Cleaning robot

Abstract

The utility model relates to a cleaning robot which is provided with a shell. The shell comprises a first shell body and a second shell body which are arranged in the moving direction of the cleaning robot, the first shell body and the second shell body are connected with each other, the height of the first shell body is larger than or equal to that of the second shell body, the first shell body comprises a front portion extending in the transverse width direction, the front portion is arranged at the front end of the robot body, and the second shell body is arranged at the rear end of the robot body. And the front outer contour surface of the front part comprises a cambered surface extending along the whole transverse width direction. According to the cleaning robot, the size of the first shell covering the rolling brush body can be effectively reduced, then the overall size of the robot body is reduced, the prominent function of sweeping the floor of the cleaning robot can be better reflected, and a user can visually obtain the practical function of the cleaning robot.

Description

Technical Field

[0001] The present disclosure relates to the field of cleaning technology, and in particular to a robot for floor cleaning. Background Art

[0002] With the development of cleaning technology, cleaning robots have emerged to reduce the labor intensity of traditional manual cleaning. For example, sweeping robots drive the roller brush to rotate during the cleaning process, brushing the garbage adsorbed or adhered to the ground, making it easier to suck and collect the garbage.

[0003] The appearance of traditional cleaning robots is usually round, square or D-shaped. The sides of the round shell are usually regular arcs, the sides of the square shell are usually angular straight surfaces, and the sides of the D-shaped shell are a combination of the two. When the length and volume of the roller brush are roughly the same, the volume of the D-shaped machine is smaller than that of the square machine, and the volume of the square machine is smaller than that of the round machine. The shells of conventional round, square and D-shaped machines are not related to the shape of the roller brush, do not match, and do not fit, which increases the overall volume of the shell, and users cannot intuitively obtain the practical functions of these cleaning robots. For example, users cannot distinguish whether these cleaning robots are good at sweeping or mopping tasks. Utility Model Content

[0004] Based on this, it is necessary to provide a cleaning robot that can effectively demonstrate its practical functions to users while reducing the size of the cleaning robot.

[0005] A cleaning robot, comprising:

[0006] a fuselage having a housing;

[0007] A walking structure, arranged on the body, for supporting and driving the body to move on the surface to be cleaned;

[0008] A cleaning part, comprising a roller brush body connected to the body, the roller brush body extending along the lateral width direction of the body, the lateral width direction being perpendicular to the moving direction of the cleaning robot;

[0009] The housing comprises a first housing and a second housing arranged along the longitudinal direction of the cleaning robot, wherein the longitudinal direction is parallel to the moving direction;

[0010] The height of the first shell is higher than or equal to the height of the second shell. The first shell includes a front portion extending along the horizontal width direction. The front portion is arranged at the front end of the fuselage. The front outer contour surface of the front portion includes an arc surface extending along the entire horizontal width direction.

[0011] The above-mentioned cleaning robot, since the front outer contour surface of the front part is an arc surface, the arc surface fits more closely with the roller brush body, effectively reducing the size of the first shell covering the roller brush body, thereby reducing the overall volume of the fuselage; on the other hand, the arc surface is the same or similar in appearance to the roller brush body, which can better reflect that the outstanding function of the cleaning robot is sweeping the floor, so that the user can intuitively obtain the practical function of the cleaning robot; furthermore, when the cleaning robot performs cleaning tasks indoors, it will usually encounter obstacles on its path, hindering the progress of the cleaning robot. These obstacles are generally furniture such as tables and chairs or walls. When the first shell collides with these obstacles, the arc surface causes less damage to the obstacle than the sharper right-angle edge, and the corresponding impact force generated during the collision also causes less damage to the first shell itself.

[0012] In one embodiment, the front outer contour surface has a protruding point located at the front end of the entire shell, and the shell also includes a top and a bottom that are relatively arranged, and the top and the bottom both extend along the horizontal width direction, and the top and the bottom are both connected to the front part. In the height direction, the protruding point is located between the top and the bottom, and the height direction is perpendicular to both the horizontal width direction and the longitudinal direction.

[0013] In one embodiment, the front portion and the cleaning portion are located on the same side of a median line of the fuselage, and the median line is a virtual line that divides the fuselage into two halves in the longitudinal direction.

[0014] In one of the embodiments, the moving direction of the cleaning robot includes a forward direction and a backward direction. With the forward direction as a reference, the first shell is in front of the second shell.

[0015] In one embodiment, the first shell further comprises a first side portion and a second side portion which are arranged opposite to each other, the first side portion and the second side portion extend along the longitudinal direction of the cleaning robot and are respectively connected to two ends of the front portion in the transverse direction;

[0016] The outer contours of the first side portion and the second side portion at both ends of the longitudinal direction are defined as a first outer contour and a second outer contour, and the first outer contour and the second outer contour are arc-shaped.

[0017] In one embodiment, a length of the top portion in the longitudinal direction is less than or equal to a length of the first side portion and the second side portion in the longitudinal direction.

[0018] In one embodiment, a cleaning piece is provided on the roller brush body, and when the roller brush body rotates, the cleaning piece has a maximum rotation radius, and the inner contour surface of the front portion is set as an arc surface, and the arc radius of the inner contour surface is greater than the maximum rotation radius of the cleaning piece.

[0019] In one embodiment, the minimum distance between the cleaning portion and the inner contour surface is less than a preset distance.

[0020] In one of the embodiments, in the height direction of the cleaning robot, the projections of the first shell and the second shell form a complete D-shape, and the height direction is perpendicular to both the horizontal width direction and the longitudinal length direction.

[0021] In one embodiment, the moving direction of the cleaning robot includes a forward direction and a backward direction. With the forward direction as a reference, the first shell is in front of the second shell; the first shell is movable relative to the second shell to cushion the impact force received by the first shell when it collides with an obstacle.

[0022] In one of the embodiments, the cleaning robot is also provided with a collision sensor and a controller, wherein the collision sensor is electrically connected to the controller, and when the first shell moves forward and backward and / or left and right relative to the second shell, the collision sensor is triggered and transmits a collision signal to the controller.

[0023] In one embodiment, the first shell is configured to be movable forward and backward and / or left and right relative to the second shell.

[0024] In one embodiment, an auxiliary detection area is connected below the front outer contour surface.

[0025] In one embodiment, the auxiliary detection area is configured as a straight surface extending downward from the front outer contour surface.

[0026] In one of the embodiments, the cleaning robot is provided with a charging electrode, and the charging electrode protrudes forward from the front part in the longitudinal direction of the cleaning robot and does not exceed the protruding point.

[0027] In one embodiment, the front portion extends downward from the straight surface, and the charging electrode of the cleaning robot protrudes forward from the straight surface.

[0028] In one of the embodiments, in the longitudinal direction, the front surface of the charging electrode does not exceed the protruding point.

[0029] In one of the embodiments, the front portion is provided with an elastic protrusion protruding toward the outside of the fuselage, and in the longitudinal direction, the elastic protrusion exceeds the protruding point.

[0030] In one embodiment, the cleaning robot is further provided with:

[0031] A visual sensor, used to detect environmental information of the space to be cleaned by the cleaning robot;

[0032] A communication sensor, used for communicating with a base station of the cleaning robot;

[0033] A docking sensor, used to guide the cleaning robot to return to the base station and dock with the base station;

[0034] A charging electrode, used to cooperate with the charging electrode on the base station to replenish power for the cleaning robot;

[0035] At least one of the visual sensor, the communication sensor, the docking sensor and the charging electrode is arranged on the front side of the cleaning robot.

[0036] In one embodiment, the moving direction of the cleaning robot includes a forward direction and a backward direction. Taking the backward direction as a reference, the first shell is behind the second shell.

