Cleaning robot

Abstract

The utility model provides a cleaning robot, and relates to the technical field of cleaning. The cleaning robot includes a main body having a front end; the moving assembly is arranged on the main body and supports and drives the cleaning robot to move on the environment surface of the to-be-cleaned area; the controller is used for controlling the cleaning robot to automatically perform cleaning work on the environment surface; the dust collection assembly is arranged on the main body and is used for cleaning the environment surface; the dust collection assembly comprises a rolling brush mechanism and a sealing adjusting mechanism. The sealing adjusting mechanism can move along with the rolling brush mechanism so as to maintain the relatively stable state of the sealing adjusting mechanism and the rolling brush mechanism.

Description

[0001] This application is a divisional application of the utility model patent application with the application date of August 9, 2023, the application number of CN202322141191.0, and the utility model name of "Cleaning Robot and Cleaning System". Technical Field

[0002] The present disclosure relates to the field of cleaning technologies, and particularly to a cleaning robot. Background Art

[0003] As an intelligent household appliance, a cleaning robot cleans the surfaces to be cleaned (also known as environmental surfaces) in the indoor environment, and plays an increasingly important role in people's daily lives. Taking a floor cleaning robot as an example, its working system generally includes: a dust suction system, a traveling system, and a power supply system. In order to improve the cleaning efficiency of the cleaning robot, the improvements in related technologies mainly focus on the improvement of the body structure, the increase of the dust suction power, or the improvement of the degree of intelligence, etc. However, in the actual application scenarios of the cleaning robot, there is still a problem of low cleaning efficiency. Summary of the Invention

[0004] Based on this, in view of the above problems, it is necessary to provide a dust suction system and a cleaning robot. By improving the structure of the dust suction system, a solution is provided for strategically improving the cleaning efficiency of the cleaning robot. The following is a specific description:

[0005] In a first aspect of the present disclosure, a cleaning robot is provided. The cleaning robot includes: a main body having a front end; a moving component disposed on the main body to support and drive the cleaning robot to move on the environmental surface of the area to be cleaned; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; a dust suction component disposed on the main body to perform cleaning work on the environmental surface; the dust suction component includes a roller brush mechanism and a sealing adjustment mechanism; the sealing adjustment mechanism can move along with the roller brush mechanism to maintain a relatively stable state with respect to the roller brush mechanism.

[0006] In an optional embodiment, the roller brush mechanism includes a housing, and the sealing adjustment mechanism is disposed on the housing so that it can move along with the roller brush mechanism.

[0007] In an optional embodiment, the roller brush mechanism is configured to be floating on the main body, and the sealing adjustment mechanism can float along with the floating of the roller brush mechanism.

[0008] In an optional embodiment, the roller brush mechanism includes a roller brush assembly, and the housing includes a roller brush bracket for at least partially covering and supporting the roller brush assembly; the roller brush bracket is configured to be able to float up and down relative to the horizontal plane or the main body of the cleaning robot; the roller brush assembly is arranged on the roller brush bracket, and the roller brush assembly floats along with the floating of the roller brush bracket.

[0009] In an optional embodiment, the sealing and adjusting mechanism includes a first shielding member located at the front side of the roller brush assembly, and the first shielding member is configured to be able to float in the up-and-down direction; the first shielding member is configured to float synchronously with the roller brush bracket.

[0010] In an optional embodiment, the first shielding member is arranged on the roller brush bracket such that the first shielding member can float along with the floating of the roller brush bracket.

[0011] In an optional embodiment, the roller brush mechanism includes a roller brush assembly, and the roller brush assembly includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front and back, wherein the first roller brush is close to the front end of the main body.

[0012] In an optional embodiment, the sealing and adjusting mechanism includes a first shielding member located at the front side of the roller brush mechanism, and the first shielding member is movable such that the first shielding member has a closed state and an open state;

[0013] Wherein, when the first shielding member is in the closed state, the free end of the first shielding member is at a first distance from the hard ground, and when the first shielding member is in the open state, the distance between the free end of the first shielding member and the hard ground is greater than the first distance.

[0014] In an optional embodiment, the cleaning robot is provided with a lifting drive structure for driving the roller brush mechanism to lift; the sealing and adjusting mechanism can lift along with the lifting of the roller brush mechanism.

[0015] In an optional embodiment, the sealing and adjusting mechanism includes a first shielding member; the roller brush mechanism includes a roller brush assembly;

[0016] When the cleaning robot encounters an obstacle smaller than a preset value during the process of cleaning the hard ground, the first shielding member closes and the roller brush assembly is lifted; and / or, when the cleaning robot identifies that there is a carpet in front or identifies the carpet boundary during the process of cleaning the hard ground, the first shielding member closes and the roller brush assembly is lifted.

[0017] In an optional embodiment, the roller brush assembly includes a first roller brush and a second roller brush, which are arranged front and back, wherein the first roller brush is close to the front end of the main body; a guiding surface is defined on the outer side wall of the first shielding member, the guiding surface is inclined towards the first roller brush and is arranged at an acute angle with the horizontal plane; when the first shielding member is in the closed state, at least a part of the guiding surface is closer to the environmental surface than the roller brush bracket for supporting the roller brush assembly, so as to assist the roller brush assembly to lift up.

[0018] In an optional embodiment, the sealing and adjusting mechanism includes a first shielding member; when a large-sized garbage is recognized during the process of the cleaning robot cleaning the carpet, the first shielding member opens to clean the large-sized garbage.

[0019] In an optional embodiment, the cleaning robot includes a lifting mechanism for driving the dust suction assembly to lift, and the lifting mechanism includes a driving motor, and the driving motor is configured to drive the dust suction assembly to move up and down in the vertical direction.

[0020] In an optional embodiment, the sealing and adjusting mechanism includes a first shielding member; the first shielding member is movable, and the driving motor is further configured to drive the first shielding member to move.

[0021] The dust suction system, cleaning device and cleaning system of the present disclosure are provided with a sealing and adjusting structure on the basis of the original dust suction mechanism to adjust or stabilize the negative pressure generated at the dust suction port at least for some time periods, so as to be able to affect the action area and action intensity of the dust suction port of cleaning devices such as cleaning robots and handheld vacuum cleaners on the cleaning surface, thereby strategically improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a system block diagram of a cleaning robot as an example in an embodiment of the present disclosure;

[0023] Figure 2 It is a schematic diagram of the state of a prior art roller brush mechanism cleaning on a cleaning surface;

[0024] Figure 3 It is a schematic structural diagram of a cleaning robot provided in an embodiment of the present disclosure;

[0025] Figure 4 It is a structural diagram of a dust suction system as an example in an embodiment of the present disclosure;

[0026] Figure 5 It is a structural diagram of the dust suction system of the cleaning robot provided in an embodiment of the present disclosure;

[0027] Figure 6Schematic diagram of the cleaning state of the roller brush mechanism on the cleaning surface in an embodiment of the present disclosure;

[0028] Figure 7 Schematic diagrams corresponding to the shielding member of the sealing adjustment mechanism provided in an embodiment of the present disclosure in the first position and the second position;

[0029] Figure 8 Schematic diagrams corresponding to the shielding member of the sealing adjustment mechanism provided in another embodiment of the present disclosure in the first position and the second position;

[0030] Figure 9 Structural diagram of the dust suction system of the cleaning robot provided in another embodiment of the present disclosure;

[0031] Figure 10 Structural diagram of the dust suction system of the cleaning robot provided in another embodiment of the present disclosure;

[0032] Figure 11 For Figure 8 Schematic diagram of a preferred embodiment of the shielding member in the dust suction system in;

[0033] Figure 12 For Figure 8 Schematic diagram of a preferred embodiment of the shielding member in the dust suction system in;

[0034] Figure 13 Structural diagram of the dust suction system of the cleaning robot provided in another embodiment of the present disclosure;

[0035] Figure 14 Structural diagram of the dust suction system of the cleaning robot provided in another embodiment of the present disclosure;

[0036] Figure 15 For Figure 14 Schematic diagram of the driving principle of the traction unit in the dust suction system of;

[0037] Figure 16 Structural diagram of the dust suction system of the cleaning robot provided in another embodiment of the present disclosure;

[0038] Figure 17 For Figure 16 Schematic diagram of the position switching of the traction unit in the dust suction system in;

[0039] Figure 18 Schematic diagram of a cleaning robot provided in an embodiment of the present disclosure;

[0040] Figure 19 Schematic diagram of another cleaning robot provided in an embodiment of the present disclosure;

[0041] Figure 20Schematic diagram of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure in the closed state of the shielding member;

[0042] Figure 21 Schematic diagram of the floating structure of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure in the closed state of the shielding member;

[0043] Figure 22 Schematic diagram of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure in the open state of the shielding member;

[0044] Figure 23 Schematic diagram of the floating structure of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure in the open state of the shielding member;

[0045] Figure 24 Schematic diagram of a cleaning robot provided by the present disclosure;

[0046] Figure 25 Schematic diagram of a cleaning robot for obstacle recognition provided by the present disclosure;

[0047] Figure 26 Schematic diagram of a cleaning robot for obstacle crossing provided by the present disclosure;

[0048] Figure 27 Logic diagram of a cleaning robot provided by the present disclosure for performing a cleaning task on a hard floor;

[0049] Figure 28 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure for cleaning on a carpet;

[0050] Figure 29 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure encountering a carpet on the floor;

[0051] Figure 30 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure for cleaning on the floor and encountering a carpet;

[0052] Figure 31 Schematic diagram of the present disclosure in the open state of the shielding member;

[0053] Figure 32 Schematic diagram of the present disclosure in the closed state of the shielding member;

[0054] Figure 33 Schematic diagram of a roller brush mechanism provided by the present disclosure from the first perspective;

[0055] Figure 34A schematic diagram of a roller brush mechanism provided by the present disclosure from a third perspective;

[0056] Figure 35 A schematic diagram of a cleaning robot provided by the present disclosure;

[0057] Figure 36 Another schematic diagram of a cleaning robot provided by the present disclosure;

[0058] Figure 37 Yet another schematic diagram of a cleaning robot provided by the present disclosure;

[0059] Figure 38 Still another schematic diagram of a cleaning robot provided by the present disclosure;

[0060] Figures 39 to 40 Schematic diagrams of a dust suction assembly of the cleaning robot provided by the present disclosure when the cleaning robot is on a hard floor and a soft floor respectively;

[0061] Figures 41 to 43 Other schematic diagrams of the dust suction assembly provided by the present disclosure. Detailed implementation manners

[0062] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough and comprehensive understanding of the disclosure of the present invention.

[0063] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0064] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0066] The technical features involved in the different embodiments of the present disclosure described below can be combined with each other as long as they do not conflict with each other.

[0067] First, a brief description of the terms involved in the present disclosure:

[0068] Cleaning Efficiency (CE): If there are 100 units of dust on the surface to be cleaned and 1 unit of dust is cleaned or the dust is reduced by 1 unit after 1 pass of cleaning, the cleaning efficiency is defined as 1%.

[0069] Power: The power involved in the present disclosure refers to the rated input power of the energy-consuming devices (such as a blower, a roller brush motor, a drive motor, etc.), unless otherwise specified.

[0070] Rotation speed: The rotation speeds involved in the present disclosure are all the rotation speeds of the rotatable devices when they are loaded; for example, the rotation speed of the cleaning roller brush refers to the rotation speed when the cleaning roller brush contacts the ground to be cleaned, unless otherwise specified.

[0071] Dust raising: It means that at least part of the garbage such as dust, hair, and debris is separated or temporarily separated from the ground to be cleaned.

[0072] Beating frequency: It refers to the number of times of beating the ground to be cleaned per unit time.

[0073] The bottom of the roller brush: It refers to the space below the roller brush. Among them, when the cleaning robot is on a hard floor, the interference between the roller brush and the hard floor is negative, that is, there is a gap between the roller brush and the hard floor. At this time, the bottom of the roller brush refers to the space formed by this gap below the roller brush; when the cleaning robot is on a soft floor, the interference between the roller brush and the soft floor is positive, in other words, the roller brush sinks into the interior of the soft floor. At this time, the bottom of the roller brush refers to the interior space of the soft floor.

