areas of the chassis opening of the mobile chassis, and the rotations of the rotating roller brush and the rotating roller gear are independent of each other, thus supporting the sweeping machine to selectively enable the rotating roller gear for floors of different properties. For example, if the sweeping robot starts the rotating roller brush and the rotating roller gear at the same time when traveling on a hairy floor, the stored dirt in the hairy floor may be in a floating state that is easily hoisted due to the slapping operation of the rotating roller gear, thereby improving the hoisting efficiency of the rotating roller brush on the stored dirt in the hairy floor, and further improving the cleaning efficiency of the sweeping robot on the hairy floor; if the rotating roller gear stops when the sweeping robot travels on a hard floor, the noise and unnecessary wear caused by the rotating roller gear slapping the hard floor can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The following drawings are only used to illustrate and explain the present application, and do not limit the scope of the present application:

[0029] Figure 1 Schematic diagram of the structure of the mobile chassis of the sweeping robot in the embodiment of the present application;

[0030] Figure 2 Schematic diagram of the assembly structure of the rotating roller brush and the rotating hobbing gear of the sweeping robot in the embodiment of the present application;

[0031] Figure 3 Schematic diagram of the structure of the rotary roller brush of the sweeping robot in the embodiment of the present application;

[0032] Figure 4 It is a schematic diagram of the structure of the rotary gear hobbing of the sweeping robot in the embodiment of the present application;

[0033] Figure 5 It is an axial cross-sectional view of the rotary gear hobbing of the sweeping robot in the embodiment of the present application;

[0034] Figure 6 Schematic diagram of the missing tooth phase interval of the rotary gear hobbing of the sweeping robot in the embodiment of the present application;

[0035] Figure 7 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.

[0036] Description of Reference Numerals

[0037] 10 Rotating brush

[0038] 11 Roller brush shaft

[0039] 12 Roller Brush

[0040] 13 winch sheet

[0041] 15 Roller brush cover

[0042] 151 Shell cavity

[0043] 152 cover opening

[0044] 153 housing frame

[0045] 155 Suction window

[0046] 156 Assembly buckle

[0047] 157 Assembling support arm

[0048] 20 Rotary gear hobbing

[0049] 21 gear hobbing shaft

[0050] 210 reinforcement

[0051] 22. Beat the convex teeth

[0052] 23 Covered sleeve

[0053] 25 Gear Hobbing Housing

[0054] 31 Roller brush drive motor

[0055] 310 roller brush speed reduction mechanism

[0056] 32 gear hobbing drive motor

[0057] 320 gear hobbing reduction mechanism

[0058] 50 mobile chassis

[0059] 500 chassis opening

[0060] 510 first opening area

[0061] 520 Second opening area

[0062] 71 driving wheel

[0063] 72 driven wheel

[0064] 73 flat rotating side brush

[0065] 75 Ultrasonic detection module DETAILED DESCRIPTION

[0066] 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.

[0067] Figure 1 Schematic diagram of the structure of the mobile chassis of the sweeping robot in the embodiment of the present application. Figure 1 The cleaning robot in the embodiment of the present application may include a mobile chassis 50 , a rotating roller brush 10 and a rotating roller gear 20 .

[0068] 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.

[0069] In an embodiment of the present application, the mobile chassis 50 may also have a chassis opening 500. For example, the chassis opening 500 may be located between a pair of driving wheels 71, and the chassis opening 500 may have a first opening area 510 and a second opening area 520 adjacent to each other in the traveling direction of the sweeping robot.

[0070] In the embodiment of the present application, the rotating roller brush 10 may be suspended at a first opening region 510 of a chassis opening 500 of the moving chassis 50 , and the rotating hob 20 may be suspended at a second opening region 520 of the chassis opening 500 of the moving chassis 50 .