[0037] In one of the embodiments, the second shell is movable relative to the first shell to buffer the impact force received when the second shell collides with an obstacle.

[0038] In one embodiment, the first shell further includes a top and a distal end extending along the transverse width direction and connected to each other, the distal end is arranged on a side of the first shell away from the second shell, the top and the distal end are connected to the first side portion and the second side portion at both ends in the transverse width direction, and the connecting surface between the distal end and the top is an arc surface.

[0039] In one embodiment, the first shell further includes a bottom portion disposed opposite to the top portion, and a connecting surface between the distal end portion and the bottom portion is an arc surface.

[0040] In one embodiment, the first shell further includes a proximal portion arranged opposite to the distal portion, and a connecting surface between the proximal portion and the top portion, and / or a connecting surface between the proximal portion and the bottom portion are arc surfaces.

[0041] In one embodiment, the roller brush body includes a first roller brush and a second roller brush, and the outer contours of both ends of the first side portion and the second side portion in the height direction are parallel to the longitudinal direction, and the height direction is perpendicular to both the lateral width direction and the longitudinal direction.

[0042] In one embodiment, the roller brush body includes a first roller brush and a second roller brush, and the outer contours of the upper ends of the first side portion and the second side portion are concave downward, while the outer contours of the lower ends are concave upward.

[0043] In one embodiment, the roller brush body includes a single roller brush, and outer contours of both ends of the first side portion and the second side portion in the height direction are arc-shaped.

[0044] In one embodiment, the first side portion and the second side portion are provided with luminous bodies or colored ribbons inwardly along their respective outer contours.

[0045] In one embodiment, there is a gap between the first shell and the second shell at positions adjacent to each other, and a luminous body or a ribbon is provided at the gap.

[0046] In one of the embodiments, an indicator is disposed on the top of the first shell or the second shell for indicating the working status of the cleaning robot.

[0047] In one of the embodiments, the projections of the first shell and the second shell in the height direction of the cleaning robot are D-shaped, and the height direction is perpendicular to both the horizontal width direction and the vertical length direction.

[0048] In one of the embodiments, the cleaning robot is also provided with a laser radar sensor for detecting environmental information of the space to be cleaned by the cleaning robot. The laser radar sensor is arranged on the top of the first shell or the second shell and protrudes from the upper surface of the top of the first shell or the second shell.

[0049] In one embodiment, the upper surfaces of the tops of the first shell and the second shell are located in the same horizontal plane.

[0050] The present disclosure also provides a cleaning robot, comprising:

[0051] a fuselage having a housing;

[0052] A walking structure, arranged on the body, for supporting and driving the body to move on the surface to be cleaned;

[0053] A cleaning part, comprising a roller brush body connected to the body, the roller brush body extending along the lateral width direction of the body, the lateral width direction being perpendicular to the moving direction of the cleaning robot;

[0054] The shell includes a first shell and a second shell arranged along the moving direction of the cleaning robot, the first shell having a first side portion and a second side portion arranged opposite to each other, the first side portion and the second side portion both extending along the longitudinal direction of the cleaning robot, and the longitudinal direction is parallel to the moving direction; the first shell covers at least part of the roller brush body, and the outer contours of the first side portion and the second side portion at least at both ends of the longitudinal direction match the projection of the roller brush body in the transverse width direction.

[0055] The present disclosure also provides a cleaning robot, comprising:

[0056] a fuselage having a housing;

[0057] A walking structure, arranged on the body, for supporting and driving the body to move on the surface to be cleaned;

[0058] A cleaning part, comprising a roller brush body connected to the body, the roller brush body extending along the lateral width direction of the body, the lateral width direction being perpendicular to the moving direction of the cleaning robot;

[0059] The shell includes a first shell and a second shell arranged along the moving direction of the cleaning robot, the first shell having a first side portion and a second side portion arranged opposite to each other, the first side portion and the second side portion both extending along the longitudinal direction of the cleaning robot, and the longitudinal direction is parallel to the moving direction; the first shell covers at least part of the roller brush body, and the outer contours of the first side portion and the second side portion at both ends of the longitudinal direction are defined as a first outer contour and a second outer contour, and the first outer contour and the second outer contour are both arc-shaped.

[0060] The above-mentioned cleaning robot, since the outer contours of the first side portion and the second side portion at both ends in the longitudinal direction are arc-shaped, they fit more closely with the roller brush body, effectively reducing the size of the first shell covering the roller brush body, and thus reducing the overall volume of the fuselage; on the other hand, the outer contours of the first shell at both ends in the longitudinal direction are the same or similar to the outer shape of the roller brush body, which can better reflect that the outstanding function of the cleaning robot is sweeping the floor, so that the user can intuitively obtain the practical function of the cleaning robot; furthermore, when the cleaning robot performs cleaning tasks indoors, it will usually encounter obstacles on its path that hinder the progress of the cleaning robot. These obstacles are generally furniture such as tables and chairs or walls. When the first side portion and the second side portion of the first shell collide with these obstacles, the arc-shaped outer edges of the first side portion and the second side portion that match the roller brush body cause less damage to the obstacles than the sharper right-angle edges, and the corresponding impact force generated during the collision also causes less damage to the first side portion and the second side portion themselves.

[0061] In one of the embodiments, the first shell further includes a front portion, the front portion extends along the transverse width direction, the front portion is disposed at the frontmost end of the first shell, and is connected to the first side portion and the second side portion at both ends in the transverse width direction.

[0062] In one embodiment, the first shell further includes a top and a bottom that are arranged opposite to each other and extend along the horizontal width direction, the top and the bottom are both connected to the front, and the connecting surface between the top and the front, and the connecting surface between the bottom and the front are arc surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which constitute a part of this application, are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute improper limitations on the present disclosure.

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0065] Figure 1 is a schematic structural diagram of a cleaning robot described in an embodiment;

[0066] Figure 2 for Figure 1 Side view of the cleaning robot;

[0067] Figure 3 for Figure 1 A side view of the cleaning robot from another perspective;

[0068] Figure 4 for Figure 1 Front view of the cleaning robot;

[0069] Figure 5 for Figure 1 A top view of the cleaning robot;

[0070] Figure 6 It is a schematic diagram of assembling the first shell of the cleaning robot onto the second shell;

[0071] Figure 6a Figure 6 An enlarged schematic diagram of the torsion spring;

[0072] Figure 6b Figure 6 An enlarged schematic diagram of the middle spring;

[0073] Figure 7 A top view of another embodiment of the cleaning robot.

[0074] 100, cleaning robot; 10, fuselage; 101, first protrusion; 102, spring; 103, torsion spring; 11, first shell; 111, first side; 1111, ribbon; 1112, elastic protrusion; 112, second side; 113, front (distal end); 1131, straight surface; 1132, first connecting surface; 1133, second connecting surface; 1134, protruding point; 1135, front outer contour surface; 1136, inner contour surface; 114, top; 115, bottom; 12, second shell ; 13. Connector; 131. Second protrusion; 14. Lower cover; 15. Indicator; 20. Gap; 21. Light-emitting body; 31. LiDAR sensor; 32. Communication sensor; 33. Docking sensor; 34. Visual sensor; 341. RGB camera; 342. TOF sensor; 35. Charging electrode; 41. Side brush; 421. First roller brush; 422. Second roller brush; 50. Walking mechanism; L, longitudinal direction; W, transverse direction; H, height direction; Median line M; Radius of curvature, R. DETAILED DESCRIPTION

[0075] In order to make the above-mentioned purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present disclosure, so the present disclosure is not limited by the specific embodiments disclosed below.