[0074] Beating area: It refers to the area formed by the part where the roller brush contacts the environmental surface. When the cleaning robot is on a hard floor, the interference between the roller brush and the hard floor is negative, that is, there is a gap between the roller brush and the hard floor, and the roller brush does not contact the hard floor. At this time, the beating area of the roller brush is 0. Or, when the cleaning robot is on a hard floor, the interference between the roller brush and the hard floor is 0, that is, the roller brush just contacts the hard floor. At this time, the beating area of the roller brush is a line, the line length is equal to the axial length of the roller brush, and the line width is equal to the thickness of the bristles or rubber strips contacting the hard floor. When the cleaning robot is on a soft floor, the interference between the roller brush and the soft floor is positive. In other words, the roller brush sinks into the soft floor. At this time, the roller brush contacts the soft floor and has a width, and the beating area of the roller brush is a rectangular area. The length of the rectangle is the length of the roller brush in the axial direction; the width of the rectangle is the length of the line connecting two points where the circular outer contour of the roller brush contacts the surface of the soft floor in the circumferential direction of the roller brush.

[0075] As Figures 35 to 41 shown, the present disclosure provides a cleaning robot 100, including: a main body 10 having a front end; a moving component 2 disposed on the main body to support and drive the cleaning robot to move on the environmental surface of the area to be cleaned; a controller (not shown) to control the cleaning robot to automatically perform cleaning work on the environmental surface; and a dust suction component 1 disposed on the main body to perform cleaning work on the environmental surface. Among them, the dust suction component includes a roller brush component 220 and a cavity 4 for accommodating the roller brush component.

[0076] In one embodiment, the cleaning robot may further include a sensing component 5 to detect the environment and send it to the controller 3.

[0077] The applicant has improved the dust raising effect of the cleaning robot. In order to improve the dust raising effect, in one embodiment, the roller brush component includes a first roller brush 2201 and a second roller brush 2202. The first roller brush and the second roller brush are arranged front and back, wherein the first roller brush is close to the front end of the main body;

[0078] wherein, the first roller brush beats the environmental surface to form a first beating area 100A, and the second roller brush beats the environmental surface to form a second beating area 100B.

[0079] The cleaning robot uses a double roller brush for beating. Compared with a single roller brush, the number of beating mechanisms and the beating area are increased, thereby improving the dust raising effect.

[0080] In one embodiment, to improve the dust suction effect, by improving the sealing performance of the dust suction assembly, the airflow formed by the negative pressure of the dust suction mechanism (such as the dust suction fan 24) can better flow through the places where it is needed (such as the places where the garbage is slapped up), for example, through the bottom of the roller brush assembly 220, the slapping areas (100A, 100B) formed by the slapping of the roller brush assembly, the inside of the soft ground (such as a fully carpeted floor with straight wool fibers and the thickness of the straight wool between 5 mm and 15 mm), and even the gaps in the hard ground, etc., reducing the loss of airflow flowing away from other places (such as the places where the garbage is not slapped up), so that the effective dust suction energy is increased, reducing the power or energy loss of the dust suction mechanism, thereby improving the dust suction effect.

[0081] Of course, in other embodiments, the dust suction effect can also be improved by directly increasing the suction force of the dust suction mechanism. For example, a dust suction fan with a high power (power greater than 100 W) is used.

[0082] In one embodiment, the dust suction assembly includes a first baffle 110 located in front of the roller brush assembly and a second baffle 112 located behind the roller brush assembly; both the first baffle and the second baffle have free ends close to the environmental surface.

[0083] Among them, the free end of the baffle 109 (for example, the collective name of the first baffle and the second baffle) can be the lower end face of the baffle.

[0084] In the present disclosure, the improvement of the sealing performance is achieved by the baffle. By arranging the first baffle in front of the roller brush assembly and the second baffle behind the roller brush assembly, the free ends of the first baffle and the second baffle are close to the environmental surface. The first baffle seals the front of the roller brush assembly; the second baffle seals the rear of the roller brush assembly, enabling the airflow outside the cavity to flow through the places on the environmental surface slapped by the roller brush, such as through the bottom of the roller brush or the slapping area, so as to take away the dust slapped up by the roller brush.

[0085] In one embodiment, the cleaning robot includes a dust suction fan for generating negative pressure;

[0086] When the cleaning robot is on the carpet and the free ends of the first baffle and the second baffle are in contact with the carpet, the flow rate of the airflow flowing through the inside of the carpet accounts for 70% or more of the flow rate flowing out of the dust inlet.

[0087] Among them, the flow rate of the airflow flowing out of the dust inlet can be measured at the dust inlet or on the suction side of the dust suction fan (connected to the dust inlet).

[0088] In one embodiment, the flow rate of the airflow flowing through the inside of the carpet can be obtained by measuring at the dust inlet after sealing the channel between the baffle and the roller brush or even the space between the roller brush heads.

[0089] It should be noted that the negative pressure can be used to generate an air flow for sucking garbage on the environmental surface.

[0090] In one embodiment, the free end of the baffle can be extended to be close to the bottom of the rotary brush or the flapping area formed by the rotary brush; alternatively, when the rotary brush contacts the environmental surface, the baffle is extended to a position close to the contact position of the rotary brush and the environmental surface.

[0091] In one embodiment, the degree of extension of the baffle can also be characterized by the horizontal distance between the free end of the baffle and the outer contour of the adjacent rotary brush (for example, the distance between the free end of the baffle and the point on the outer contour of the rotary brush that is at the same horizontal plane as the free end and closest to the free end).

[0092] Considering the problem of how the baffle extends, in one embodiment, the first baffle has at least an intermediate point different from the free end of the first baffle, wherein the distance between the intermediate point and the lowest position of the first rotary brush is greater than the third distance, and the line connecting the projection of the intermediate point on the horizontal plane and the free end points to the lowest position of the first rotary brush.

[0093] By setting the baffle as a non-vertically extending baffle, when the cleaning robot encounters an obstacle and needs to cross the obstacle, the baffle can also lift the rotary brush, which can play a certain role in assisting in obstacle crossing.

[0094] In one embodiment, the first baffle has a non-free end portion, where the non-free end portion refers to other parts of the baffle that are higher from the ground than the free end; the horizontal distance between the free end of the first baffle and the first rotary brush (corresponding to the first horizontal distance below) is less than or equal to the horizontal distance between the non-free end portion of the first baffle and the first rotary brush; the horizontal distance between the free end of the second baffle and the second rotary brush (corresponding to the second horizontal distance below) is less than or equal to the horizontal distance between the non-free end portion of the second baffle and the second rotary brush;

[0095] In one embodiment, the first baffle is arc-shaped and extends towards the first rotary brush; the second baffle is arc-shaped and extends towards the second rotary brush.

[0096] By setting the baffle to be arc-shaped, the baffle fits better with the shape of the rotary brush, so that the baffle can smoothly transition and extend to the rotary brush. On the one hand, the guiding of the air flow is smoother, and on the other hand, it better adapts to the obstacle-crossing scenario; among them, the first baffle smoothly extends towards the first rotary brush, and the second baffle smoothly extends towards the second rotary brush.

[0097] Of course, in other embodiments, the first baffle and the second baffle can also be set to be non-arc-shaped, such as stepped.

[0098] In one embodiment, when the first roller brush and the second roller brush rotate in opposite and facing directions, the first air flow flows from outside the cavity, under the first baffle and through the bottom of the first roller brush towards the space between the first roller brush and the second roller brush, and the second air flow flows from outside the cavity, under the second baffle and through the bottom of the second roller brush towards the space between the first roller brush and the second roller brush.

[0099] The double roller brushes use opposite-direction patting. On the one hand, by patting from two opposite and facing directions, the patting of garbage in the gaps of hard floors, between carpet fluffs or deep in the carpet can be improved, which is beneficial to improving the dust-raising effect. On the other hand, when the double roller brushes rotate, they stir the air flow, and the stirring effect is better than that of a single roller brush. Because for a single roller brush, the air flow on one side must be promoted, and the air flow on the other side cannot be effectively utilized (it cannot flow through the bottom of the roller brush but directly flows away through the channel between the roller brush bracket and the roller brush contour, resulting in loss). However, for the double roller brushes, by rotating in two opposite and facing directions, it is beneficial to promote the air flow on both sides of the roller brush assembly. For example, after the first air flow cooperates with the first roller brush (bottom or patting area), and the second air flow cooperates with the second roller brush (bottom or patting area), it promotes the first air flow and the second air flow to flow towards the space between the double roller brushes. In other words, when the first roller brush and the second roller brush rotate in opposite and facing directions, the first air flow flows from outside the cavity, under the first baffle and through the bottom of the first roller brush towards the space between the first roller brush and the second roller brush, and the second air flow flows from outside the cavity, under the second baffle and through the bottom of the second roller brush towards the space between the first roller brush and the second roller brush.

[0100] In one embodiment, the cavity has a dust inlet 14 connected to a dust suction fan;

[0101] The first roller brush rotates in a first direction, and the second roller brush rotates in a second direction, where the second direction is opposite and facing to the first direction; for example, the first direction is counterclockwise and the second direction is clockwise.

[0102] The free end of the first baffle is at a first horizontal distance from the first roller brush, forming a first inlet for air flow to enter. The first direction obstructs the air flow that flows along the space 14A between the outer contour of the first roller brush and the first baffle towards the dust inlet of the cavity through the first inlet.

[0103] The free end of the second baffle is at a second horizontal distance from the second roller brush, forming a second opening for air flow to enter. The second direction obstructs the air flow that flows along the space 14B between the outer contour of the second roller brush and the first baffle towards the dust inlet through the second opening.

[0104] Compared with a single roller brush, the agitation effect on air is higher when the two roller brushes rotate in opposite directions. In addition to promoting the air flow from the required places (for example, promoting the air flows on both sides to flow through the bottom / flapping area of the first roller brush and the second roller brush respectively and then gather and flow to the space between the two roller brushes), the rotation direction of the two roller brushes can also prevent the air flow from flowing through the places where it is not needed, such as preventing the air flow flowing through the channels between the baffle plates and the roller brushes on both sides (for example, the air flow flowing from the first inlet along the space between the outer contour of the first roller brush and the first baffle plate to the dust inlet of the cavity, and the air flow flowing from the second opening along the space between the outer contour of the second roller brush and the first baffle plate to the dust inlet of the cavity).

[0105] In one embodiment, the two roller brushes share a single roller brush motor for driving, and the power of the roller brush motor ranges from 20 to 40 W.

[0106] In this cleaning robot, the power of the roller brush motor of the two roller brushes (such as 25 - 35 W) is higher than that of the single roller brush (10 - 20 W), so that the number of beatings per unit time is increased, improving the dust-raising effect.

[0107] Considering that there are some large-sized garbage 01 (such as large particles, clumped hair) with relatively large sizes on the environmental surface (for example, the size is greater than the first distance and less than a certain threshold to distinguish from obstacles), in order to take into account the cleaning of garbage such as large particles and clumped hair (such as 5 mm - 20 mm), at least one of the first baffle plate and the second baffle plate is set to be movable.

[0108] It should be noted that when the first baffle or the second baffle is movable, the above-mentioned sealing degree and the achieved effect are achieved when the first baffle or the second baffle is in the near-ground mode. For example, when the first baffle is movable and has an open state and a closed state, the above-mentioned sealing degree can only be achieved when the first baffle is in the closed state and near the ground. For example, when the first roller brush and the second roller brush rotate in opposite and facing directions, the first air flow flows from outside the cavity, under the first baffle and through the bottom of the first roller brush to the space between the first roller brush and the second roller brush, and the second air flow flows from outside the cavity, under the second baffle and through the bottom of the second roller brush to the space between the first roller brush and the second roller brush. Or, when the first roller brush pats the environmental surface to form a first patting area and the second roller brush pats the environmental surface to form a second patting area, the first air flow flows from outside the cavity through the first patting area to the dust inlet of the cavity, and the second air flow flows from outside the cavity through the second patting area to the dust inlet. Another example is for the scenario where the cleaning robot is on a carpet with a thickness greater than a certain thickness. The free end of the second baffle is in contact with the carpet, and when the first baffle is in the closed state, the free end of the first baffle is in contact with the carpet (achieving the corresponding sealing degree), so that the first air flow flows from outside the cavity through the inside of the carpet to the dust inlet of the cavity, and the second air flow flows from outside the cavity through the inside of the carpet to the dust inlet. The ratio of the first air flow to the second air flow is greater than or equal to 0.7 and less than or equal to 1.3.