[0071] Figure 2 Schematic diagram of the assembly structure of the rotary roller brush and the rotary roller gear of the sweeping robot in the embodiment of the present application. Figure 1 At the same time Figure 2 The sweeping robot may further include a roller brush housing 15 and a roller gear housing 25, wherein:

[0072] The roller brush cover 15 may cover the first opening area 510 of the chassis opening 500 of the mobile chassis 50, and the rotating roller brush 10 may be suspended in the first opening area 510 of the chassis opening 500 of the mobile chassis 50 by rotating the roller brush cover 15;

[0073] The gear hobbing cover 25 may cover the second opening area 520 of the chassis opening 500 of the mobile chassis 50 , and the rotary gear hobbing 20 may be suspended in the second opening area 520 of the chassis opening 500 of the mobile chassis 50 by rotating the gear hobbing cover 25 .

[0074] For example, the embodiments of the present application are Figure 2 In the graphic representation, the combined assembly of the roller brush cover 15 and the gear rolling cover 25 is taken as an example, that is, the roller brush cover 15 can be fixedly mounted on the mobile chassis 50 above the first opening area 510 of the chassis opening 500 of the mobile chassis 50, and the gear rolling cover 25 can be fixedly mounted on the side of the roller brush cover 15 close to the second opening area 520 above the mobile chassis 50. For example, the outer shell wall of the roller brush cover 15 on the side of the second opening area 520 of the chassis opening 500 of the mobile chassis 50 can have an assembly buckle 156 and an assembly support arm 157, and the gear rolling cover 25 can be fixedly mounted on the roller brush cover 15 by using the assembly buckle 156 and / or the assembly support arm 157.

[0075] Based on the combined assembly of the roller brush housing 15 and the gear hobbing housing 25, the rotating roller brush 10 and the rotating gear hobbing 20 can be installed on the mobile chassis 50 in the form of a combined module to facilitate the assembly operation of the rotating roller brush 10 and the rotating gear hobbing 20 on the mobile chassis 50. However, it can be understood that the embodiment of the present application does not attempt to impose unnecessary restrictions on the assembly method of the roller brush housing 15 and the gear hobbing housing 25, that is, the roller brush housing 15 and the gear hobbing housing 25 are allowed to be installed on the mobile chassis 50 independently of each other.

[0076] 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.

[0077] 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 hoisting brush 12, wherein the roller brush shaft 11 may be transmission-connected to a roller brush drive motor 31 of a sweeping robot, the hoisting brush 12 may be disposed on the periphery of the roller brush shaft 11, and the hoisting brush 12 may be intermittently in interference contact with a target ground area under the mobile chassis 50 during the hoisting operation.

[0078] Exemplarily, in an embodiment of the present application, if the rotating roller brush 10 can be suspended in the first opening area 510 of the chassis opening 500 of the mobile chassis 50 by being rotatably installed on the roller brush cover 15, then the roller brush shaft 11 can be rotatably connected between a pair of end walls of the roller brush cover 15, and a roller brush reduction mechanism 310 can be fixedly installed outside one end wall of the roller brush cover 15, and the roller brush drive motor 31 can be transmission-connected to the roller brush shaft 11 through the roller brush reduction mechanism 310 outside the roller brush cover 15, so that the rotation of the rotating roller brush 10 can be triggered by the start-up operation of the roller brush drive motor 31.

[0079] Exemplarily, in an embodiment of the present application, the roller brush cover 15 has a cover cavity 151, a cover opening 152 and a suction window 155, the cover opening 152 is exposed to the first opening area 510 of the chassis opening 500 of the mobile chassis 50, and the hoisting operation is used to hoist dirt toward the cover opening 152, the cover cavity 151 is also connected to the suction channel of the sweeping robot through the suction window 155, and the suction airflow induced by the suction channel is used to transport dirt from the cover opening 152 to the dust collecting component (such as a dust box) of the sweeping robot.

[0080] 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 arranged symmetrically and 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 152 in a concentrated and gathered form.

[0081] As a further preferred scheme of the embodiment of the present application, for example, the roller brush cover 15 can also be equipped with a cover frame 153 that partially blocks the cover opening 152, wherein, since the gas flow area of ​​the cover frame 153 is smaller than the opening area of ​​the cover opening 152, the partial blocking of the cover opening 152 by the cover frame 153 can be used to cause the suction airflow to gather and increase pressure when flowing through the cover opening 152.