[0076] Please refer to Figures 1 to 6 The cleaning robot 100 may be a sweeping robot or a sweeping and mopping robot, which performs sweeping or sweeping tasks in the space to be cleaned. The cleaning robot 100 includes a body 10, which has a shell for accommodating various functional modules of the cleaning robot 100; a walking mechanism 50 is provided on the body 10 for supporting and driving the body 10 to move on the surface to be cleaned, and the walking mechanism 50 may include wheels or tracks.

[0077] When the cleaning robot 100 performs a cleaning task on the surface to be cleaned, the side close to the surface to be cleaned is defined as below, and the direction opposite to the below is defined as above. The up and down direction is the height direction H. The cleaning robot 100 moves forward or backward to clean the surface to be cleaned. The forward direction of the cleaning robot 100 is defined as front, and the backward direction is defined as rear. The front and back direction is the longitudinal direction L of the cleaning robot 100. It can also be said that the longitudinal direction L is parallel to the moving direction of the cleaning robot. Then the direction perpendicular to both the height direction H and the longitudinal direction L is defined as the width direction W.

[0078] like Figure 2As shown, the cleaning robot 100 also has a cleaning unit, which includes a roller brush body connected to the body 10, and the roller brush body extends along the horizontal width direction W of the body 10. The cleaning unit is configured to rotate relative to the body 10 to contact and clean the garbage on the surface to be cleaned. The roller brush body usually includes a roller shaft, and bristles and / or rubber strips are connected to the roller shaft. When the roller shaft is observed from the horizontal width direction W, the roller shaft is generally cylindrical as a whole and is driven to rotate by a driving mechanism (such as a motor). When the bristles and / or rubber strips brush across the ground, the garbage on the ground is swept up, and then sucked by the fan of the cleaning robot 100 into the dust box set inside the cleaning robot 100 for storage. In this embodiment, the cleaning robot 100 is a sweeping robot with only a sweeping function. In other embodiments, if the cleaning robot 100 also has a mopping function, a wiping mechanism will be correspondingly set at the bottom of the body 10 to perform a wiping action on the ground. The cleaning part may also be provided with a side brush 41 connected to the body 10, which is used to gather the garbage on the travel path of the cleaning robot 100 in the direction of the roller brush body, thereby improving the cleaning effect.

[0079] In this embodiment, the housing includes a first housing 11 and a second housing 12 arranged along the moving direction of the cleaning robot 100. That is, the first housing 11 and the second housing 12 are arranged one after the other in the longitudinal direction L. The height of the first housing 11 is higher than or equal to the height of the second housing 12. This can improve the ability of the cleaning robot to avoid obstacles and escape from difficulties.

[0080] It is understandable that in indoor environments, some furniture will have some hollows at the bottom, for example, the bottom of the bed, the bottom of the sofa, etc. If the maximum height of the cleaning robot is lower than the height of such hollows, the cleaning robot can enter these hollow spaces for cleaning. If the maximum height of the cleaning robot is higher than the height of such hollows, the cleaning robot cannot enter these hollow spaces for cleaning. The cleaning robot will avoid the areas where these hollows are located to avoid hitting the bottom of the furniture.

[0081] In the moving direction of the cleaning robot, the first shell 11 is in front of the second shell 12, and the first shell 11 acts as a collision plate. When the first shell 11 does not hit the bottom of the furniture, it proves that the height of the first shell 11 is lower than the hollow at the bottom of the furniture, and the height of the second shell 12 is lower than or equal to the height of the first shell 11. The second shell 12 can also smoothly enter the hollow area, that is, the entire cleaning robot can smoothly enter the hollow area for cleaning.

[0082] When the first shell 11 hits the bottom of the furniture, it proves that the height of the first shell 11 is higher than the hollow at the bottom of the furniture. Even if the height of the second shell 12 is lower than or equal to the height of the first shell 11 and also lower than the height of the hollow at the bottom of the furniture, the cleaning robot cannot enter the hollow area for cleaning. When the first shell 11 hits the bottom of the furniture, the collision sensor set on the first shell 11 is triggered and transmits a collision signal to the controller. The controller receives the collision signal and controls the cleaning robot to avoid the furniture to prevent the cleaning robot from being stuck in the hollow at the bottom of the furniture. If the height of the first shell 11 is lower than the height of the second shell 12, when the first shell 11 is lower than the hollow at the bottom of the furniture and does not hit the bottom of the furniture, and the second shell 12 is higher than the hollow at the bottom of the furniture and hits the bottom of the furniture, the collision sensor on the first shell 11 is not triggered, and the controller does not receive the collision signal and cannot control the cleaning robot to avoid the furniture. The cleaning robot will be stuck in the hollow at the bottom of the furniture and cannot avoid obstacles.

[0083] Furthermore, the first housing 11 includes a front portion 113 extending along the lateral width direction W, the front portion 113 is disposed at the front end of the fuselage 10, and the front outer contour surface 1135 of the front portion 113 includes an arc surface extending along the entire lateral width direction W. The arc surface extending along the entire lateral width direction W means that the first housing 11 has two end surfaces in the lateral width direction, and the arc surface extends from one end surface of the first housing to the other end surface without interruption.

[0084] Since the front outer contour surface 1135 is an arc surface, the arc surface fits more closely with the roller brush body (it can also be said to be the cleaning part), effectively reducing the size of the first shell 11 covering the roller brush body, thereby reducing the overall volume of the fuselage; on the other hand, the arc surface is the same or similar in appearance to the roller brush body, which can better reflect that the outstanding function of the cleaning robot is sweeping the floor, so that the user can intuitively obtain the practical function of the cleaning robot; furthermore, when the cleaning robot performs cleaning tasks indoors, it will usually encounter obstacles on its path, hindering the progress of the cleaning robot. These obstacles are generally furniture such as tables and chairs or walls. When the first shell 11 collides with these obstacles, the arc surface causes less damage to the obstacle than the sharper right-angle edge, and the corresponding impact force generated during the collision also causes less damage to the first shell 11 itself.

[0085] In one embodiment of the front outer contour surface 1135, please refer to Figure 2, the radius of curvature R of the front outer contour surface 1135 is less than the length of the housing (including the first housing and the second housing) in the longitudinal direction L and greater than 1 / 4 of the height of the housing (including the first housing and the second housing) in the height direction H. The length of existing household cleaning robots usually does not exceed 400 mm, and the height is greater than 10 mm. That is to say, in this embodiment, 2.5 mm < R < 400 mm. Further, the radius of curvature R of the front outer contour surface 1135 is greater than or equal to 20 mm and less than or equal to 200 mm. With such a setting, the size and degree of bending of the front outer contour surface of the front part match the size of the entire fuselage, making the overall outer shell of the fuselage smoother.

[0086] Furthermore, please refer to Figure 1-Figure 3 , the first housing 11 further includes a relatively arranged top 114 and a bottom 115. Both the top 114 and the bottom 115 extend along the transverse width direction W. The front part 113 is arranged at the front end of the first housing 11. Both the top 114 and the bottom 115 are connected to the front part 113. The front outer contour surface 1135 has a protruding point 1134 located at the very front end of the entire housing. In the height direction H, the protruding point 1134 is located between the top 114 and the bottom 115. The height direction H is perpendicular to both the transverse width direction W and the longitudinal direction L. It can be understood that when an obstacle is encountered in front of the cleaning robot, the protruding point 1134 located at the very front end of the cleaning robot is most likely to hit the obstacle. Setting the position of the protruding point 1134 between the top 114 and the bottom 115 is also to set the most likely impacted protruding point 1134 at the middle part of the first housing in the height direction. When the impact position is at the middle part of the first housing in the height direction, compared with the impact position at the top part or the bottom part of the first housing in the height direction, the first housing 11 is more likely to be collided by the obstacle and displaced. Due to the arc design of the first housing, obstacles that are slightly lower or slightly higher than the first housing are likely to pass by (or slide past) the first housing from above or below, rather than hitting the first housing and causing the first housing to be displaced, and thus cannot trigger the collision sensor as described below to indicate that the cleaning robot has encountered an obstacle. Therefore, preferably, in the height direction H, the protruding point 1134 is located between the top 114 and the bottom 115.