[0109] It can be understood that when the second baffle is movable, the above-mentioned sealing effect can also be achieved only when the second baffle is in the near-ground mode, and this will not be elaborated here too much.

[0110] Since the cleaning robot usually moves forward (the front end of the main body is the front), in one embodiment, the first baffle is movable to adjust the distance between the free end of the first baffle and the hard ground, so that the first baffle has an open state and a closed state;

[0111] When the first baffle is in the closed state, the free end of the first baffle is at a first distance from the hard ground. Considering factors such as the shape of the baffle, this first distance refers to the minimum distance when the first baffle is in the near-ground mode;

[0112] When the first baffle is in the open state, the free end of the first baffle is at a second distance from the hard ground. This second distance is greater than the first distance. It should be noted that considering factors such as the shape of the baffle, the second distance is the minimum distance when the first baffle is in a non-near-ground mode (such as in a far-ground mode).

[0113] By setting the first baffle as movable, the first baffle has an open state and a closed state; when the first baffle is in the closed state, the cleaning robot can clean with a high cleaning efficiency, and when the first baffle is in the open state, the cleaning robot can suck up large particles and agglomerated hairs (also known as hair clusters) in front.

[0114] That is to say, when the cleaning robot identifies agglomerated hairs, the baffle is in the open state; for example, the first baffle is movable, and when the cleaning robot identifies agglomerated hairs, the first baffle opens to clean the agglomerated hairs.

[0115] In one embodiment, the second baffle is also movable to adjust the distance between the free end of the second baffle and the hard floor, so that the second baffle has a closed state and an open state; when the second baffle is in the closed state, the distance between the free end of the second baffle and the hard floor is a second distance, and when the second baffle is in the open state, the distance between the free end of the second baffle and the hard floor is greater than the second distance. Similarly, when the second baffle is movable and it is necessary to clean large particles or agglomerated hairs near the second baffle, the second baffle opens.

[0116] It should be noted that since the second baffle is arranged at the rear end of the main body, generally, the second baffle is in the closed state to improve the sealing effect of the cavity.

[0117] In one embodiment, the dust suction assembly includes a housing, and the housing includes a first roller brush support portion that at least partially covers the first roller brush.

[0118] In one embodiment, the housing further includes a second roller brush support portion that at least partially covers the second roller brush.

[0119] In one embodiment, the housing includes a first roller brush support portion that at least partially covers the first roller brush and a second baffle that at least partially covers the second roller brush. The first roller brush support portion extends from the dust suction port along the outer contour of the first roller brush towards the end away from the environmental surface; the second baffle extends from the dust suction port along the outer contour of the second roller brush towards the end away from the environmental surface; at least one of the first roller brush support portion and the second baffle is non-circular, and the distance between the non-circular roller brush support portion in the first roller brush support portion and the second baffle and the outer contour of the roller brush varies between 1 - 4 mm.

[0120] It should be noted that the dust suction assembly has a housing, and the first baffle and the second baffle can be part of the housing or components independently provided outside the housing.

[0121] In one embodiment, a dust inlet 14 is provided in the upper part of the housing.

[0122] For example, refer to Figure 39 andFigure 40 , the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first baffle 110 is provided independently of the housing. For example, it can be provided on the first roller brush support portion 230A or on the main body of the cleaning robot. The second baffle 112 is a part of the second roller brush support portion 230B (for example, the part at the lower end of the second roller brush support portion that functions as a seal). At this time, the first baffle, the first roller brush support portion, and the second roller brush support portion enclose to form a cavity.

[0123] For another example, referring to Figure 41 , the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The second baffle 112 is provided independently of the housing. For example, it can be provided on the second roller brush support portion 230B or on the main body of the cleaning robot. The first baffle 110 is a part of the first roller brush support portion 230A (for example, the part at the lower end of the first roller brush support portion that functions as a seal). At this time, the first baffle, the first roller brush support portion, and the second roller brush support portion enclose to form a cavity.

[0124] For another example, referring to Figure 42 , the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first baffle 110 is a part of the first roller brush support portion 230A (for example, the part at the lower end of the first roller brush support portion that functions as a seal). The second baffle 112 is a part of the second roller brush support portion 230B (for example, the part at the lower end of the second roller brush support portion that functions as a seal). At this time, the first roller brush support portion and the second roller brush support portion enclose to form a cavity.

[0125] For yet another example, referring to Figure 43 , the housing includes a first roller brush support portion 230A and a second roller brush support portion 230B. The first baffle 110 is provided independently of the housing. For example, it can be provided on the first roller brush support portion 230A or on the main body of the cleaning robot. The second baffle 112 is provided independently of the housing. For example, it can be provided on the second roller brush support portion 230B or on the main body of the cleaning robot. At this time, the first baffle, the first roller brush support portion, the second roller brush support portion, and the second baffle enclose to form a cavity.

[0126] In one embodiment, the housing may further include a roller brush cover. The roller brush support and the roller brush cover are detachably connected to facilitate the maintenance of the roller brush assembly.

[0127] In one embodiment, the housing includes an upper housing (also known as the upper bracket) and a lower housing (also known as the roller brush cover, lower bracket). Among them, the upper housing and the lower housing together form a roller brush bracket. That is to say, the roller brush bracket can include a roller brush cover for covering the roller brush assembly. Further, the roller brush bracket includes a first roller brush bracket portion for at least partially covering the first roller brush and a second roller brush bracket portion for at least partially covering the second roller brush. Among them, the first roller brush bracket portion includes the front half of the upper housing and the lower housing, and the second roller brush bracket portion includes the rear half of the upper housing and the lower housing.

[0128] In one embodiment, a dust inlet 14 communicating with the suction fan may be formed on the upper housing.

[0129] In one embodiment, the first baffle is movably arranged on the first roller brush bracket portion to block the first roller brush.

[0130] By arranging the first baffle independently of the housing, it is convenient to control the first baffle, taking into account the cleaning of large particles and the airtightness of the cavity, while reducing the impact of the opening and closing of the first baffle on the entire housing structure.

[0131] It should be noted that the first baffle can be arranged on the outside of the first roller brush bracket portion or on the inside of the first roller brush bracket portion (that is to say, the first baffle can be arranged between the first roller brush and the first roller brush bracket portion).

[0132] In order to ensure sealing, avoid the problem of mutual interference of components, and make full use of the internal space of the device, the gap between the first roller brush bracket portion and the outer contour of the first roller brush is usually very small. Therefore, in one embodiment, the first baffle can be arranged on the outside of the first roller brush bracket portion.

[0133] By arranging the first baffle on the outside of the first roller brush bracket portion, it is convenient to arrange the traction mechanism for driving its movement, and at the same time, it will not interfere with the first roller brush bracket portion and the first roller brush. At the same time, it is beneficial to the extension of the lower part of the first baffle, making it easier to approach the lowest position of the first roller brush, which is beneficial to ensuring the sealing effect.

[0134] Considering that the second baffle is at the rear end of the main body and is usually in a fixed closed position to improve the sealing effect of the entire cavity, it rarely needs to be frequently opened to take into account large particles. At the same time, in order to reduce the software and hardware costs of the controller of the entire cleaning robot and simplify the operation.

[0135] In one embodiment, the second shielding member is a part of the second roller brush bracket portion to block the second roller brush; the first roller brush bracket portion and the second roller brush bracket portion enclose a cavity for accommodating the roller brush assembly.

[0136] By setting the second baffle as a part of the housing, while improving the cavity sealing performance, the control logic is simplified, which is beneficial to reducing the cost of the device.

[0137] To enable the baffle to be movable, in one embodiment, the dust suction assembly includes a traction unit disposed on the housing to drive the first baffle to switch between an open state and a closed state. Among them, the structure of the traction unit 120 can be specifically referred to the description of the traction unit below, and will not be elaborated here.

[0138] To achieve the reset of the baffle, in one embodiment, the dust suction assembly may include a reset unit. It can be understood that in one embodiment, by controlling the traction unit, the function of resetting the baffle can also be achieved without additionally setting a reset unit.

[0139] To meet the requirements of obstacle crossing, cleaning, and sealing on uneven environmental surfaces, in one embodiment, the dust suction assembly includes a housing, and the housing includes a roller brush bracket for at least partially covering and supporting the roller brush assembly, and the roller brush bracket is configured to be able to float up and down relative to the horizontal plane or the main body of the cleaning robot;

[0140] The roller brush assembly is disposed on the roller brush bracket, and the roller brush assembly floats along with the floating of the roller brush bracket.

[0141] To better ensure the sealing effect, in one embodiment, the baffle can also be set to be floating, so that the baffle can maintain a relatively stable state with the corresponding roller brush

[0142] For example, the first baffle is configured to be able to float in the up and down direction.

[0143] Among them, the first baffle can also float up and down relative to the horizontal plane or the main body of the cleaning robot, so that the first baffle maintains a relatively stable state with the first roller brush, ensuring the sealing effect of the cavity.

[0144] Another example, the second baffle is configured to be able to float in the up and down direction.

[0145] Among them, the second baffle can also float up and down relative to the horizontal plane or the main body of the cleaning robot, so that the second baffle maintains a relatively stable state with the second roller brush, ensuring the sealing effect of the cavity.

[0146] Since the second baffle is usually a part of the roller brush bracket, the roller brush bracket and the roller brush assembly float synchronously. Therefore, the second baffle and the second roller brush can always maintain a relatively stable state.

[0147] The first baffle is usually independently arranged. Therefore, in one embodiment, the first baffle is configured to float synchronously with the brush roller bracket, so as to maintain a relatively stable state between the first baffle and the first brush roller.

[0148] In order to achieve the purpose of synchronous floating, while being simple and easy to implement without increasing costs, in one embodiment, the first baffle is arranged on the brush roller bracket, so that the first baffle can float with the floating of the brush roller bracket like the brush roller assembly, thereby achieving the purpose of maintaining a relatively stable state between the first baffle and the first brush roller.

[0149] Considering that various components are arranged on the dust suction assembly, such as components for driving (such as motors) and components for transmission (such as transmission mechanisms), in one embodiment, the dust suction assembly includes a baffle driving assembly for driving the first baffle and a brush roller driving assembly for driving the rotation of the brush roller assembly. The baffle driving assembly and the brush roller driving assembly are both arranged on the brush roller bracket, so that the baffle driving assembly and the brush roller driving assembly both float with the floating of the brush roller bracket.

[0150] Among them, the baffle driving assembly includes a baffle driving motor and a first transmission component connected to the driving motor;

[0151] The brush roller driving assembly includes a brush roller driving motor and a second transmission component connected to the brush roller driving motor;

[0152] The above-mentioned first and second transmission components can both adopt, for example, a gear-rack transmission structure, a cam transmission structure or other mechanical transmission structures, and the present disclosure does not limit this.

[0153] Of course, considering whether the baffle is in place or not, in one embodiment, the dust suction assembly can also be provided with a position detection device to realize the position detection of the baffle. For details, reference can be made to the following description, and no more elaboration will be made here.

[0154] It should be noted that the position detection device can also be arranged on the brush roller bracket, so that the position detection device floats with the floating of the brush roller bracket.

[0155] In order to seal and adapt to various different scenarios, such as obstacle crossing and cleaning of different environmental surfaces, in one embodiment, all components of the dust suction assembly can float synchronously together, and the structure is simple.