[0082] Still see Figure 3In the embodiment of the present application, the rotating roller brush 10 may further include a hoisting sheet 13. In this case, the hoisting brush 12 and the hoisting sheet 13 may be arranged at the periphery of the roller brush shaft 11 in a staggered manner, and the hoisting sheet 13 may be continuously spaced from the target ground area below the mobile chassis 50 during the hoisting operation. The hoisting sheet 13 may follow the rotation of the rotating roller brush 10 (roller brush shaft 11) to generate an accelerated airflow that causes the dirt to be quickly hoisted to the housing opening 152, and reduce the probability of filamentary dirt such as hair being entangled with the roller brush shaft 11 during the hoisting operation. As a preferred solution in the embodiment of the present application, the hardness of the hoisting sheet 13 may be higher than that of the hoisting brush 12.

[0083] In the embodiment of the present application, the rotating gear hob 20 can perform a flapping operation on the target ground area below the mobile chassis 50 by rotating, that is, the rotating gear hob 20 can enable the sweeping robot in the implementation of the present application to have the function of performing a flapping operation, and the flapping operation helps to improve the sweeping robot's cleaning efficiency on the hairy ground. For example, when the target ground area to be hoisted is a hairy ground such as a carpet, the flapping operation can flap the hair tufts of the hairy ground during the hoisting operation, so that the dirt stored at the root of the hair tufts of the hairy ground floats upward, and the hoisting efficiency of the floating dirt can be significantly improved, thereby improving the sweeping robot's cleaning efficiency on the hairy ground.

[0084] Figure 4 Schematic diagram of the structure of the rotary gear hobbing of the sweeping robot in the embodiment of the present application. Figure 4 In an embodiment of the present application, the rotating gear hobbing 20 may include a gear hobbing shaft 21 (e.g., a cylindrical hard plastic shaft) and a flapping cam 22, wherein the flapping cam 22 is disposed on the outer periphery of the gear hobbing shaft 21, and the flapping cam 22 is in intermittent interference contact with a target ground area under the mobile chassis 50 during the flapping operation. For example, the calibrated interference depth of the intermittent interference contact between the flapping cam 22 and the target ground area under the mobile chassis 50 may be 1 mm.

[0085] Exemplarily, in an embodiment of the present application, the hardness of the beating teeth 22 is higher than the hardness of the hoisting brush 12 and the hoisting sheet 13, and the hardness of the beating teeth 22 can be lower than the hardness of the gear rolling shaft 21. For example, the material of the gear rolling shaft 21 can be hard plastic, and the material of the beating teeth 22 can be soft plastic. In this case, the beating teeth 22 can be formed on the periphery of the gear rolling shaft 21 by implementing a soft plastic encapsulation process on the gear rolling shaft 21.

[0086] Figure 5 2 is an axial cross-sectional view of the rotary gear hobbing of the sweeping robot in the embodiment of the present application. Figure 5 In the embodiment of the present application, if the rubber coating process is used to form the slapping convex teeth 22 on the outer periphery of the gear hobbing shaft 21, the slapping convex teeth 22 can be integrally formed on the covering sleeve 23, and the covering sleeve 23 can be wrapped around the outer periphery of the gear hobbing shaft 21, wherein:

[0087] If the material of the gear hobbing shaft 21 is hard plastic, and the materials of the slapping teeth 22 and the covering sleeve 23 are both soft plastic used in the rubber coating process, then the hardness of the slapping teeth 22 and the covering sleeve 23 can be lower than the hardness of the gear hobbing shaft 21;

[0088] and / or,

[0089] The outer periphery of the gear rolling shaft 21 may have reinforcing ribs 210 that engage with the inner periphery of the covering sleeve 23, wherein the reinforcing ribs 210 can improve the strength of the gear rolling shaft 21, and the reinforcing ribs 210 can also improve the covering stability of the covering sleeve 23 and the gear rolling shaft 21. On this basis, as a preferred scheme of an embodiment of the present application, the number of reinforcing ribs 210 can be the same as the number of convex tooth groups of the flapping convex teeth 22, and the distribution phases of at least two reinforcing ribs 210 can be respectively aligned with the distribution phases of the corresponding groups in at least two groups of convex teeth of the flapping convex teeth 22.