[0087] It can also be further set that the connection surface between the top 114 and the front part 113 is defined as the first connection surface 1132, and the connection surface between the bottom 115 and the front part 113 is defined as the second connection surface 1133. At least part of the first connection surface 1132 and / or the second connection surface 1133 is an arc surface. Specifically, both the first connection surface 1132 and / or the second connection surface 1133 are set as arc surfaces along the entire transverse width direction W.

[0088] Since the first connecting surface 1132 and / or the second connecting surface 1133 are configured as an arc surface, the arc surface fits more closely to the roller brush body (also known as the cleaning part), thereby effectively reducing the size of the first shell 11 covering the roller brush body, thereby reducing the overall volume of the body; on the other hand, the arc surface is the same or similar in appearance to the roller brush body, which can better reflect that the outstanding function of the cleaning robot is sweeping the floor, so that the user can intuitively obtain the practical function of the cleaning robot; furthermore, when the cleaning robot is performing cleaning tasks indoors, it will usually encounter obstacles on its path that hinder the progress of the cleaning robot. These obstacles are generally furniture such as tables and chairs or walls. When the first shell 11 collides with these obstacles, the arc surface causes less damage to the obstacle than a sharper right-angle edge, and the corresponding impact force generated during the collision also causes less damage to the first shell 11 itself.

[0089] In a preferred embodiment, the first shell 11 is composed of two half shells, upper and lower. It is understandable that since the first connecting surface 1132 and the second connecting surface 1133 are both arc-shaped, it is more difficult to manufacture the mold to complete the two arcs at the same time during production. Therefore, in order to reduce the difficulty of manufacturing the first shell mold, the first shell 11 is divided into two half shells, upper and lower, and the two half shells are connected together by bonding or screws to form a complete first shell. Of course, in other embodiments where process difficulties are not considered, the first shell can also be formed in one piece.

[0090] Furthermore, a cleaning member is provided on the roller brush body. When the roller brush body rotates, the cleaning member has a maximum rotation radius. The inner contour surface 1136 of the front portion 113 is also set as an arc surface. The arc radius of the inner contour surface 1136 is larger than the first outer contour of the maximum rotation radius of the cleaning member. The cleaning member is set as at least one of a rubber strip, a wool strip, and a cloth strip. The arc radius of the inner contour surface 1136 is larger and larger than the maximum radius swept by the cleaning part when it rotates, so as to avoid interference between the cleaning member and the inner contour surface 1136 when it rotates, so that the garbage swept up by the cleaning part is splashed by the collision of the inner contour surface 1136. It should be noted that in order to avoid interference of the first shell 11 with the cleaning member, other parts of the first shell 11 except the inner contour surface 1136 do not contact the cleaning part.

[0091] Specifically, the minimum distance between the cleaning part and the inner contour surface 1136 is less than the preset distance. In one embodiment, the cleaning part has a roller brush body, and a cleaning member (such as a rubber strip or a wool strip or a cloth strip, etc.) mounted on the roller brush body. When the cleaning robot is working, the roller brush body rotates, and the end of the cleaning member not connected to the roller brush body contacts the ground to clean the ground. Then it can be understood that the minimum distance between the cleaning part and the inner contour surface 1136 refers to the minimum distance between the cleaning end of the cleaning member and the inner contour surface 1136. In an embodiment in which the cleaning part has a first roller brush and a second roller brush, the first roller brush and the second roller brush are distributed front and back along the longitudinal direction of the cleaning robot, and the minimum distance between the cleaning part and the inner contour surface 1136 refers to the minimum distance between the end of the cleaning member of the first roller brush and the inner contour surface 1136. It should also be noted that the above-mentioned minimum distance may not be a fixed value, but may be a numerical range, for example, the numerical range is [0.5mm-50mm]. Such a configuration can make the inner contour surface 1136 closer to and fit more closely to the cleaning part, thereby reducing the size of the cleaning robot and making the body of the cleaning robot more compact.

[0092] In one embodiment, please refer to Figure 5 , the front portion 113 and the cleaning portion are located on the same side of the median line M of the fuselage, and the median line M is a virtual line that divides the fuselage in the longitudinal direction into two halves. The first shell 11 is close to the roller cleaning portion, or it can be said that the first shell 11 corresponds to the cleaning portion. The arc-shaped front portion 113 of the first shell can depict the shape of the cleaning portion, which can better convey the cleaning function of the cleaning robot to the user. Specifically, the moving direction of the cleaning robot 100 includes a forward direction and a backward direction. In one embodiment, with the forward direction as a reference, the first shell 11 is in front of the second shell 12. That is to say, the front portion and the cleaning portion are both located in the front half of the fuselage. In this embodiment, part of the function of the first shell 11 is reflected in the cleaning part of the covering part. The first shell 11 is in front of the second shell, which means that the cleaning part is arranged in a front position of the fuselage, at least relative to the walking module. During the operation of the cleaning robot, the cleaning part will sweep up the garbage on the traveling path of the cleaning robot, and the dust will be sucked into the dust box by the fan arranged inside the cleaning robot, so as to clean the ground. Then, the walking module (such as wheels or tracks) located behind the cleaning part relative to the fuselage has walked on the ground that has been cleaned by the cleaning part. Such a configuration can prevent the walking module from secondary contamination of the ground cleaned by the cleaning robot.

[0093] The cleaning robot 100 moves in the forward direction during normal cleaning. When the detection device on the cleaning robot 100 detects an obstacle in front of the cleaning robot 100, the cleaning robot 100 moves in the backward direction or turns to avoid the obstacle. When the detection device does not detect or delays detecting the obstacle, the body 10 of the cleaning robot 100 collides with the obstacle. Therefore, when the first shell 11 is in front of the second shell 12, the first shell 11 is movable relative to the second shell 12 to buffer the impact force of the first shell 11 when it collides with the obstacle.

[0094] The first shell is configured to be able to move forward and backward and / or left and right relative to the second shell. In this embodiment, the first shell can move forward and backward relative to the second shell, and can also move left and right relative to the second shell, that is, no matter the front side of the cleaning robot is hit or the left and right sides are hit, the first shell can move relative to the second shell to play a buffering role.

[0095] For details, please refer to Figure 6 The first shell 11 is movably connected to the second shell 12 through the connecting piece 13. After the first shell 11 and the second shell 12 are in the position to be assembled, the connecting piece 13 is fixedly connected to the first shell 11. The fixed connection method can be bolt connection, or bonding, etc. The second protrusion 131 provided on the connecting piece 13 is inserted into a slide groove (not shown) provided on the second shell 12 and matched with the second protrusion 131. When the first shell 11 hits an obstacle, the second protrusion 131 slides in the slide groove to guide the first shell 11 to move relative to the second shell 12 to buffer the impact force encountered by the first shell 11. A reset member is also provided between the first shell 11 and the second shell 12, which is used to prompt the first shell 11 to move forward and return to its original position after the effect of the obstacle disappears.