[0156] In order to facilitate the disassembly and maintenance of the brush roller, in one embodiment, the housing includes a brush roller cover.

[0157] Considering how to set the baffle, especially the movable first baffle, in one embodiment, the roller brush cover has connecting portions connected to the roller brush bracket (which can be narrowly understood as the upper bracket here), and there are two such connecting portions; along the direction parallel to the rotation axis, the two connecting portions are respectively arranged on both sides of the first baffle;

[0158] By arranging the connecting portions of the roller brush cover and the roller brush bracket on both sides of the first baffle, the movement or floating of the first baffle is not affected, and at the same time, the first baffle does not affect the maintenance of the roller brush assembly.

[0159] It should be noted that the movement is active, for example, achieved by the controller or manually through the traction unit; while the floating is passive, only a floating space is required.

[0160] In order to guide the movable baffle and prevent the baffle from being stuck by dust during movement; taking the first baffle as an example of being movable, in one embodiment, there are ribs arranged between the first baffle and the first roller brush bracket portion, and the ribs are used to guide the baffle to move along the first roller brush bracket portion. In one embodiment, there can be multiple ribs, and a space for accommodating dust can be formed between adjacent ribs.

[0161] In order to prevent the air flow from flowing away through the gap between the roller brush bracket portion and the baffle, improve the sealing effect, and achieve better cleaning efficiency. Taking the first baffle as an example of being movable, in one embodiment, along the length direction of the roller brush assembly, a sealing strip is provided between the first baffle and the first roller brush bracket portion. The above can be specifically referred to the description of the dust - accommodating space below.

[0162] Considering the scenario of roller brush lifting, a lifting drive structure needs to be set. In order to reduce costs, in one embodiment, the baffle drive motor and the roller brush lifting motor share one motor. Taking the first baffle as an example of being movable, in one embodiment, the cleaning robot includes a lifting mechanism for driving the dust - collecting component to lift, the lifting mechanism includes the drive motor 1291, and the drive motor is further configured to drive the dust - collecting component to move up and down in the vertical direction. For details, refer to the following text.

[0163] In order to make the structure of the dust - collecting component more compact, in one embodiment, the first baffle can rotate and move to adjust the height of the free end of the first baffle relative to the environmental surface, and the rotation axis of the first baffle does not overlap with the rotation axis of at least one of the first roller brush and the second roller brush.

[0164] To achieve the intelligence of the cleaning robot and realize intelligent sealing, taking the real-time detection and intelligent control of the movable first baffle as an example, in one embodiment, the cleaning robot includes a ground type detection device for detecting the ground type; the controller is configured to control the first baffle to open when the detection device detects that the ground type is a hard ground; when it detects that the ground type is a soft ground, control the first baffle to close. Further, the cleaning robot includes an environment detection device for detecting the type of foreign matter; when the cleaning robot performs cleaning work on a soft ground, the controller is at least configured to control the first baffle to switch from the closed state to the open state when the environment detection device identifies that the type of foreign matter is garbage whose size meets a preset condition.

[0165] To reduce the hardware cost of real-time detection, taking the real-time detection and sealing of the movable first baffle as an example, in one embodiment, the cleaning robot has a deep cleaning mode and a regular cleaning mode. Further, in the deep cleaning mode, the first baffle is in the closed state; in the regular cleaning mode, the first baffle is in the open state.

[0166] To achieve the auxiliary obstacle crossing of the baffle, especially the first baffle located at the front end, in one embodiment, a guiding surface is defined on the outer side wall of the first baffle, the guiding surface is inclined towards the first rolling brush and is arranged at an acute angle with the horizontal plane; when the first baffle is in the closed state, at least part of the guiding surface is closer to the environmental surface relative to the brush holder.

[0167] It can be understood that when the first baffle is movably arranged on the first rolling brush support part, in order to lift the rolling brush assembly when the first baffle achieves auxiliary obstacle crossing, the distance between the free end of the first baffle in the closed state and the cleaning surface is less than the distance between the lowest position of the first rolling brush support part and the cleaning surface.

[0168] Further, in the scenario of intelligent sealing, the cleaning robot includes an environment detection device for detecting obstacles in the environment; when the environment detection device identifies an obstacle whose size meets a preset condition, the controller controls the first baffle to close.

[0169] In one embodiment, the cleaning robot includes a blower, and the power of the blower is greater than or equal to 60W.

[0170] Since the sealing effect is improved, a blower with a medium power, such as 60W - 80W, can be used to achieve better cleaning efficiency, without the need to use a high-power blower with a power of at least greater than or equal to 100W to improve the cleaning effect without improving the sealing performance, saving costs, while reducing the power supply capacity requirements of the power supply device and being beneficial to the miniaturization of the machine.

[0171] It should be noted that all of the above technologies can be applied to other cleaning devices such as handheld vacuum cleaners, especially DC (direct current) handheld vacuum cleaners, and the present disclosure will not elaborate on this too much.

[0172] For the sake of easy understanding, hereinafter, a first baffle (hereinafter described as a shielding member) is movably disposed on the first roller brush support portion to shield the first roller brush; the second baffle is a part of the second roller brush support portion to shield the second roller brush; the first baffle, the first roller brush support portion and the second roller brush support portion surround and form a cavity for accommodating the roller brush assembly. Taking this as an example, the cleaning robot with movable sealing provided by the present disclosure will be described in conjunction with the accompanying drawings as Figure 3 and Figure 9 As shown, the dust suction system (corresponding to the dust suction assembly) of the cleaning robot 100 is disposed on the main body 10. The dust suction system includes a roller brush mechanism, a sealing adjustment mechanism 11 (an active sealing structure including a first baffle and a traction unit), a fan (corresponding to the dust suction fan), and an air duct 240. Among them, the roller brush mechanism includes a housing 210 and a roller brush assembly 220. The roller brush assembly 220 is disposed in the housing 210, and a dust suction port 12 allowing the roller brush assembly 220 to contact the ground is provided on the housing. One end of the air duct 240 is located above the dust suction port and is connected to the housing 210; the other end of the air duct 240 is provided with a fan, and the garbage at the dust suction port is conveyed to the dust collection box through the air duct 240 under the suction force generated by the fan.

[0173] In the embodiment of the present disclosure, the dust suction port is as Figure 18 and Figure 19 shown, for exposing the roller brush assembly 220, and the roller brush assembly 220 can contact the ground through the dust suction port 12. In this example, the dust suction port 12 is set to be rectangular. In other embodiments, the structure of the dust suction port is not limited to rectangular, and can also be other shapes. During the cleaning process of the cleaning robot, the dust suction port contacts the ground. When the roller brush assembly rotates, it pats the cleaning surface to separate foreign objects from the cleaning surface. The fan rotates to generate negative pressure inside and outside the dust suction port. Under the action of the negative pressure, external air flow can flow into the dust suction port through the rectangular edge of the dust suction port to suck foreign objects, realizing the cleaning of the ground.

[0174] In the embodiment of the present disclosure, the cleaning robot 100 at least includes a dust suction system for cleaning the surface to be cleaned. In addition, the cleaning robot 100 can also be configured with functional components for performing functions such as mopping or floor washing.

[0175] In one embodiment, as Figure 4 and Figure 5As shown, the dust suction system 1 of the cleaning robot 100 includes a roller brush mechanism and a sealing adjustment mechanism 11. Among them, the roller brush mechanism includes a housing 210 and a roller brush assembly 220. The roller brush assembly 220 is disposed inside the housing 210. A dust suction port allowing the roller brush assembly 220 to contact the surface to be cleaned is formed on the housing 210. When the roller brush assembly rotates, it pats the cleaning surface to separate foreign objects from the cleaning surface, and the foreign objects are sucked into the dust collection box through the dust suction port under the action of negative pressure; the sealing adjustment mechanism 11 is disposed on the housing. During the cleaning process of the cleaning robot, the sealing adjustment mechanism 11 adjusts or stabilizes the negative pressure generated at the dust suction port at least during some periods.

[0176] In one embodiment, the sealing adjustment mechanism 11 adjusts or stabilizes the negative pressure generated at the dust suction port at least during some periods, which at least includes stabilizing and adjusting the flow path of the air flow formed at the dust suction port, and adjusting and stabilizing the carrying capacity of the air flow at the dust suction port for foreign objects.

[0177] In one embodiment, please refer to Figure 5 , the sealing adjustment mechanism 11 includes a shielding member 110 (corresponding to the first baffle), and the relative position of the shielding member 110 and the housing is fixed. During the cleaning task execution of the cleaning robot 100, the sealing adjustment mechanism 11 forms a closed surface of the air flow path on the front side in the traveling direction of the cleaning robot. This closed surface is located at the front part of the housing on one side in the traveling direction of the cleaning robot 100 and plays a role in adjusting the air flow path of the dust suction port. Specifically, referring to Figure 6 , the figure shows a schematic diagram of the cooperation state of the shielding member 110 and the housing in the traveling direction of cleaning equipment such as a robot, which is used to assist in explaining the process of the sealing and shielding mechanism adjusting or stabilizing the negative pressure generated at the dust suction port. As Figure 6 shown, the sealing adjustment mechanism 11 forms a closed surface of the air flow path on the front side in the traveling direction of the cleaning robot. Specifically, the end of the shielding member facing the ground floats on the carpet or maintains a very small gap, so as to block the air flow to a certain extent, making the air flow circulate more between the roller brush and the cleaning surface, and enhancing the ability to suck foreign objects on the carpet. On the other hand, the shielding member forms a closed surface of the air flow path on the front side in the traveling direction of the cleaning robot and maintains a small gap with the carpet surface, increasing the sealing performance inside and outside the dust suction port, which is beneficial to increasing and maintaining the pressure difference inside and outside the dust suction port, and further improving the foreign object suction ability of the dust suction system.

[0178] In one embodiment, on one side of the traveling direction of the robot, tooth-shaped protrusions 2301 may be arranged at intervals on the housing 210, and an air flow channel is formed between the tooth-shaped protrusions 2301. The shielding member 110 is arranged in front of the tooth-shaped protrusions 2301 and can close the gaps between the tooth-shaped protrusions 2301 during the traveling process of the cleaning robot 100, thereby forming a closed surface. When the cleaning robot 100 is cleaning on a soft floor such as a carpet, the closing effect of the shielding member 110 blocks the air flow path of the dust suction port in the traveling direction of the cleaning robot 100, so that the air flow can be concentrated to pass through the contact surface between the roller brush and the carpet, thereby improving the dust suction ability of the dust suction port for the garbage on the cleaning surface. In some other embodiments, the tooth-shaped protrusions 2301 may not be provided, and the same method as the above-mentioned shielding member 110 can still be used to increase the negative pressure in the coverage area of the dust suction port, thereby improving the dust suction ability of the dust suction port for the garbage on the cleaning surface.

[0179] In one embodiment, the housing 210 is configured as a detachable component, and a dust suction port is provided at the detachable part. Preferably, as Figure 9 shown, the housing 210 includes a snap-connected roller brush bracket 230, and the roller brush bracket 230 is a detachable part of the housing 210, which is convenient for users to disassemble and assemble the roller brush.

[0180] In a preferred embodiment, the roller brush bracket 230 is provided with tooth-shaped protrusions.

[0181] As an alternative embodiment, the shielding member 110 can be made of materials such as plastic, rubber or silica gel. The shape of the shielding member 110 can be plate-shaped, strip-shaped or ribbon-shaped, etc. Further, the shielding member 110 can be arranged on the roller brush bracket, and fill the gap in the form of tooth-to-tooth between the two, as Figure 5 shown. The shielding member 110 and the tooth-shaped protrusions on the roller brush bracket jointly form a closed surface in the traveling direction of the cleaning robot 100. Or, the shielding member 110 directly blocks the outside or inside of the roller brush bracket facing the traveling direction of the cleaning robot 100, and shields the gaps between the tooth-shaped protrusions 2301 through a continuous surface to achieve the closing effect, as Figure 6 shown. In this embodiment, the tooth-shaped protrusions 2301 can be flat teeth as Figure 5 shown, or can be pointed teeth as Figure 7 shown. The pointed teeth can play a guiding role for the foreign objects entering the gap and increase its passing rate. Further, the roller brush bracket and the shielding member 110 can be assembled by means of gluing or snap connection. Preferably, the shielding member 110 and the roller brush bracket are integrally formed. In the embodiments of the present disclosure, the material, shape, installation method, positioning and limiting between the shielding member and the roller brush are not specifically limited, and those skilled in the art can make adaptive adjustments according to the specific structural form of the product.