[0090] In the embodiment of the present application, it is not attempted to synchronize the slapping operation with the hoisting operation, so that the rotating roller brush 10 for performing the hoisting operation and the rotating hobbing gear 20 for performing the slapping operation can be independent of each other, that is, the rotations of the rotating roller brush 10 and the rotating hobbing gear 20 are independent of each other, rather than being linked. This is because: if the slapping operation is synchronized with the hoisting operation, then when the target ground area is a hard ground such as a cement ground, a tiled ground with tiles laid, or a board ground with abutment boards laid, even if the hoisting operation does not require the assistance of the slapping operation, the slapping operation will still occur synchronously with the occurrence of the hoisting operation, so that the slapping operation on the hard ground will continue to generate slapping noise, and the components performing the slapping operation will also be unnecessary wear.

[0091] Based on the above-mentioned embodiments of the present application, the sweeping robot may include a rotating roller brush 10 for implementing a winding operation, and a rotating gear roller 20 suitable for implementing a beating operation on a hairy floor, wherein the rotating roller brush 10 and the rotating gear roller 20 can be deployed adjacent to each other in different opening areas (i.e., a first opening area 510 and a second opening area 520) of a chassis opening 500 of a mobile chassis 50, and the rotations of the rotating roller brush 10 and the rotating gear roller 20 are independent of each other, thereby supporting the sweeping machine to selectively enable the rotating gear roller 20 for floors with different properties.

[0092] For example, the drive control module of the sweeping robot can also be used for:

[0093] When the sweeping robot is traveling on a hard surface, the rotating roller brush is activated and the rotating roller gear is deactivated;

[0094] When the sweeping robot travels on a rough ground, the rotating roller brush and the rotating roller gear are activated.

[0095] If the sweeping robot starts the rotating roller brush 10 and the rotating gear roller 20 at the same time when it is moving on a rough floor, the dirt stored in the rough floor can be in a floating state that is easily lifted up due to the beating operation of the rotating gear roller 20, thereby improving the lifting efficiency of the rotating roller brush 10 on the dirt stored in the rough floor, and further improving the cleaning efficiency of the sweeping robot on the rough floor; if the rotating gear roller 20 stops when the sweeping robot is moving on a hard floor, the noise and unnecessary wear caused by the rotating gear roller 20 beating on the hard floor can be avoided.

[0096] As a preferred solution of the embodiment of the present application, the second opening area 520 where the rotating rolling gear 20 is located can be located in front of the first opening area 510 where the rotating rolling brush 10 is located in the traveling direction of the sweeping robot. In this case, for the same position of the target ground area under the mobile chassis 50, a slapping operation and then a winching operation can be performed, which is more conducive to improving the cleaning efficiency of the sweeping robot on the rough ground.

[0097] See also Figure 4 and Figure 5 In an embodiment of the present application, the beating teeth 22 may include at least two groups of teeth (three groups of teeth are shown as an example), each group of teeth is arranged at intervals along the axial direction of the gear rolling shaft 21, and there is a phase interval between each two adjacent groups of teeth.

[0098] Exemplarily, as a preferred solution in the embodiment of the present application, the positions of any two groups of convex teeth in the axial direction of the gear hobbing shaft 21 can be staggered and complementary, and / or the phase intervals between every two adjacent groups of convex teeth can be equal.

[0099] In an embodiment of the present application, in order to minimize the noise and wear generated by the rotating hob 20 when the sweeping robot moves on a hard surface, the flapping teeth 22 can be distributed only in a local phase interval of the hob shaft 21, which is less than 180° and can even be less than 120°.

[0100] Exemplarily, in the diagrammatic representation of the embodiment of the present application, the flapping teeth 22 include three groups of teeth, each group of teeth is arranged at intervals along the axial direction of the gear rolling shaft 21, the positions of each two groups of teeth in the axial direction of the gear rolling shaft 21 are staggered and complementary, and the phase interval Δγ between each two adjacent groups of teeth is 55°.