[0096] Preferably, the reset member includes a torsion spring 103 and a spring 102, see Figure 6a , 6b , Figure 6a , Figure 6b for Figure 6A partial enlarged view of the reset member in the middle, when the first shell 11 is hit by the front side or the left and right sides, the torsion spring 103 is squeezed by the first shell 11 to undergo elastic deformation, and when the impact force disappears, the torsion spring 103 recovers the deformation to reset the first shell 11 to its original position. In addition, first protrusions 101 can be respectively provided on the left and right sides of the fuselage, and the spring 102 is connected to the first protrusion 101. When the first shell 11 is hit by the left and right sides, the first shell 11 squeezes the first protrusion 101, and the first protrusion 101 in turn squeezes the spring 102, and the spring 102 undergoes elastic deformation to buffer the first shell 11. When the impact force on the left and right sides of the first shell 11 disappears, the spring 102 recovers the deformation to drive the first protrusion 101 to reset, and the first protrusion 101 presses against the first shell 11, and at the same time drives the first shell 11 to reset. The torsion spring 103 combined with the reset effect of the spring 102 on the first shell 11 makes the reset of the first shell 11 smoother and more timely. In particular, when the first shell 11 is hit on the left and right sides, the position where the first shell 11 is hit is uncertain, and the direction of the force on the first shell 11 is also uncertain. The direction of the force deformation of the spring 102 is set to be perpendicular to the first side portion 111 and the second side portion 112 of the first shell 11 (the first side portion and the second side portion will be explained in detail below). When the left and right sides of the first shell 11 are subjected to an external force perpendicular to the first shell, the spring 102 can be deformed and compressed quickly, so that the external force on the first shell 11 is quickly buffered; and the torsion spring 103 is not as strict as the spring 102 in the direction of the force, so when the left and right sides of the first shell are subjected to an external force not perpendicular to the first shell, the buffering effect of the torsion spring is more advantageous. The shell also includes a lower cover 1414. After the first shell 11 is assembled on the second shell 12 through the connecting member 13, the lower cover 1414 is fixedly connected to the second shell 12.

[0097] Furthermore, the cleaning robot 100 is also provided with a collision sensor and a controller, and the collision sensor is electrically connected to the controller. When the first shell 11 moves relative to the second shell 12, the collision sensor is triggered and transmits a collision signal to the controller. In order to avoid damage caused by repeated collisions between the cleaning robot 100 and obstacles, after the first shell 11 collides with the obstacle, the collision sensor is triggered and transmits a collision signal to the controller. When the controller receives the collision signal, it controls the cleaning robot 100 to move to avoid the obstacle.

[0098] In addition, an auxiliary detection area is connected below the front outer contour surface 1135. It can be understood that in this embodiment, the front portion 113 of the first shell is arc-shaped as a whole. When an obstacle appears in front of the cleaning robot, due to the arc-shaped design of the lower portion of the front outer contour surface 1135 (also known as the second connection surface 1133), the first shell 11 may pass over the obstacle, and the obstacle does not hit the first shell 11 (or the obstacle does not cause the first shell to generate enough movement to trigger the collision sensor), and the first shell fails to trigger the collision sensor, that is, the cleaning robot fails to identify the obstacle, and the cleaning robot may pass over the obstacle or be trapped by the obstacle. The purpose of setting the auxiliary detection area is that the auxiliary detection area protrudes downward from the front outer contour surface 1135, that is, the auxiliary detection area is located below the protruding point 1135. When an obstacle appears in front of the cleaning robot, the auxiliary detection area can effectively hit the obstacle to prevent the first shell from passing over the obstacle, thereby causing the first shell to generate enough displacement to trigger the collision sensor, so that the cleaning robot can effectively identify the obstacle and perform obstacle avoidance or other operations. In this embodiment, the auxiliary detection area is configured as a straight surface 1131 extending downward from the front outer contour surface 1135 . In other examples, the auxiliary detection area can be configured as any shape as long as the auxiliary detection area protrudes downward from the front outer contour surface 1135 .

[0099] In this embodiment, the first shell 11 also has a first side portion 111 and a second side portion 112 that are arranged opposite to each other. The first side portion 111 and the second side portion 112 both extend along the longitudinal direction L of the cleaning robot 100, and the longitudinal direction L is parallel to the moving direction. When an observer observes the first shell 11 from the front of the cleaning robot 100, the first side portion 111 and the second side portion 112 are located on the left and right sides of the observer. The first shell 11 covers at least part of the cleaning part, and the outer contours of the first side portion 111 and the second side portion 112 at least at both ends of the longitudinal direction L match the projection of the roller brush body in the transverse width direction W. "Matching" can be understood as the same or similar appearance or shape, but this does not mean that the outer contours of the first side portion 111 and the second side portion 112 are exactly the same as the projection of the roller brush body in the horizontal width direction W. For example, if the projection of the roller brush body in the horizontal width direction W is roughly circular, then the contours of the front and rear ends of the first side portion 111 and the second side portion 112 are roughly arcs that match the circle, and the shapes of the upper and lower ends of the outer contour can be arbitrary, such as arcs that bulge upward or sink downward, or straight lines extending along the longitudinal direction L. The outer contours of the first side portion 111 and the second side portion 112 at least at both ends of the longitudinal direction L match the projection of the roller brush body in the horizontal width direction W. In other words, the outer contours of the first side portion 111 and the second side portion 112 at least at both ends of the longitudinal direction L fit the cleaning portion.

[0100] With such arrangement, the outer contours of the first side portion 111 and the second side portion 112 at both ends in the longitudinal direction L are more closely fitted to the roller brush body, effectively reducing the size of the first shell 11 covering the roller brush body, thereby reducing the overall volume of the body 10; on the other hand, the outer contours of the first shell 11 at both ends in the longitudinal direction L are the same or similar to the outer shape of the roller brush body, which can better reflect that the outstanding function of the cleaning robot 100 is sweeping the floor, so that the user can intuitively obtain the practical function of the cleaning robot 100; furthermore, when the cleaning robot performs cleaning tasks indoors, it will usually encounter obstacles on its path that hinder the progress of the cleaning robot. These obstacles are generally furniture such as tables and chairs or walls. When the first side portion and the second side portion of the first shell collide with these obstacles, the arc-shaped outer edges of the first side portion and the second side portion that match the roller brush body cause less damage to the obstacles than the sharper right-angle edges, and the corresponding impact force generated during the collision also causes less damage to the first side portion and the second side portion themselves.

[0101] Specifically, the outer contours of the first side portion and the second side portion at both ends in the longitudinal direction are defined as the first outer contour and the second outer contour, and the first outer contour and the second outer contour are arc-shaped. Furthermore, a cleaning member is provided on the roller brush body, and when the roller brush body rotates, the cleaning member has a maximum rotation radius, and the arc radius of the first outer contour and the second outer contour is greater than the maximum rotation radius of the first outer contour of the cleaning member. The cleaning member is configured as at least one of a rubber strip, a wool strip, and a cloth strip. The radius of the outer contour of the first side portion and the second side portion is larger, and is greater than the maximum radius swept by the cleaning member when the cleaning member rotates, thereby highlighting the existence of the cleaning member and highlighting the sweeping function of the cleaning robot.