[0182] The shielding member 110 can also form a closed surface in front of or behind the tooth-shaped protrusions, or form a closed surface by filling the gaps between the tooth-shaped protrusions through notch matching.

[0183] In one embodiment, the shielding member 110 has a certain elasticity. Therefore, the shielding member 110 has self-adjusting ability in some scenarios. For example, when it collides with an obstacle, it can deform due to the extrusion with the obstacle and return to the state before the collision when the collision is released to avoid damage; or, when it touches a large-sized foreign object, it can adapt to the extrusion of the foreign object and deform to improve the passing rate when the foreign object gathers towards the dust suction port; and it automatically returns to the previous state when the extrusion of the foreign object is released. Preferably, the shielding member 110 is made of rubber, and its hardness range is between 60HA and 80HA.

[0184] In some other embodiments, the hardness of the shielding member 110 can also be increased to keep a more stable shape during the dust suction process. For example, a material with a hardness greater than 80HA can be selected to manufacture the shielding member 110 or hard plastic can be used.

[0185] It should be noted that in the operation of improving the suction ability of the garbage on the cleaning surface through the closing effect of the shielding member 110, the hardness parameter of the shielding member 110 and the stability of its shape are parameters that need to be balanced. When the hardness is large, the shielding member 110 can withstand a greater negative pressure to maintain the stability of its own shape. When the hardness is low, the self-adjusting ability of the shielding member 110 is enhanced, and it can deform in some scenarios to allow the garbage to gather near the dust suction port through the gaps between the tooth-shaped protrusions, which also helps to improve the garbage suction ability.

[0186] In order to improve the cleaning efficiency of the cleaning robot 100 on soft floors such as carpets, the inventors of the present disclosure pointed out that the shielding member 110 should be able to maintain a basic closing effect when cleaning on the carpet. This at least includes maintaining a basically stable shape of the closed surface under the action of the negative pressure of the dust suction port. Thus, the present disclosure further provides alternative embodiments.

[0187] In one embodiment, at least a guiding or supporting structure is provided between the tooth-shaped protrusions 2301 and the shielding member 110, and the shielding member 110 maintains a basically stable shape of the closed surface through its own deformation property or the limitation of one of the guiding structure and the supporting structure under the action of the negative pressure.

[0188] It should be understood that in order to maintain a basically stable shape of the closed surface, adding a limiting structure can reduce the requirement for the hardness of the shielding member 110 itself, and even flexible plastic can be used.

[0189] In one embodiment, the shielding member 110 maintains a basically stable shape of the closed surface through its own material property. Preferably, its hardness range is between 70HA and 80HA.

[0190] Further, as a preferred embodiment, after the shielding member 110 is assembled, the distance from the end facing the cleaning surface to the ground is less than or equal to 2 mm. It is found in the experiment that when cleaning the carpet, the edge of the shielding member 110 within this distance range can contact the carpet surface to form a substantially stable fitting surface, so as to improve the sealing between the suction port and the carpet during the cleaning process, generate a stable and larger pressure difference inside and outside the suction port, and thus obtain better carpet suction performance. It should also be noted that when the gap between the suction port and the ground is too small, the resistance to the ground will increase, affecting the performance of the walking system, and further affecting the cleaning performance of the cleaning robot.

[0191] The distance from the end of the shielding member 110 facing the cleaning surface to the ground is affected by different factors, such as the material of the soft ground, the hardness of the soft ground, the hair length of the carpet, etc. In some other embodiments, it can also be adjusted within a larger range, for example, the distance from the end of the shielding member 110 facing the cleaning surface is set to be between 0 and 5 mm.

[0192] In the above embodiments, it is described that by the shielding member 110 of the sealing adjustment mechanism 11 forming a closed surface in the direction of the cleaning robot 100, the internal and external negative pressures during suction of the suction port can be increased, the flow path of the airflow generated by the negative pressure at the suction port can be adjusted, and the substantially stable negative pressure of the suction port can be maintained, thereby helping to improve the garbage suction ability when cleaning soft floors such as carpets.

[0193] It can be understood that the sealing adjustment mechanism 11 in the above embodiments can act on the suction port at least during the cleaning process of soft floors such as carpets. This solution can be combined and optimized with other factors related to the dust generation ability and suction ability introduced above as one of the ways to improve the cleaning efficiency of the cleaning robot 100, and then applied to the cleaning robot 100 to improve the garbage suction ability of the cleaning robot 100 when cleaning soft floors such as carpets, so that the cleaning robot 100 can adapt to the cleaning requirements of different scenarios.

[0194] In a preferred embodiment, the roller brush mechanism is arranged at the front part of the main body 10, as Figure 18 and Figure 19 shown, the cleaning robot 100 can more conveniently clean the cleaning surface and the corner positions of the cleaning surface, thereby improving the cleaning effect of the cleaning robot. At the same time, arranging the roller brush mechanism at the front end of the main body also enables the cleaning device to first clean the area in front of the walking direction of the cleaning robot, thereby reducing the possibility of secondary pollution of the cleaning surface by the walking system 2, and further obtaining a better cleaning effect.

[0195] In a preferred embodiment, the roller brush mechanism is arranged at the front part of the main body, and the main body is configured as a D shape, as Figure 18and Figure 19 As shown. It should be understood that the rotary brush mechanism located at the front of the D-shaped machine means that the rotary brush mechanism is at the front of the main body along the traveling direction of the cleaning robot 100, and the rotary brush mechanism can be configured to cover the maximum length along the traveling direction on the D-shaped main body.

[0196] In a preferred embodiment, the rotary brush mechanism is arranged at the front of the main body, and the main body is configured as a D shape. The shielding member 110 of the sealing and adjusting mechanism 11 forms a closed surface in the direction of the cleaning robot 100. The sealing and adjusting mechanism 11 and the rotary brush mechanism can act on the dust suction port at least during the cleaning process of soft floors such as carpets.

[0197] In this embodiment, the dust raising ability of the dust suction system 1 can be further improved by enhancing the beating ability of the rotary brush assembly 220 on the cleaning surface. For example, the rotary brush assembly 220 is switched from a single rotary brush to a double rotary brush (as Figure 18 and Figure 19 shown), increasing the material of the brush body on the rotary brush, the beating direction and the installation position, etc. The specific settings can refer to any feasible implementation manner of the above-mentioned dust raising ability, and will not be repeated in this embodiment.

[0198] Based on the above embodiments, the sealing and adjusting mechanism 11 in the embodiments of the present disclosure is configured to switch or move between two preset positions on the housing.

[0199] In one of the embodiments, the sealing and adjusting mechanism 11 includes a shielding member, a traction unit and a reset unit. The traction unit is arranged on the housing, and the traction unit is configured to drive the shielding member to switch or move between a first position and a second position on the housing.

[0200] Specifically, in one embodiment, adjusting the movement of the shielding member between the first position and the second position can realize the adjustment of the opening size of the shielding member relative to the ground. The larger the opening of the shielding member on the housing relative to the ground, the higher the passing rate of foreign objects at the dust suction port; the smaller the opening of the shielding member on the housing relative to the ground, the lower the passing rate of foreign objects at the dust suction port, but it can effectively increase the pressure difference of the negative pressure formed at the dust suction port, which helps to improve and stabilize the carrying ability of the airflow at the dust suction port for foreign objects. The adjustment of the opening size of the shielding member relative to the ground can also be specifically controlled according to the type and amount of garbage. For example, according to the ground type, the corresponding opening size when cleaning carpets is set smaller than the corresponding opening size when cleaning hard floors; according to the garbage size, the opening size when sucking large-size or piled-up garbage is set larger than the corresponding opening size when sucking small-size garbage; or it can be adjusted according to a person's instruction (for example, APP remote control). When performing fixed-point cleaning / or when a large amount of garbage needs to be sucked, corresponding instruction controls can be set to adjust the opening size.

[0201] In one embodiment, when the shielding member is in the first position of the housing, the distance H2 from the end of the shielding member facing the ground to the ground is greater than the distance H1 from the end of the shielding member facing the ground to the ground when the shielding member is in the second position of the housing.

[0202] In one embodiment, as Figure 12 shown, when the shielding member is in the second position, the distance L between its end and the tangent of the closest roller brush to the cleaning surface is less than or equal to half of the outer contour radius R of the roller brush. In particular, the value of the distance L not only affects the bending degree of the closed surface formed when the shielding member is in the second position, but also affects whether the foreign objects slapped up by the roller brush can be sucked away along the shortest possible path. The smaller the distance L, the shorter the air flow path, and the more timely the air flow passing through the roller brush and the cleaning surface can suck the foreign objects into the air duct, improving the foreign object suction ability; on the other hand, the smaller the distance L, the greater the bending degree of the closed surface, which can weaken the obstruction to the air flow.

[0203] In one embodiment, the shielding member is one of plastic, rubber or non-woven fabric.

[0204] In one embodiment, the reset unit is one of a torsion spring or a compression spring.

[0205] In one embodiment, the traction unit includes a link drive structure or a hinge drive structure.

[0206] In one embodiment, the sealing adjustment mechanism 11 of the vacuuming system 1 is further configured to be able to switch its shielding member 110 between the first position and the second position; when the shielding member 110 is in the first position, the shielding member 110 avoids the air flow path of the suction port in the traveling direction of the cleaning robot 100; when the shielding member 110 is in the second position, the shielding member 110 acts at least for some time periods to adjust the air flow path in the traveling direction of the cleaning robot 100 or the pressure difference inside and outside the suction port, improving the foreign object suction ability of the suction port.

[0207] Preferably, the shielding member can be freely switched bidirectionally to any position between the first position and the second position.

[0208] In one embodiment, the sealing adjustment mechanism 11 is provided on the main body 10.

[0209] In one embodiment, the roller brush mechanism is configured to be floating on the main body 10. Specifically, during the cleaning process of the cleaning robot, it can move up and down within a preset space of the main body to move away from or close to the ground.

[0210] Further, the sealing and adjusting mechanism 11 can be disposed on the housing or on the main body. When the roller brush mechanism is configured to be floating on the main body 10, preferably, the sealing and adjusting mechanism 11 is disposed on the housing 210 so that it can move with the roller brush mechanism and maintain a relatively stable state relative to the roller brush mechanism.

[0211] As mentioned above, Figure 6 FIG. shows a schematic diagram of the state where the shielding member 110 cooperates with the housing 210 in the traveling direction of the robot, which is used to assist in explaining the process of adjusting or stabilizing the negative pressure generated at the dust suction port by the sealing and adjusting mechanism. When the shielding member is in the second position, the sealing and adjusting mechanism 11 is on the front side in the traveling direction of the cleaning robot, forming a closed surface of the air flow path. Specifically, the end of the shielding member facing the ground floats on the carpet or maintains a very small gap, so as to block the air flow to a certain extent, so that more air flow circulates between the roller brush and the cleaning surface, enhancing the ability to suck foreign objects on the carpet. On the other hand, the shielding member forms a closed surface of the air flow path on the front side in the traveling direction of the cleaning robot and maintains a small gap with the carpet surface, increasing the sealing performance inside and outside the dust suction port, which is beneficial to increasing and maintaining the pressure difference inside and outside the dust suction port, and thus can further improve the foreign object suction ability of the dust suction system. When the shielding member is in the first position, on one side in the traveling direction of the robot, the air flow generated by the negative pressure mostly flows into the air duct from the side facing the traveling direction of the robot and the adjacent side of the dust suction port, and the relatively large gap between the dust suction port and the cleaning surface is beneficial to large particles of foreign objects entering the dust suction port. Therefore, it helps to improve the passing rate of large particles of foreign objects on the hard ground.