[0101] Figure 6Schematic diagram of the missing tooth phase interval of the rotary gear hobbing of the sweeping robot in the embodiment of the present application. Figure 6 As shown, the rotating hobbing 20 does not deploy the flapping convex tooth 22 in the phase interval other than the above-mentioned local phase interval, and the phase interval other than the above-mentioned local phase interval can be called the missing tooth phase interval γ_idle. On this basis, as a preferred embodiment of the present application, the sleeve thickness of the covering sleeve 23 in the missing tooth phase interval γ_idle can be less than the sleeve thickness in the local phase interval where the flapping convex tooth 22 is located.

[0102] Thus, when the rotating gear hob 20 is in the storage phase posture, the flapping teeth 22 distributed in the local phase interval can all stop above the mobile chassis 50, for example, all stop in the shell cavity of the gear hob cover 25 described above, and the tooth-missing phase interval γ_idle of the rotating gear hob 20 is exposed to the second opening area 520 of the chassis opening 500 of the mobile chassis 50, thereby avoiding the flapping teeth 22 from colliding with the target ground area (such as hard ground) below the mobile chassis 50.

[0103] Exemplarily, as described above in the embodiments of the present application, the gear hobbing shaft 21 is transmission-connected to the gear hobbing drive motor 32 of the sweeping robot, and therefore, the rotation of the rotating gear hobbing 20 can be triggered by the start-up operation of the gear hobbing drive motor 32. In this case, the gear hobbing drive motor 32 can also be set to a power-on self-locking state by the drive control module of the sweeping robot. The gear hobbing drive motor 32 can generate a rotation-stop constraint on the rotating gear hobbing 20 (i.e., the gear hobbing shaft 21) when powered on and self-locked, and the rotation-stop constraint can constrain the rotating gear hobbing 20 to the above-mentioned storage phase posture.

[0104] In an embodiment of the present application, in order to enable the sweeping robot to realize autonomous control of the flapping operation, the sweeping robot may further include a ground feature detection module and a phase attitude detection module, wherein:

[0105] The ground feature detection module can be used to generate a ground feature detection signal to the drive control module, and 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: the start-up operation of the gear hobbing drive motor 32 can be limited by the drive control module during the period when the sweeping robot moves on the rough ground, and the gear hobbing drive motor 32 is triggered by the drive control module to power on and self-lock during the period when the sweeping robot moves on the hard ground;

[0106] The phase attitude detection module can be used to generate a phase attitude detection signal to the drive control module, and the phase attitude detection signal can indicate whether the rotating gear hob 20 is in the storage phase attitude described above, so that: the power-on self-locking of the gear hob drive motor 32 can take effect when the rotating gear hob 20 is in the storage phase attitude described above.

[0107] Therefore, in the embodiment of my application, the driving control module of the sweeping robot can be used for:

[0108] Based on the ground features (such as ground feature signals) detected by the ground feature detection module, the rotating roller 20 is selectively enabled during the period when the rotating roller brush 10 is enabled;

[0109] Based on the ground features detected by the ground feature detection module (such as the ground feature signal) and the phase attitude of the rotating gear hob 20 detected by the phase attitude detection module (such as the phase attitude detection signal), when the sweeping robot moves on the hard ground, the rotating gear hob 20 is constrained to a stored phase attitude so that all the flapping teeth 20 distributed in the local phase interval of the rotating gear hob 20 are stationary above the mobile chassis 50.

[0110] Exemplarily, in an embodiment of the present application, the ground feature detection module may include at least one of an ultrasonic detection module 75 and a current detection module.

[0111] 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.

[0112] 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.

[0113] 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 31 and / or the side brush drive motor, wherein:

[0114] The rotation of the rotating roller brush 10 is triggered by the start-up of the roller brush driving motor 31, which is started when the sweeping robot is traveling on hard and rough surfaces.