[0102] Furthermore, the minimum distance between the cleaning portion and the first outer contour, and the minimum distance between the cleaning portion and the second outer contour is less than the first preset distance. In one embodiment, the cleaning portion has a roller brush body, and a cleaning member (such as a rubber strip, a wool strip, a cloth strip, etc.) mounted on the roller brush body. When the cleaning robot is working, the roller brush body rotates, and the end of the cleaning member not connected to the roller brush body contacts the ground to clean the ground. Then it can be understood that the minimum distance between the cleaning portion and the first outer contour refers to the minimum distance between the cleaning end of the cleaning member and the first outer contour, and the minimum distance between the cleaning portion and the second outer contour refers to the minimum distance between the cleaning end of the cleaning member and the second outer contour. In an embodiment where the cleaning part has a first roller brush and a second roller brush, the first roller brush and the second roller brush are distributed front and back along the longitudinal direction of the cleaning robot, and the first outer contour of the first side portion and the second side portion is in front relative to the second outer contour, and the minimum distance between the cleaning part and the first outer contour refers to the minimum distance between the end of the cleaning part of the first roller brush and the first outer contour, and the minimum distance between the cleaning part and the second outer contour refers to the minimum distance between the end of the cleaning part of the second roller brush and the second outer contour. It should also be noted that the above-mentioned minimum distance may not be a fixed value, but may be a numerical range, for example, the numerical range is [0.5mm-50mm]. Such a setting can make the first outer contour and the second outer contour of the first side portion and the second side portion closer to and fit the cleaning part, thereby reducing the volume of the cleaning robot and making the body of the cleaning robot more compact.

[0103] In one embodiment, in the height direction of the cleaning robot, the projections of the first shell and the second shell form a complete D-shape. It should be noted that the complete D-shape means that the D-shape has no extra lines. This arrangement makes the overall shell of the body more complete, avoiding the appearance of stepped surfaces, where dust easily accumulates at the junction of stepped surfaces and is difficult to clean.

[0104] In one embodiment, please refer to Figure 2, the cleaning part includes a first roller brush 421 and a second roller brush 422. When the cleaning robot 100 is provided with two roller brushes, namely the first roller brush 421 and the second roller brush 422, the first roller brush 421 and the second roller brush 422 both extend along the transverse width direction W, and the projections of the first roller brush 421 and the second roller brush 422 (or the roller brush bodies of the first roller brush 421 and the second roller brush 422) in the transverse width direction W are roughly two adjacent circles. At this time, the outer contours of the two ends of the first side portion 111 and the second side portion 112 in the height direction H are not set in a unique manner. The outer contours can match the projections of the first roller brush 421 and the second roller brush 422 in the transverse width direction W, that is, the outer contours of the upper ends of the first side portion 111 and the second side portion 112 are concave downward, and the outer contours of the lower ends are concave upward, so as to roughly depict the projections of the first roller brush 421 and the second roller brush 422 in the transverse width direction W. The above outer contour may also match the projection of the first roller brush 421 and the second roller brush 422 in the transverse width direction W, for example, the outer contour of the upper end of the first side portion 111 and the second side portion 112 is concave downward, while the outer contour of the lower end is roughly parallel to the longitudinal direction L, or the outer contour of the upper end of the first side portion 111 and the second side portion 112 is roughly parallel to the longitudinal direction L, while the outer contour of the lower end is concave upward. The above outer contour may also not match the projection of the first roller brush 421 and the second roller brush 422 in the transverse width direction W, and the outer contours of the first side portion 111 and the second side portion 112 at both ends of the height direction H are roughly parallel to the longitudinal direction L. In the present disclosure, "roughly parallel" means parallel or slightly at a certain angle, and the angle does not exceed 15 degrees.

[0105] In another embodiment, the cleaning part includes a single roller brush, and the outer contours of the first side portion 111 and the second side portion 112 match the projection of the roller brush in the horizontal width direction W. In other words, the outer contours of the first side portion 111 and the second side portion 112 at both ends in the height direction are arc-shaped. When the cleaning robot 100 is provided with only one roller brush, the projection of the roller brush in the horizontal width direction W is roughly circular, and the outer contours of the first side portion 111 and the second side portion 112 are similar to the projection shape of the circle, and are also roughly circular, so that the first shell 11 fits the roller brush more closely, making the volume of the first shell 11 smaller, and the overall volume of the cleaning robot 100 is also more compact, and can also highlight the presence of the roller brush in the entire body 10, emphasizing the sweeping function of the cleaning robot 100, and at the same time, the arc-shaped outer contours of the first side portion 111 and the second side portion 112 are less harmful to obstacles when they collide with obstacles than the outer contours of the right-angled sides.

[0106] The driving mechanism connected with the roller brush body is arranged above the roller brush body. Thus, the length of the cleaning robot in the longitudinal direction and the transverse direction can be reduced, making the cleaning robot more compact.

[0107] Please continue to refer to Figures 1 to 5The first housing 11 further includes a front portion 113, which extends along the transverse width direction W. The front portion 113 is located at the front end of the first housing 11 and is connected to the first side portion 111 and the second side portion 112 at both ends of the transverse width direction W. When the first housing 11 is arranged in front of the second housing 12, the front portion 113 of the first housing 11 is located at the front end of the entire body 10.

[0108] Please continue to refer to Figure 1 , Figure 2 The cleaning robot is provided with a charging electrode 35, which protrudes forward from the front part 113 in the longitudinal direction L of the cleaning robot, but does not exceed the protruding point 1134 in the longitudinal direction L. Specifically, the front outer contour surface 1135 extends downwardly from the straight surface 1131, and the charging electrode 35 of the cleaning robot protrudes forward from the straight surface 1131. The arc surface of the above-mentioned front outer contour surface 1135 is more in line with the shape of the roller brush, which can reduce the volume of the first shell, thereby reducing the volume of the entire fuselage, and can also highlight the sweeping function of the cleaning robot. And compared with the front end of the first shell being an entire right-angle surface, the above-mentioned arc provides a more reliable installation position for installing the charging electrode, avoiding the charging electrode from being hit when the first shell hits an obstacle, and also making full use of the remaining position of the fuselage shell. The charging electrode can move with the first shell 11.

[0109] Furthermore, the top portion 114 is connected to the first side portion 111, the second side portion 112 and the front portion 113 respectively, and the length of the top portion 114 in the longitudinal direction L is less than or equal to the length of the first side portion 111 and the second side portion 112 in the longitudinal direction L. When the first shell 11 is arranged at the front of the entire fuselage 10 relative to the second shell 12, it can be used as a collision plate structure. The first shell 11 will move when it hits an obstacle. The short top portion 114 makes the overall mass of the first shell 11 lighter, which can effectively reduce the shaking of the first shell 11 when it is hit.

[0110] In one embodiment, please refer to Figure 4 , the front portion 113 is provided with an elastic protrusion 1112 protruding to the outside of the fuselage 10, and in the longitudinal direction L, the elastic protrusion 1112 exceeds the protruding point 1134. It should be noted that the elastic protrusion 1112 is located at the front end of the first shell 11, and protrudes from the front portion 113 of the first shell, exceeding the protruding point 1134. When the first shell 11 collides with an obstacle, since the elastic protrusion 1112 protrudes relative to the front portion 113, it first touches the obstacle, and uses its elastic deformation to provide partial buffering for the first shell 11, which can effectively reduce the damage to the first shell 11 caused by the collision. Specifically, the elastic protrusion 1112 can be set as a rubber strip or a dot-shaped rubber protrusion. The extension direction of the elastic protrusion 1112 is not limited, and preferably, it can extend along the horizontal width direction W.

[0111] Furthermore, the cleaning robot 100 is also provided with a visual sensor 34 for detecting environmental information of the space to be cleaned by the cleaning robot 100. For example, the visual sensor 34 can detect whether there are obstacles, pets, etc. on the surface to be cleaned that hinder the movement of the cleaning robot 100. The visual sensor 34 is electrically connected to the controller and transmits the detected data signals to the controller, which processes these data signals to further control the movement mode and / or cleaning mode of the cleaning robot 100. The specific visual sensor 34 can be at least one of the RGB camera 341 and the TOF sensor 342, or a combination of the two.