[0212] It should be noted that when the cleaning robot 100 cleans the soft ground, the shielding member 110 of the sealing and adjusting mechanism 11 can be set in the second position, and the shielding member 110 forms a closed surface in the direction of the cleaning robot 100 to improve the dust suction ability. When the cleaning robot 100 cleans the hard ground, the shielding member 110 of the sealing and adjusting mechanism 11 can be set in the first position, and the shielding member 110 avoids the air flow path to allow large particles of garbage on the hard ground to gather towards the dust suction port. Thus, when the shielding member 110 is in the first position, the ability of the cleaning robot 100 to gather garbage on the hard ground can be improved, especially suitable for cleaning large particles of garbage on the hard ground.

[0213] In a specific embodiment, the working principle of the shielding member 110 is achieved by controlling the position of the shielding member 110 and controlling when the shielding member 110 closes the air flow path in the traveling direction of the cleaning robot 100.

[0214] It can be understood that the control system of the cleaning robot 100 can be configured to send control instructions to the dust suction system 1, so as to control how and when the shielding member 110 of the sealing adjustment mechanism 11 switches positions. To implement this process, it also involves other necessary settings for the control system of the cleaning robot 100 to transmit relevant control instructions and for the sealing adjustment mechanism 11 to execute the instructions. This part of the content is not the main inventive content of the present disclosure, and those skilled in the art can know the relevant technologies to enable its implementation, so it will not be elaborated in the present disclosure. The following further provides examples of feasible implementation manners of the dust suction system 1 for facilitating the understanding of the main technical content of the present disclosure.

[0215] In a specific embodiment, on one side facing the traveling direction of the robot, tooth-shaped protrusions 2301 are arranged at intervals; the air flow passage includes an air flow path formed by the gaps between adjacent tooth-shaped protrusions 2301.

[0216] In a specific embodiment, the sealing adjustment mechanism 11 includes a shielding member 110, and the sealing adjustment mechanism 11 is configured to be able to switch the shielding member 110 between a first position and a second position; when the shielding member 110 is in the first position, the shielding member 110 avoids the air flow passage; when the shielding member 110 is in the second position, the shielding member 110 at least partially shields the air flow passage.

[0217] In an exemplary application, as Figure 9 shown, when the shielding member 110 is in the second position, the distance H1 from the end of the shielding member 110 facing the ground to the ground is less than 2 mm. When the shielding member 110 is in the first position, the distance H2 from the end of the shielding member 110 facing the ground to the ground is between 6 mm and 9 mm. It should be noted that when the shielding member 110 is in the first position, the distance H2 from the end of the shielding member 110 facing the ground to the ground can be adjusted based on factors such as the height of the housing 210, the size of the tooth-shaped protrusions, and the air flow passage. In some other embodiments, the distance H2 from the end of the shielding member 110 facing the ground to the ground can also be set to be between 4 mm and 12 mm.

[0218] In the embodiments of the present disclosure, the adjustment of the position of the shielding member can correspond to the change in the opening area or the ground clearance in the traveling direction of the robot. No matter which method is used, the shielding member is used to form a closed surface to adjust the air flow path, the negative pressure difference, and the negative pressure stability in the dust suction port.

[0219] In a specific embodiment, please refer to Figure 9, the sealing adjustment mechanism 11 includes a traction unit 120 configured to drive the shielding member 110 to switch between a first position and a second position. The traction unit 120, as the actuator for the above control instructions, can drive the shielding member 110 to switch between the first position and the second position and stop at the first position or the second position as required.

[0220] In a specific embodiment, the traction unit 120 includes a winch 121, a rope 122 and a torsion spring. One end of the rope 122 is fixed by the winch 121, and the other end is connected to the shielding member 110. Please refer to Figure 13 , in the figure, the winch 121 includes an electric drive rotating shaft, and a first mounting portion 1101 for connecting with the rope 122 is provided on the shielding member 110. When the electric drive rotating shaft rotates, the rope 122 is driven by the electric drive rotating shaft, so that the pulling force can be transmitted to the shielding member 110. Specifically, it can be set that when the electric drive rotating shaft rotates in the first direction, it tightens and pulls the shielding member 110 to the first position. On the contrary, when the electric drive rotating shaft rotates in the direction opposite to the first direction, the rope 122 elongates and the shielding member 110 is displaced to the second position. In order to realize the stable switching state of the shielding member 110 between the first position and the second position, the traction unit 120 is also provided with a torsion spring, and a second mounting portion 2101 is also provided on the housing 210. As Figure 13 shown, the rope 122 is connected to the shielding member 110 after passing through the second mounting portion 2101; the torsion spring is positioned on the housing 210, and the shielding member 110 includes a limiting structure for the torsion spring. Based on the structure shown in the figure, it can be understood that during the process of the rope 122 tightening and pulling up the shielding member 110, the second limiting portion can play a role in limiting and guiding the rope 122, and the torsion spring can form a reverse acting force on the shielding member 110, playing a role in limiting and damping. Therefore, when it is necessary to switch the shielding member 110 from the second position to the first position, it is set that the pulling force of the rope 122 is greater than the damping acting force of the torsion spring on the shielding member 110, and the shielding member 110 can move to the first position and can be maintained at the first position. When it is necessary to switch the shielding member 110 from the first position to the second position, the rope 122 elongates, and the reverse acting force of the torsion spring itself is transmitted to the shielding member 110 through the limiting structure, so that the shielding member 110 can be pushed from the first position to the second position. Further, by adjusting the elongation of the rope 122, the shielding member 110 can be maintained at any position between the first position and the second position.

[0221] In another embodiment, the traction unit 120 includes a winch 121, a rope 122 and a compression spring 123. Different from the above embodiment, in this example, the compression spring 123 is used to replace the torsion spring to realize the limiting and damping effects on the shielding member 110. As Figure 14As shown, one end of the compression spring 123 is fixedly connected to the shielding member 110, and the other end of the compression spring 123 abuts against the first support portion 2102 provided on the housing 210. When it is necessary to switch the shielding member 110 from the first position to the second position, the rope 122 elongates, and the compression spring 123 transmits the elastic force to the shielding member 110 under the support of the first support portion 2102, so that the shielding member 110 can be pushed from the first position to the second position. When it is necessary to switch the shielding member 110 from the second position to the first position, it is set that the pulling force of the rope 122 is greater than the damping force of the compression spring 123 on the shielding member 110, and the shielding member 110 can move to the first position and can be held in the first position. For the specific process, reference can be made to Figure 15 the schematic diagram of the driving principle of the traction unit 120 shown in the figure. As shown in the figure, a second support portion 2103 can also be provided on the housing 210, and the second support portion 2103 is used for the limiting and guiding of the rope 122.

[0222] In another embodiment, the traction unit 120 adopts a link driving method to realize the switching of the position of the shielding member 110. Specifically, as Figure 16 shown, the traction unit 120 includes an electric drive rotating shaft, a cam 126 and a link 125. One end of the link 125 is connected to the electric drive rotating shaft through the cam 126, and the other end of the link 125 is fixedly connected to the shielding member 110. When the electric drive rotating shaft rotates, the driving direction of the link 125 is adjusted through the cam 126, thereby driving the displacement of the shielding member 110. When it is necessary to switch the shielding member 110 from the first position to the second position, the electric drive rotating shaft rotates to drive the link 125 to drive the shielding member 110 to displace from the first position to the second position. When it is necessary to switch the shielding member 110 from the second position to the first position, the electric drive rotating shaft rotates in the reverse direction, driving the shielding member 110 to displace from the second position to the first position. For the specific process, reference can be made to Figure 17 the schematic diagram of the driving principle of the traction unit 120 shown in the figure.

[0223] The preferred embodiments of the traction unit 120 provided above focus on the necessary implementation structures of the working principle of the implementation position switching of the shielding member 110 of the sealing adjustment mechanism 11. Those skilled in the art should understand that in the specific application process, other factors such as the structure and appearance of the cleaning robot 100 product are usually involved. Therefore, the technical solutions claimed in the present disclosure also include the technical content of the adaptive adjustment in cooperation with the shaping, limiting or avoiding design on the basis of the above implementation content to meet the design requirements of the specific product.

[0224] Specifically, in this embodiment, when the shielding member 110 is in the second position, during the cleaning task execution of the cleaning robot 100, the shielding member 110 acts to form a closed surface of the air flow path. In order to maintain a relatively stable dust suction effect, the shielding member 110 is also arranged to be able to maintain the basic stable shape of the closed surface by being limited by its own deformation property or one of the guiding structure and the supporting structure under the action of negative pressure during the cleaning task execution of the cleaning robot 100. In this regard, the implementation manners regarding the material, shape of the shielding member 110 and the limiting, guiding, etc. for maintaining the stable shape described in detail in the foregoing embodiments can be adopted, and will not be repeated in this embodiment.

[0225] Further, in a preferred embodiment of the present disclosure, the roller brush mechanism is arranged at the front end of the main body.

[0226] In another preferred embodiment, the roller brush mechanism is arranged at the front part of the main body, and the main body is configured to be D-shaped.

[0227] Further, in this embodiment, the dust lifting ability of the dust suction system 1 can be further improved by enhancing the beating ability of the roller brush assembly 220 on the cleaning surface, such as switching from a single roller brush to a double roller brush, increasing the material, direction and position of the brush bodies on the roller brush, etc.

[0228] Based on the above cleaning robot 100, the present disclosure also provides a cleaning robot 100. In this embodiment, the control system, the dust suction system 1, the sensing system and the power supply system of the cleaning robot 100 are combinedly arranged to further improve the cleaning efficiency of the cleaning robot 100. Specifically, the position of the shielding member 110 can be switched in this embodiment to take into account the cleaning performance on hard floors and soft floors. The following is a specific description:

[0229] In one embodiment, please refer to Figure 1 and Figure 2,In the figure, the cleaning robot 100 includes a control system (also known as a controller, control device), a dust suction system (also known as a dust suction component) 1, a power supply system (also known as a power supply device, power supply component), a sensing system (also known as a sensing component), and a walking system (also known as a moving component) 2. The sensing system of the cleaning robot 100 includes at least one of a first sensor 101 for identifying the size of garbage and a second sensor 102 for identifying the ground material. The dust suction system 1 of the cleaning robot 100 includes a sealing adjustment mechanism 11, and the sealing adjustment mechanism 11 is configured to be able to receive a control instruction from the control system and switch the position of its shielding member 110 according to the control instruction. Among them, for the implementation structure of the sealing adjustment mechanism 11 to realize the position switching of the shielding member 110, reference can be made to the content recorded in the above-mentioned embodiment, and it will not be repeated in this embodiment. The control system is configured to control the dust suction system 1 based on the garbage size information and the type information of the surface to be cleaned obtained by the sensing system, so as to further improve the cleaning efficiency.

[0230] In one embodiment, the sensing system of the cleaning robot includes one or more of an AI object recognition sensor, a structured light module, and a TOF module, which are used to detect or identify the type of foreign objects, such as: hair balls of pets, piles of fine garbage, or large-sized granular garbage, etc.

[0231] In one embodiment, the control device is configured to, in the normal cleaning mode, obtain the type of the surface to be cleaned based on the information collected by the sensing system, and automatically control the shielding member 110 to switch between a first position and a second position based on the type of the cleaning surface. Preferably, when cleaning on a soft ground, the control device is configured to control the sealing adjustment mechanism 11 to switch the shielding member 110 to the second position through a control instruction; when cleaning on a hard ground, the control device is configured to control the sealing adjustment mechanism 11 to switch the shielding member 110 to the first position through a control instruction.

[0232] The cleaning robot 100 of this embodiment has at least two aspects of technical effects: on the one hand, when the control device places the shielding member 110 in the second position through a control instruction, it can solve the problem of low cleaning efficiency when the cleaning robot 100 cleans on a soft ground; on the other hand, when the control device places the shielding member 110 in the first position through a control instruction, it can further solve the problem that large-sized garbage 01 is difficult to pass through the air flow path when the cleaning robot 100 performs a cleaning task on a hard ground, and improve the garbage gathering ability of the dust suction system 1. All the necessary technical information involved can be obtained through the foregoing embodiments, and will not be elaborated in this embodiment.