[0115] The side brush driving motor is used to drive the flat-rotating side brush 73 installed below the mobile chassis 50. 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 brushes 73 are arranged in pairs on both sides in the width direction perpendicular to the moving direction of the sweeping robot. The side brush driving motor is started and operated when the sweeping robot moves on hard and rough surfaces.

[0116] 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 moving 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 31 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.

[0117] Exemplarily, in an embodiment of the present application, the phase attitude detection module may include a photoelectric detection module, which may include a light emitter and a light receiver, the light emitter is used to generate a light emission signal, the light receiver is used to generate a light sensing signal, the relative position relationship between the light emitter and the light receiver changes synchronously with the phase attitude of the rotating gear hob 20, and the phase attitude detection signal includes the light sensing signal.

[0118] For example, if the gear hobbing drive motor 32 is connected to the gear hobbing shaft 21 through the gear hobbing reduction mechanism 320 described above, the output gear of the final reduction stage in the gear hobbing reduction mechanism 320 is coaxially matched with the gear hobbing shaft 21, and the gear phase of the output gear of the final reduction stage in the gear hobbing reduction mechanism 320 is synchronized with the phase posture of the rotating gear hobbing 20. Therefore, the photoelectric detection module can be arranged at the output gear of the final reduction stage in the gear hobbing reduction mechanism 320, that is, one of the light transmitter and the light receiver can rotate with the output gear, and the other is fixedly installed in the gear hobbing reduction mechanism 320.

[0119] In the embodiments of the present application, the driving control module of the sweeping robot can also be used for:

[0120] 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.

[0121] 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.

[0122] Figure 7 Schematic diagram of an exemplary flow chart of a cleaning control method for a cleaning robot in an embodiment of the present application. Figure 7 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:

[0123] S710: Detecting ground features of a target ground area under a mobile chassis of a sweeping robot, wherein the ground features are used to characterize that the target ground area under the mobile chassis is a rough ground or a hard ground, the mobile chassis has a chassis opening, the chassis opening has a first opening area and a second opening area adjacent to each other, and the sweeping robot also includes a rotating roller brush suspended in the first opening area, and a rotating roller gear suspended in the second opening area.

[0124] For example, the sweeping robot may include a ground feature detection module, which is used to generate a ground feature detection signal, and S710 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.

[0125] S730: Based on the ground features of the target ground area below the mobile chassis of the ground robot, selectively enable the rotating hob during the period of enabling the rotating roller brush, so that:

[0126] When the sweeping robot travels on a hard ground, the rotating roller brush is activated, and the rotating roller gear is deactivated;

[0127] When the sweeping robot moves on a rough ground, both the rotating roller brush and the rotating roller teeth are activated.

[0128] Based on the above-mentioned embodiments of the present application, if the sweeping robot includes a rotating roller brush for performing a winding operation and a rotating roller suitable for performing a beating operation on a hairy floor, then the cleaning efficiency of the sweeping robot on the hairy floor can be improved when the sweeping robot is moving on the hairy floor, and the noise and unnecessary wear generated by the rotating roller beating the hard floor can be avoided when the sweeping robot is moving on the hard floor.

[0129] In an embodiment of the present application, if the flapping convex teeth of the rotating hobbing gear are distributed in a local phase interval less than 180°, the cleaning control method may further include:

[0130] Detect the phase attitude of rotating gear hobbing;

[0131] Based on the ground characteristics of the target ground area under the mobile chassis of the sweeping robot and the phase posture of the rotating gear, the rotating gear is constrained to a storage phase posture when the sweeping robot moves on the hard ground, so that all the flapping teeth distributed in the local phase interval less than 180° are stopped above the mobile chassis.

[0132] For example, if the sweeping robot includes a phase attitude detection module in addition to the ground feature detection described above, and the phase attitude detection module is used to generate a phase attitude detection signal, then the step of constraining the rotating rolling gear to the storage phase attitude can specifically include: based on the ground feature detection signal generated by the ground feature detection module and the phase attitude detection signal generated by the phase attitude detection module, when the sweeping robot is moving on a hard ground, the rotating rolling gear is constrained to the storage phase attitude, so that all the flapping convex teeth distributed in the local phase interval less than 180° stop above the mobile chassis. Among them, the specific implementation method of the phase attitude detection module can be found in the above text and will not be repeated here.