[0112] The cleaning robot 100 is also provided with a communication sensor 32 for communicating with the base station of the cleaning robot 100. The cleaning robot 100 is usually equipped with a base station for maintaining itself. The base station can replenish power for the cleaning robot 100, replace the mopping module or the wiping parts on the mopping module, clean the mopping module, collect garbage in the dust box of the cleaning robot 100, etc. While providing these maintenance for the cleaning robot 100, the base station needs to establish timely communication with the cleaning robot 100 to be able to know what maintenance the cleaning robot 100 needs and whether the maintenance is completed or successful. After completion, the base station needs to communicate with the cleaning robot 100 so that the cleaning robot 100 continues to perform the cleaning task or stays in standby at the base station. If the maintenance fails, the base station also needs to communicate with the cleaning robot 100 to avoid adverse effects caused by the cleaning robot 100 continuing to perform the cleaning task.

[0113] The cleaning robot 100 is also provided with a docking sensor 33 and a charging electrode 35. The docking sensor 33 is used to guide the cleaning robot 100 to return to the base station and dock with the base station so that the cleaning robot 100 is docked at the correct position; after successful docking, the charging electrode 35 is used to cooperate with the charging electrode on the base station to replenish power for the cleaning robot 100.

[0114] At least one of the above-mentioned visual sensor 34, communication sensor 32, docking sensor 33 and charging electrode 35 is arranged on the front side of the cleaning robot. Preferably, the visual sensor 34, communication sensor 32, docking sensor 33 and charging electrode 35 are all arranged on the front side of the cleaning robot, that is, arranged at the front end of the cleaning robot 100, so that each sensor on the cleaning robot 100 can detect the required signal as early as possible, and then transmit it to the controller of the cleaning robot 100, so that the controller can make a corresponding response as early as possible. Specifically, the visual sensor 34, communication sensor 32, and docking sensor 33 are installed on the frame of the cleaning robot, and do not move with the first shell 11, so as to avoid interference with the accuracy of detection of each sensor when the first shell 11 is moved by impact.

[0115] The cleaning robot 100 is also provided with a laser radar sensor 31 for detecting the environmental information of the space to be cleaned by the cleaning robot 100. The laser radar sensor 31 is arranged on the top of the first shell 11 or the second shell 12, and protrudes from the upper surface of the top of the first shell 11 or the second shell 12. Preferably, the laser radar sensor 31 is arranged on the upper surface of the second shell 12. Since the first shell 11 in this embodiment is arranged in front of the fuselage 10, the collision plate structure of the fuselage 10 will collide with obstacles and move, and it is not suitable to set the laser radar sensor 31. Therefore, the laser radar sensor 31 is arranged on the relatively stable second shell 12.

[0116] In another embodiment, with the backward direction as a reference, the first shell 11 is behind the second shell 12. For the same reason, when the detection device on the cleaning robot 100 detects that there is an obstacle in front of the cleaning robot 100, the cleaning robot 100 will move or turn in the backward direction to avoid the obstacle, and when the detection device does not detect or delays detecting the obstacle, the body 10 of the cleaning robot 100 will collide with the obstacle. Therefore, when the second shell 12 is in front of the first shell 11, the second shell 12 is movable relative to the first shell 11 to cushion the impact force of the second shell 12 when it hits the obstacle. The connection method of the second shell 12 and the first shell 11 and the way the second shell 12 meets and moves with the first shell 11 are similar to those described above and will not be repeated here.

[0117] Since the second shell 12 is in front and the first shell 11 is in the back, the positions of the visual sensor 34, the communication sensor 32, the docking sensor 33 and the charging electrode 35 are also adjusted accordingly, and at least one of the visual sensor 34, the communication sensor 32, the docking sensor 33 and the charging electrode 35 is arranged at the front of the second shell 12. Preferably, the visual sensor 34, the communication sensor 32, the docking sensor 33 and the charging electrode 35 are all arranged at the front of the second shell 12, and are also arranged at the front end of the cleaning robot 100, so that each sensor on the cleaning robot 100 can detect the required signal as soon as possible, and then transmit it to the controller of the cleaning robot 100, so that the controller can make a corresponding response as soon as possible.

[0118] In one embodiment, the first shell 11 further includes a top portion 114 and a distal portion extending along the transverse width direction W and connected to each other, the distal portion being arranged on a side of the first shell 11 away from the second shell 12, the top portion 114 and the distal portion being connected to the first side portion and the second side portion at both ends in the transverse width direction W, and the connecting surface between the distal portion and the top portion 114 is an arc surface. The first shell 11 further includes a bottom portion 115 arranged opposite to the top portion 114, and the connecting surface between the distal portion and the bottom portion 115 is an arc surface. In this embodiment, the relative position of the first shell 11 and the second shell 12 is not limited. When the first shell 11 is in front of the second shell 12, the distal portion in this embodiment is of the same structure as the front portion 113 of the first shell 11 in the above-mentioned embodiment, and is located at the front end of the first shell 11, which is also the front end of the entire shell. When the first shell 11 is in the rear of the second shell 12, the distal portion is located at the rear of the first shell 11, which is also the rear of the entire shell. When the connecting surfaces between the distal end and the top 114 and the bottom 115 are all set to arc surfaces, the distal end (front 113), the top 114 and the bottom 115 of the first shell 11 can be more closely fitted to the roller brush body in the horizontal width direction W, thereby making the volume of the first shell 11 smaller, and the overall volume of the cleaning robot 100 more compact, and can also better highlight the presence of the roller brush in the entire body 10, emphasizing the sweeping function of the cleaning robot 100.

[0119] Furthermore, the first shell 11 also includes a proximal portion (not shown) arranged opposite to the distal portion, and the connecting surface between the proximal portion and the top, and / or the connecting surface between the proximal portion and the bottom is an arc surface. When the first shell 11 is in front of the second shell 12, the proximal portion is located at the rear end of the first shell 11. When the first shell 11 is in the rear of the second shell 12, the proximal portion is located at the front end of the first shell 11, and no matter whether the first shell 11 is in front or in the rear of the second shell 12, the proximal portion is close to the second shell 12. For the same reason, when the connecting surfaces between the proximal portion of the first shell 11 and the top and bottom are set as arc surfaces, the proximal portion, the top and the bottom of the first shell 11 can be more closely fitted to the roller brush body in the horizontal width direction W.

[0120] In one embodiment, please refer to Figure 7, an indicator 15 is provided on the top of the first shell 11 or the second shell 12, which is used to indicate the working state of the cleaning robot. It should be noted that the indicator 15 can be set as an indicator light or an indicator panel or a sound indicator, etc. The working state of the cleaning robot can be a normal working state, a standby state or a fault state (such as the cleaning robot is trapped, the dust box is full, the roller brush is entangled, etc.). For example, the indicator 15 is set as an indicator light, and the indicator light indicates the working state of the cleaning robot by changing color or flashing frequency. For example, when the indicator light is green, it indicates that the cleaning robot is in a normal working state, when the indicator light is red, it indicates that the cleaning robot is in a fault state, and when the indicator light is white, it indicates that the cleaning robot is just in a standby state. In this way, the indicator light can be used for users to observe, so that users can obtain the status of the cleaning robot in a timely and intuitive manner.

[0121] Furthermore, the first side portion 111 and the second side portion 112 are provided with luminous bodies or colored ribbons inwardly along their respective outer contours. Preferably, the colored ribbons 1111 are provided. The luminous bodies are, for example, light strips of different colors. In this way, the presence of the roller brush body in the entire body 10 is highlighted, and the sweeping function of the cleaning robot 100 is further emphasized, so that the user can get a more intuitive experience.