[0233] In a specific embodiment, when the cleaning robot 100 cleans on a hard ground, the opening of the shielding member 110 relative to the ground is larger than the opening when the cleaning robot 100 cleans on a soft ground.

[0234] In a specific embodiment, when the cleaning robot 100 identifies large-sized garbage 01, the opening of the shielding member 110 relative to the ground is larger than that when the cleaning robot 100 does not identify large-sized garbage 01.

[0235] In a specific embodiment, the user instruction information received by the cleaning robot 100 includes control information on the opening size, and the size of the opening of the shielding member 110 relative to the ground is adjusted correspondingly based on the control information.

[0236] In this embodiment, the user's control instruction can be sent through a mobile client, or can be a control instruction sent through a set web page or a direct operation on the host, or can also be one of other remote interaction methods.

[0237] In this embodiment, the dust collection ability of the dust collection system 1 can be further improved by enhancing the beating ability of the roller brush assembly 220 on the cleaning surface. For example, switching from a single roller brush to a double roller brush, increasing the material, direction, and position of the brush bodies on the roller brush, etc.

[0238] Furthermore, in a preferred embodiment of the present disclosure, the roller brush mechanism is provided at the front end of the main body.

[0239] In another preferred embodiment, the roller brush mechanism is provided at the front part of the main body, and the main body is configured in a D shape.

[0240] Furthermore, in this embodiment, the dust collection ability of the dust collection system 1 can be further improved by enhancing the beating ability of the roller brush assembly 220 on the cleaning surface. For example, switching from a single roller brush to a double roller brush, increasing the material, direction, and position of the brush bodies on the roller brush, etc.

[0241] Based on the foregoing embodiments, a cleaning robot is further provided in the embodiments of the present disclosure. The difference is that the roller brush mechanism of the cleaning robot in this embodiment can float relative to the main body.

[0242] In the embodiments of the present disclosure, the hard ground can be a floor or a tile, and the soft ground can be a ground made of a soft material such as a carpet.

[0243] The present disclosure provides another traction unit 120. The traction unit 120 uses gear drive to realize the switching of the position of the shielding member 110. Specifically, as Figures 20 to 23 shown, the traction unit 120 includes a driving mechanism 129, a first gear 127, and a second gear 128 that are connected in sequence; wherein, the second gear 128 is connected to the shielding member or the second gear 128 forms a part of the shielding member. When the driving mechanism 129 rotates along the driving shaft, the driving direction of the first gear 127 and the second gear 128 is adjusted, thereby driving the shielding member 110 to move.

[0244] When the driving mechanism 129 rotates around the driving shaft in the first direction, the shielding member 110 is driven by the first gear 127 and the second gear 128 to switch from the first position to the second position; when the driving mechanism 129 rotates around the driving shaft in the second direction, the shielding member 110 is driven by the first gear 127 and the second gear 128 to switch from the second position to the first position; wherein the second direction is opposite to the first direction.

[0245] In one embodiment, the first gear 127 is a driving gear, and the second gear 128 is a partial gear (such as a sector gear) provided on the shielding member; the radius of the driving gear is smaller than the radius of the sector gear.

[0246] In one embodiment, the driving mechanism 129 includes a driving motor and a speed reducer, and the driving motor is connected to the first gear through the speed reducer. Among them, the first gear 127 and the second gear 128 form a part of the transmission system. In one embodiment, the shielding member 110 is configured as a partial cylindrical structure having the second gear 128 that can rotate around a rotation axis, and the shielding member 110 is driven by the first gear 127 driven by the driving motor of the driving mechanism 129 through the speed reducer.

[0247] Among them, the rotation centers of the shielding member and the roller brush are schematically shown in the figure. The rotation center of the partial cylindrical structure shielding member is A1; the rotation center of the roller brush is A2.

[0248] Since the axial dimension of the shielding member is relatively long, in order to ensure the smoothness of transmission, in one embodiment, along the length direction of the roller brush, both ends of the shielding member 110 are provided with the second gear 128 and the first gear 127. Among them, a synchronizing shaft is provided between the first gears 127 at both ends to ensure the synchronous rotation of the first gears and drive the overall smooth movement of the shielding member.

[0249] In order to improve the reliability of the opening and closing of the shielding member, further, the dust suction system further includes a mechanical limiting portion 131 for mechanically limiting the opening and closing of the shielding member 110.

[0250] For example, when the detection component, especially the in-place detection sensor fails or malfunctions, the mechanical limiting portion is configured to limit the movement of the shielding member.

[0251] By providing the mechanical limiting portion 131, the opening and closing movements of the shielding member 110 can be forcibly limited, preventing the driving motor and the transmission system of the driving mechanism 139 for driving the shielding member 110 from being overloaded and damaged, and improving the reliability.

[0252] Further, referring to Figures 20 to 23 , in this embodiment, the roller brush mechanism of the cleaning robot, especially the roller brush bracket 230, is configured to be floating relative to the main body 10.

[0253] For example, when cleaning soft floors such as carpets, the carpet fluff or carpet fibers are relatively soft. To adapt to the cleaning of soft floors, the roller brush mechanism is configured to float relative to the main body.

[0254] Among them, the above-mentioned floating refers to floating under non-active adjustment or non-active control, that is, passive floating.

[0255] In order to ensure the sealing performance and improve the cleaning effect on complex cleaning floors, especially soft floors such as carpets, in one embodiment, the sealing adjustment mechanism 11, especially the shielding member 110, is configured to float relative to the main body.

[0256] By setting the shielding member 110 to be floating relative to the main body 10, it can thus adapt to different surfaces to be cleaned, avoiding the change in the height of the shielding member relative to the ground caused by the undulation of the surface to be cleaned, which affects the sealing performance, and is beneficial to improving the adaptability of the cleaning robot to complex floors. At the same time, when cleaning on complex floors, a better cleaning effect can also be achieved.

[0257] Furthermore, the sealing adjustment mechanism and the roller brush mechanism are configured to float together or simultaneously.

[0258] In one example, the sealing adjustment mechanism is arranged on the roller brush mechanism, so that the sealing adjustment mechanism can float together with the floating of the roller brush mechanism, or the floating of the roller brush mechanism floats with the floating of the sealing adjustment mechanism.

[0259] Specifically, the shielding member 110 of the sealing adjustment mechanism is arranged on the roller brush bracket 230 of the roller brush mechanism, which is simple in structure and low in cost while ensuring the sealing effect.

[0260] Furthermore, the shielding member 110 and its transmission system (including the first gear 127 and the second gear 128) are both arranged on the roller brush bracket 230. The purpose of such an arrangement is: through the simplest structure, the shielding member 110 and the roller brush bracket 230 can float synchronously with the height of the surface to be cleaned to achieve a better and real-time sealing effect.

[0261] Of course, in other embodiments, the floating of the sealing adjustment mechanism and the roller brush mechanism are independent of each other. For example, the sealing adjustment mechanism is not arranged on the roller brush mechanism, but on other preset positions of the cleaning robot. The preset position is a position that can meet the sealing performance requirements of the shielding member for the roller brush mechanism, such as a position with a sealing effect equivalent to that when the shielding member is arranged on the roller brush bracket. The meaning of the above equivalent is: the same sealing effect or reaching a preset percentage of the sealing effect. For example, the value range of the preset percentage is 70%-90%; in one example, the shielding member and its transmission system can also be independently and floatingly arranged on the chassis of the cleaning robot, which may require a certain amount of mechanism space.

[0262] Considering that when the floating of the seal adjustment mechanism and the roller brush mechanism is independent of each other, the floating amounts of the seal adjustment structure and the roller brush mechanism may be different. To ensure the sealing effect, the difference in the floating amounts of the seal adjustment structure and the roller brush mechanism is controlled within a certain range, or the difference in the floating amounts of the shielding member and the roller brush bracket is controlled within a certain range. In one example, at least one of the seal adjustment mechanism and the roller brush mechanism can float relative to the main body, so that the difference in the floating amounts of the seal adjustment mechanism and the roller brush mechanism is within a certain range, or the difference in the floating amounts of the shielding member and the roller brush bracket is controlled within a certain range; wherein, the above-mentioned certain range is, for example, less than or equal to 2 mm.

[0263] By making the drop in the floating amounts of the shielding member and the roller brush bracket within a certain range, that is, the shielding member and the roller brush bracket can move relative to each other within a certain range, the sealing effect is ensured, which is beneficial to improving the cleaning effect.

[0264] To prevent the floating from affecting other mechanisms or components of the cleaning robot, in one embodiment of the present disclosure, referring to Figure 24 , the cleaning robot has a floating space 133.

[0265] By arranging inside the cleaning robot and reserving a floating space 133, the cleaning robot can adapt to complex surfaces to be cleaned while not affecting the normal operation of other internal mechanisms or components.

[0266] Considering that when the cleaning robot moves on the surface to be cleaned, there are some uneven situations on the surface to be cleaned, such as the presence of low obstacles or protrusions on the surface to be cleaned. Among them, the low obstacles refer to obstacles with dimensions or heights lower than a preset value that the cleaning robot can cross, such as the edges of carpets, cables, steps, etc.

[0267] To enable the cleaning robot to handle the above situations when performing cleaning work on the surface to be cleaned and improve the obstacle-crossing performance of the cleaning robot. In one embodiment, when the cleaning robot encounters an obstacle that needs to cross an obstacle or is in an obstacle-crossing state, the seal adjustment mechanism 11 forms a closed surface of the air flow path on the front side in the traveling direction of the cleaning robot; or, the shielding member is in a closed state to form a closed surface of the air flow path. The shielding member or the closed surface has a guiding effect to assist in lifting the roller brush mechanism of the cleaning robot for obstacle crossing.

[0268] Further, referring to Figure 25 and Figure 26, one end of the shielding member 110 close to the ground to be cleaned has a guiding portion 111. When the shielding member 110 is in the closed state, the guiding portion 111 forms a closed surface. The guiding portion 111 is arc-shaped, or the closed surface is an arc surface, and the arc or arc surface has an outer arc surface facing the front end of the cleaning robot body.

[0269] In one embodiment, the sealing adjustment mechanism includes a traction unit 120 for adjusting the opening and closing state of the shielding member; further, the traction unit 120 includes a driving mechanism, which drives the shielding member to move through traction, so as to adjust the state of the shielding member, enabling the shielding member to switch between the open state and the closed state.

[0270] Specifically, when it is recognized that the cleaning robot is in an obstacle-crossing state, the traction unit 120 of the sealing adjustment mechanism is controlled to close the shielding member to assist the lifting of the roller brush assembly.

[0271] By closing the shielding member 110 during obstacle crossing, the roller brush mechanism is guided, and the roller brush assembly 220 is assisted to lift, which is beneficial for the cleaning robot to cross the obstacle smoothly.

[0272] For ease of understanding, refer to Figure 27 , the following briefly describes the obstacle-crossing process when the cleaning robot encounters a step during the cleaning of a hard floor (such as a floor, a tile, a cement floor, etc.):

[0273] When the cleaning robot is cleaning a hard floor, the sealing adjustment mechanism, especially the shielding member 110, is in the open state. At this time, the cleaning robot can clean the garbage on the hard floor, especially large-sized garbage (such as large particles). When the main body of the cleaning robot with the shielding member in the open state passes through an obstacle with a certain height but can be crossed, such as a step, since the cleaning robot is not provided with a guiding portion for assisting climbing, it may cause the problem that the roller brush assembly collides with the step and damages the roller brush assembly. Therefore, the cleaning robot has an obstacle-crossing program during the cleaning of the surface to be cleaned (especially a hard floor) and can cross obstacles smaller than a preset value, such as a step.