[0133] Thus, the noise and wear caused by the rotating hobbing can be minimized when the sweeping robot travels on hard ground.

[0134] In an embodiment of the present application, the cleaning control method may further include:

[0135] Based on the ground features of the target ground area below the mobile chassis of the sweeping robot (e.g., the ground feature detection signal generated by the ground feature detection module), the travel speed of the sweeping robot is determined so that the sweeping robot can have a first travel speed when traveling on a hard ground, and the sweeping robot has a second travel speed lower than the first travel speed when traveling on a rough ground; and / or,

[0136] 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.

[0137] 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), the mobile chassis (50) having a chassis opening (500), and the chassis opening (500) having a first opening area (510) and a second opening area (520) adjacent to each other in the traveling direction of the cleaning robot; a rotating roller brush (10), the rotating roller brush (10) being suspended in the first opening area (510), and the rotating roller brush (10) performing a hoisting operation on a target ground area below the mobile chassis (50) by rotating; a rotating hob (20), the rotating hob (20) being suspended in the second opening area (520), and the rotating hob (20) performing a tapping operation on the target ground area by rotating; Wherein, the rotations of the rotating roller brush (10) and the rotating roller teeth (20) are independent of each other.

2. The sweeping robot according to claim 1, characterized in that: The rotating gear hobbing (20) comprises a gear hobbing shaft (21) and a beating convex tooth (22), wherein the beating convex tooth (22) is disposed on the outer periphery of the gear hobbing shaft (21), and the beating convex tooth (22) is in intermittent interference contact with the target ground area during the beating operation; The flapping teeth (22) are distributed in a local phase interval of the gear hobbing shaft (21), the local phase interval is less than 180°, and when the rotating gear hobbing (20) is in a storage phase posture, the flapping teeth (22) distributed in the local phase interval are stationary above the movable chassis (50).

3. The sweeping robot according to claim 2, characterized in that: The local phase interval is less than 120°; and / or, The calibrated interference depth of the intermittent interference contact between the beating convex teeth (22) and the target ground area is 1 mm; and / or, The beating convex teeth (22) include at least two groups of convex teeth, each group of convex teeth are arranged at intervals along the axial direction of the gear hobbing shaft (21), and there is a phase interval between each two adjacent groups of convex teeth, and: the positions of any two groups of convex teeth in the axial direction of the gear hobbing shaft (21) are staggered and complementary, and / or the phase intervals between each two adjacent groups of convex teeth are equal; and / or, The beating tooth (22) is integrally formed with a covering sleeve (23), and the covering sleeve (23) is wrapped around the outer periphery of the gear rolling shaft (21), wherein: the hardness of the beating tooth (22) and the covering sleeve (23) is lower than the hardness of the gear rolling shaft (21), and / or the outer periphery of the gear rolling shaft (21) has a reinforcing rib (210) that engages with the inner periphery of the covering sleeve (23).

4. The sweeping robot according to claim 2, characterized in that: The beating convex teeth (22) include three groups of convex teeth, each group of convex teeth is arranged at intervals along the axial direction of the gear hobbing shaft (21), the positions of each two groups of convex teeth in the axial direction of the gear hobbing shaft (21) are staggered and complementary, and the phase interval between each two adjacent groups of convex teeth is 55°.

5. The sweeping robot according to claim 2, characterized in that: The gear hobbing shaft (21) is connected to the gear hobbing drive motor (32) of the sweeping robot by transmission. The rotation of the rotating gear hobbing (20) is triggered by the start-up operation of the gear hobbing drive motor (32). The gear hobbing drive motor (32) also generates a rotation-stopping constraint on the rotating gear hobbing (20) when powered on and self-locked. Furthermore, the rotation-stopping constraint constrains the rotating gear hobbing (20) to the storage phase posture.