[0122] There is a gap 20 between the first shell 11 and the second shell 12, and a light-emitting body or a ribbon is arranged at the gap 20. Preferably, it is arranged as a light-emitting body 21. The function of the gap 20 is, first, to leave a space for the first shell 11 to move relative to the second shell 12 or the second shell 12 to move relative to the first shell 11 when colliding with an obstacle; second, to clearly divide the first shell 11 and the second shell 12, so that the first shell 11 is more eye-catching and prominent, and draws the user's attention to the sweeping function of the cleaning robot 100.

[0123] In one embodiment, the projections of the first shell 11 and the second shell 12 in the height direction H are D-shaped. The appearance of the cleaning robot 100 is usually round, square or D-shaped. When the length and volume of the roller brush body are roughly the same, the volume of the D-shaped machine is smaller than that of the square machine, and the volume of the square machine is smaller than that of the round machine. In this embodiment, the first shell 11 and the second shell 12 together form the entire shell of the cleaning robot 100. The shape of the first shell 11 matches the roller brush body, and the projection in the height direction H forms the left half of the D-shape, and the projection of the second shell 12 in the height direction H forms the right half of the D-shape.

[0124] In one embodiment, upper surfaces of the tops of the first housing 11 and the second housing 12 are located at the same horizontal plane.

[0125] The present disclosure also provides a cleaning robot 100, comprising: a body 10 having a shell; a walking structure, arranged on the body 10, for supporting and driving the body 10 to move on the surface to be cleaned; a cleaning part, comprising a roller brush body connected to the body, the roller brush body extending along the lateral width direction W of the body, and the lateral width direction W is perpendicular to the moving direction of the cleaning robot 100; the shell comprises a first shell 11 and a second shell 12 arranged along the moving direction of the cleaning robot, the first shell 11 has a first side portion 111 and a second side portion 112 arranged opposite to each other, the first side portion 111 and the second side portion 112 both extend along the longitudinal direction L of the cleaning robot, and the longitudinal direction L is parallel to the moving direction; the first shell 11 covers at least part of the roller brush body, and the outer contours of the first side portion 111 and the second side portion 112 at both ends of the longitudinal direction L are defined as a first outer contour and a second outer contour, and the first outer contour and the second outer contour are both arc-shaped.

[0126] The above-mentioned cleaning robot, since the outer contours of the first side portion 111 and the second side portion 112 at both ends in the longitudinal direction are arc-shaped, they fit more closely with the roller brush body, effectively reducing the size of the first shell 11 covering the roller brush body, thereby reducing the overall volume of the fuselage; on the other hand, the outer contours of the first shell 11 at both ends in the longitudinal direction are the same or similar to the outer shape of the roller brush body, which can better reflect that the outstanding function of the cleaning robot is sweeping the floor, so that the user can intuitively obtain the practical function of the cleaning robot; furthermore, in the process of performing cleaning tasks indoors, the cleaning robot usually encounters obstacles on the path of travel, which hinder the progress of the cleaning robot. These obstacles are generally furniture such as tables and chairs or walls. When the first side portion 111 and the second side portion 112 of the first shell collide with these obstacles, compared with the sharper right-angled edges, the arc-shaped outer edges of the first side portion 111 and the second side portion 112 that match the roller brush body cause less damage to the obstacles, and the corresponding impact force generated during the collision also causes less damage to the first side portion 111 and the second side portion 112 themselves.

[0127] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the disclosed patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the disclosed patent shall be subject to the attached claims.

[0129] In the description of the present disclosure, it needs to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0130] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0131] In the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0132] In the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0133] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

Claims

1. A cleaning robot, comprising: a fuselage having a housing; A walking structure, arranged on the body, for supporting and driving the body to move on the surface to be cleaned; A cleaning part, comprising a roller brush body connected to the body, the roller brush body extending along the lateral width direction of the body, the lateral width direction being perpendicular to the moving direction of the cleaning robot; It is characterized in that the shell includes a first shell and a second shell arranged along the longitudinal direction of the cleaning robot, the longitudinal direction is parallel to the moving direction, the height of the first shell is higher than or equal to the height of the second shell, the first shell includes a front part extending along the transverse width direction, the front part is arranged at the front end of the fuselage, and the front outer contour surface of the front part includes an arc surface extending along the entire transverse width direction.

2. The cleaning robot according to claim 1, characterized in that: The first shell also includes a top and a bottom that are relatively arranged, and the top and the bottom both extend along the horizontal width direction. The top and the bottom are both connected to the front part, and the front outer contour surface has a protruding point located at the front end of the entire shell. In the height direction, the protruding point is located between the top and the bottom, and the height direction is perpendicular to both the horizontal width direction and the longitudinal direction.

3. The cleaning robot according to claim 1, characterized in that: The front portion and the cleaning portion are located on the same side of a median line of the fuselage, and the median line is a virtual line that divides the fuselage into two halves in the longitudinal direction.

4. The cleaning robot according to claim 2, characterized in that: The first shell further comprises a first side portion and a second side portion which are arranged opposite to each other, wherein the first side portion and the second side portion extend along the longitudinal direction of the cleaning robot and are respectively connected to two ends of the front portion in the transverse direction; The outer contours of the first side portion and the second side portion at both ends of the longitudinal direction are defined as a first outer contour and a second outer contour, and the first outer contour and the second outer contour are arc-shaped.

5. The cleaning robot according to claim 4, characterized in that: The length of the top portion in the longitudinal direction is less than or equal to the length of the first side portion and the second side portion in the longitudinal direction.

6. The cleaning robot according to claim 2, characterized in that: A cleaning piece is arranged on the roller brush body. When the roller brush body rotates, the cleaning piece has a maximum rotation radius. The inner contour surface of the front portion is set as an arc surface. The arc radius of the inner contour surface is larger than the maximum rotation radius of the cleaning piece. The minimum distance between the cleaning portion and the inner contour surface is smaller than a preset distance.

7. The cleaning robot according to claim 1, characterized in that: The moving direction of the cleaning robot includes a forward direction and a backward direction. With the forward direction as a reference, the first shell is in front of the second shell. The first shell is movable relative to the second shell to buffer the impact force received by the first shell when it collides with an obstacle. The cleaning robot is also provided with a collision sensor and a controller. The collision sensor is electrically connected to the controller. When the first shell moves forward and backward and / or left and right relative to the second shell, the collision sensor is triggered and transmits a collision signal to the controller.

8. The cleaning robot according to claim 7, characterized in that: An auxiliary detection area is connected below the front outer contour surface for the obstacle to collide with.

9. The cleaning robot according to claim 8, characterized in that: The auxiliary detection area is configured as a straight surface extending downward from the front outer contour surface.

10. The cleaning robot according to claim 2, characterized in that: The cleaning robot is provided with a charging electrode, which protrudes forward from the front part in the longitudinal direction of the cleaning robot and does not exceed the protruding point.

11. The cleaning robot according to claim 2, characterized in that: The front portion is provided with an elastic protrusion protruding toward the outside of the fuselage, and in the longitudinal direction, the elastic protrusion exceeds the protruding point.

12. The cleaning robot according to claim 4, characterized in that: The roller brush body comprises a first roller brush and a second roller brush, outer contours of both ends of the first side portion and the second side portion in the height direction are parallel to the longitudinal direction, and the height direction is perpendicular to both the transverse width direction and the longitudinal direction.

13. The cleaning robot according to claim 4, characterized in that: The roller brush body includes a single roller brush, and outer contours of both ends of the first side portion and the second side portion in a height direction are arc-shaped.

14. The cleaning robot according to claim 1, characterized in that: An indication portion is provided on the top of the first shell or the second shell for indicating the working status of the cleaning robot.

15. The cleaning robot according to claim 1, characterized in that: The projections of the first shell and the second shell in the height direction of the cleaning robot form a complete D-shape, and the height direction is perpendicular to both the horizontal width direction and the longitudinal length direction.

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