6. The sweeping robot according to claim 5, characterized in that: Also includes: Drive control module; A ground feature detection module, used for generating a ground feature detection signal to the drive control module, the ground feature detection signal indicating that the target ground area is a rough ground or a hard ground, so that: the start-up operation of the gear hobbing drive motor (32) is limited by the drive control module to the period when the sweeping robot moves on the rough ground, and the gear hobbing drive motor (32) is triggered by the drive control module to power on and self-lock during the period when the sweeping robot moves on the hard ground; A phase attitude detection module is used to generate a phase attitude detection signal to the drive control module, wherein the phase attitude detection signal indicates whether the rotating gear hob (20) is in the storage phase attitude, so that: the power-on self-locking of the gear hob drive motor (32) is effective when the rotating gear hob (20) is in the storage phase attitude.

7. The sweeping robot according to claim 6, 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 (31) and / or a side brush drive motor, wherein: the rotation of the rotating roller brush (10) is triggered by the start-up operation of the roller brush drive motor (31), and the roller brush drive motor (31) is started and operated during the period when the sweeping robot moves on a hard ground and a hairy ground; and / or, the side brush drive motor is used to drive a flat-rotating side brush (73) installed below the mobile chassis (50), 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, and the side brush drive motor is started and operated during the period when the sweeping robot moves on a hard ground and a hairy ground, and the ground feature detection signal includes the current detection signal.

8. The sweeping robot according to claim 6, characterized in that: The phase attitude detection module comprises: A photoelectric detection module, the photoelectric detection module comprising a light transmitter and a light receiver, the light transmitter being used to generate a light transmission signal, the light receiver being used to generate a light sensing signal, the relative position relationship between the light transmitter and the light receiver changing synchronously with the phase posture of the rotating gear hobbing (20), and the phase posture detection signal comprising the light sensing signal; The gear hobbing drive motor (32) is connected to the gear hobbing shaft (21) via a gear hobbing reduction mechanism (320), the gear phase of the output gear of the final reduction stage in the gear hobbing reduction mechanism (320) is synchronized with the phase posture of the rotating gear hobbing (20), and the photoelectric detection module is arranged at the output gear.

9. The sweeping robot according to claim 1, characterized in that: The second opening area (520) is located in front of the first opening area (510) in the moving direction of the cleaning robot; and / or, The rotating roller brush (10) comprises a roller brush shaft (11), a hoisting brush (12) and a hoisting sheet (13); the roller brush shaft (11) is in transmission connection with a roller brush driving motor (31) of the sweeping robot; the hoisting brush (12) and the hoisting sheet (13) are arranged in a staggered manner on the periphery of the roller brush shaft (11); and during the hoisting operation: the hoisting brush (12) is in intermittent interference contact with the target ground area, and the hoisting sheet (13) is continuously spaced from the target ground area.

10. The sweeping robot according to claim 1, characterized in that: The invention also comprises a roller brush cover (15) and a gear hob cover (25), wherein the roller brush cover (15) covers the first opening area (510), the rotating roller brush (10) is mounted on the roller brush cover (15) by rotation and is suspended in the first opening area (510), the gear hob cover (25) covers the second opening area (520), and the rotating gear hob (20) is mounted on the gear hob cover (25) by rotation and is suspended in the second opening area (520), wherein: The roller brush housing (15) comprises a housing inner cavity (151), a housing opening (152) and a suction window (155); the housing opening (152) is exposed in the first opening area (510); the hoisting operation is used to hoist dirt toward the housing opening (152); the housing inner cavity (151) is also connected to the suction channel of the sweeping robot through the suction window (155); the suction airflow induced by the suction channel is used to transport the dirt from the housing opening (152) to the dust collecting component of the sweeping robot; the roller brush housing (15) is also provided with a housing guard frame (153) for partially shielding the housing opening (152); and the partial shielding is used to cause the suction airflow to gather and increase pressure when flowing through the housing opening (152); and / or, The roller brush cover (15) is fixedly mounted on the movable chassis (50) above the first opening area (510), and the gear rolling cover (25) is fixedly mounted on a side of the roller brush cover (15) close to the second opening area (520) above the movable chassis (50).

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