[0274] Specifically, the cleaning robot determines the state of the current shielding member, judges whether the shielding member is always open or in the open state. If so, it detects the step through the first sensor 101 (such as a depth camera) provided on the cleaning robot for detecting the height of the obstacle (step). The control module of the cleaning robot compares the obstacle height detected by the first sensor 101 with the preset value. When it is determined that the obstacle is a step that can be crossed, the obstacle-crossing program is started, the shielding member is closed, or the sealing adjustment mechanism is controlled to switch the shielding member from the open state to the closed state, and the closed surface formed by the guiding portion of the shielding member is used to lift the roller brush assembly to assist the cleaning robot to pass through or climb onto the step.

[0275] Further, determine whether the cleaning robot has passed over or climbed onto a step. If so, open the shielding member, or control the sealing adjustment mechanism to switch the shielding member from the closed state to the open state.

[0276] Further, detect whether the shielding member has been opened through the in-place detection unit. If so, return to the step of determining the state of the shielding member described above.

[0277] In order to improve the reliability of guidance, in one embodiment, the shielding member 110 is of an integral structure.

[0278] Refer to Figure 28 , when the cleaning robot performs cleaning on a soft floor, considering that there are large-sized debris 01 (such as large particles) on soft floors such as carpets, and large-sized debris usually does not sink into the carpet fibers or fluff. Since the shielding member is in the closed state when the cleaning robot performs cleaning work on a carpet or other soft floor, it may affect the cleaning effect of large-sized debris.

[0279] Therefore, in order to clean the large-sized debris 01 present on the carpet and further improve the cleaning effect of the carpet, in one embodiment, when the cleaning robot is in the carpet working mode or performing cleaning work on the carpet surface, if the cleaning robot identifies large-sized debris 01, the shielding member 110 is configured to be in the open state, or the control module is configured to control the shielding member to switch from the closed state to the open state. Herein, the above-mentioned "identifying" can be understood as detecting or recognizing.

[0280] When the cleaning robot is cleaning on the carpet and identifies large-sized debris, by opening the shielding member, the cleaning robot can clean the large-sized debris on the carpet, improving the cleaning effect of the carpet.

[0281] It should be noted that in order to prevent the cleaning of large-sized debris on the carpet, it is necessary to satisfy that the shielding member is in the open state before the large particles reach the shielding member.

[0282] Considering that in order to increase the beauty of the carpet, the carpet usually has carpet fringes, in order to avoid damage to the fringes by the cleaning robot.

[0283] In one embodiment, refer to Figure 29 , when the cleaning robot is about to get on the carpet, for example, when the front end of the main body of the cleaning robot is at a preset distance from the carpet, the shielding member is configured to be in the closed state, or the control module controls the shielding member to close.

[0284] Before the cleaning robot gets on the carpet, for example, before the cleaning robot climbs from the floor onto the carpet, by closing the shielding member, it is beneficial to avoid the suction port of the cleaning robot from sucking in the carpet fringes.

[0285] The first sensor 101 includes a carpet boundary sensor. When the cleaning robot turns on the carpet boundary sensor, it can be used to identify the carpet boundary so that the shielding member can be closed before climbing onto the carpet.

[0286] In order to ensure that tassels are not sucked in, in one embodiment, the dust suction fan can also be turned off simultaneously with or before and after closing the shielding member. Of course, in other embodiments, the tassels can also be prevented from being sucked in by turning off the fan without controlling the closing of the shielding member. The present disclosure does not make any limitations in this regard.

[0287] It should be noted that the first sensor 101 can also include a large-sized garbage recognition sensor for recognizing large-sized garbage.

[0288] For the sake of easy understanding, the following Figure 30 describes the operation process of the cleaning robot in the scenario of climbing from a hard floor such as a floor to a soft floor such as a carpet to clean the carpet:

[0289] When the cleaning robot is in the floor cleaning mode or cleaning a hard floor, it travels at a first moving speed and operates at a first power. The first power at least includes the power of the dust suction fan and the power of the roller brush. The shielding member is in the open state;

[0290] When the cleaning robot recognizes that there is a carpet in front or recognizes the carpet boundary, the cleaning robot detects the first distance between the front end of the main body and the carpet. When the first distance is less than a preset value, the control module controls the shielding member to close, so that the shielding member switches from the open state to the closed state. On the one hand, it can assist the roller brush mechanism to lift, enabling the cleaning robot to climb from the floor onto the carpet; on the other hand, it can avoid the problem of tassels of a carpet with tassels being sucked in.

[0291] After the cleaning robot climbs onto the carpet, it switches from the floor cleaning mode to the carpet cleaning mode;

[0292] When the cleaning robot is in the carpet cleaning mode, it travels at a second moving speed and operates at a second power. The second power at least includes the power of the dust suction fan and the power of the roller brush. The shielding member is in the closed state; wherein the second moving speed is less than the first moving speed, and the second power is greater than the first power to increase the number of beats of the roller brush assembly on the carpet per unit time and / or the dust suction effect, which is beneficial to improving the cleaning effect of the carpet.

[0293] Further, during the carpet cleaning process, the cleaning robot activates the large-size garbage recognition sensor. When large-size garbage (such as large particles) is recognized, the distance between the large particles and the front end of the main body is detected. When the distance is within a certain threshold, the control module controls the cleaning robot to decelerate at a deceleration rate of P1. After the cleaning robot completes deceleration, for example, when the initial moving speed of the cleaning robot on the carpet is reduced to a preset speed, after running a preset distance or for a preset time at this preset speed, the control module controls the shielding member to open to clean the large particles.

[0294] It should be noted that the activation of the large-size garbage recognition sensor can be before switching to the carpet cleaning mode (such as Figure 30 ), or after switching to the carpet cleaning mode, or at the same time as switching to the carpet cleaning mode. The present disclosure does not limit this.

[0295] Considering the problem of uneven ground or poor fit between the roller brush and the ground, in order to achieve real-time sealing, it can be achieved by at least one of the following methods:

[0296] A The roller brush assembly is floatable;

[0297] In one embodiment, to improve the adaptability to uneven ground, the roller brush bracket or the roller brush assembly is floatable; further, the shielding member can also be floatable. To achieve real-time following of the floating, the shielding member 110 should be installed on the roller brush bracket 230.

[0298] B Along the length direction of the roller brush, at least one side of the shielding member and the corresponding side of the roller brush bracket 230 are reserved with a space, where this space can be used to set the connecting part of the roller brush cover 260 and the roller brush bracket 230.

[0299] In one embodiment, a space is respectively reserved between both sides of the shielding member and both sides of the roller brush bracket 230. These two spaces can be respectively used to set the connecting part of the roller brush cover 260 and the roller brush bracket 230. For example, the shielding member is arranged in the middle of the roller brush mechanism, and the connecting parts of the roller brush cover 260 and the roller brush bracket 230 are located on both sides of the shielding member.

[0300] C The entire roller brush mechanism is floatable;

[0301] Among them, the rotary brush mechanism at least includes a rotary brush support 230, a shielding member and a rotary brush assembly provided on the rotary brush support 230; in addition, the rotary brush mechanism may further include a rotary brush motor for driving the movement of the rotary brush assembly, a shielding member driving motor for driving the movement of the shielding member, a transmission system respectively connected to the shielding member and the shielding member driving motor, a position detection sensor for detecting whether the shielding member moves in place, etc. The transmission system may be, for example, a gear-rack structure, and the position detection sensor includes, for example, an open shielding member in-place detection sensor and a closed shielding member in-place detection sensor.

[0302] In order to make the free end (or the outermost end of the inner side) of the shielding member as close as possible to the position where the rotary brush contacts the ground when the shielding member is in the closed state, or in order to make the free end (or the outermost end of the inner side) of the shielding member as close as possible to the rotary brush when the shielding member is in the closed state, in one embodiment, referring to Figure 32 , the rotation axis (passing through the rotation center A1 and perpendicular to the paper surface direction) of the shielding member 110 is offset from the rotation axis (passing through the rotation center A2 and perpendicular to the paper surface direction) of the rotary brush, and the space is more compact. Here, the offset can be understood as that the rotation axis of the shielding member does not overlap or is non-collinear with the rotation axis of the rotary brush.

[0303] In one embodiment, the shielding member has a rotation radius RA, and the rotation radius RA of the shielding member is greater than the rotation radius R of the rotary brush, or rather, the height of the rotation center A1 of the shielding member is greater than the height of the rotation center A2 of the rotary brush. In this way, when the shielding member is closed, the shielding member can be as close as possible to the position where the rotary brush contacts the ground, and at the same time, the spatial structure of the rotary brush assembly is more compact.

[0304] In one embodiment, the value range of RA / R is between 1.1 and 1.3.

[0305] Considering how to maintain the balance of the rotary brush mechanism, in one embodiment, referring to Figure 33 , the rotary brush drive assembly (for example, including a rotary brush motor 1401 and a rotary brush reduction box 1402) and the drive mechanism 129 of the shielding member 110 (for example, including a drive motor 1291 and a reduction box 1292) are respectively arranged on both sides of the rotary brush (in the length direction), or rather, the rotary brush drive assembly and the drive mechanism of the shielding member are respectively arranged on both sides of the central plane P of the rotary brush mechanism.

[0306] In one embodiment, the projections of the rotary brush motor and the drive motor in the axial direction may not overlap, for example, the projections of the rotary brush motor and the drive motor on the central plane do not overlap.

[0307] Considering that the driving force required for the roller brush is usually greater than that of the shielding member, the weight (or volume) of the roller brush drive assembly is generally greater than that of the drive mechanism of the shielding member. Therefore, in order to ensure the stability of the roller brush mechanism, in one embodiment, the roller brush mechanism further includes a balance weight 1403, which is disposed on one side of the central plane P close to the drive mechanism of the shielding member.

[0308] In one embodiment, to prevent the roller brush bracket 230 from moving outside the floating space, in one embodiment, the roller brush mechanism further includes a floating limit portion 231 provided on the roller brush bracket 230 to limit the floating of the roller brush bracket 230.

[0309] In one embodiment, the floating limit portion 231 of the roller brush bracket 230, the shielding member drive mechanism (such as the drive motor 1291 and the reduction gearbox 1292), the balance weight 1403, the roller brush motor 1401, and the roller brush reduction gearbox 1402 are all disposed on the roller brush bracket 230. The roller brush bracket 230 has a central plane P. The roller brush motor 1401 and the roller brush reduction gearbox 1402 are disposed on one side of the central plane; the shielding member drive mechanism (such as the drive motor 1291 and the reduction gearbox 1292) and the balance weight 1403 are disposed on the other side of the central plane to maintain the stability of the roller brush bracket 230.

[0310] In one embodiment, the air inlet end of the air duct 240 (such as in an L shape) is fixedly connected to the roller brush bracket 230 and floats up and down with the roller brush bracket. The air outlet end of the air duct 240 is fixedly connected to the chassis. Therefore, when the roller brush bracket 230 floats up and down, there is relative movement between the air inlet end and the air outlet end of the air duct 240. For this reason, in one embodiment, the air duct 240 should be made of a flexible material, and the flexible material is rubber.

[0311] Considering that a cleaning robot usually generates collisions during operation, such as collisions with encountered obstacles (tables, chairs, etc.), the impact force of the collision may affect the shielding member. For example, the impact force of the collision causes the shielding member to shift (regardless of whether the shielding member is in the open state or the closed state), or even causes the state of the shielding member to be unable to be switched, affecting the cleaning effect.

[0312] Refer to Figure 34 , in order to prevent the impact force of the collision from affecting the transmission system, the applicant has set the following anti-collision measures during the design: The roller brush bracket 230 has an anti-collision portion 2302, which protrudes from the shielding member 110. That is, the anti-collision portion 2302 may have a protrusion 2303 that protrudes from the shielding member 110, so that when encountering an impact, the anti-collision portion 2302 bears the force, while the shielding member is less stressed or free from stress.

[0313] In one embodiment, two sides of the roller brush bracket 230 along the axial direction of the roller brush have anti-collision portions 2302 that protrude from the outer surface of the shielding member 110. When the collision plate of the cleaning robot collides and moves backward, the anti-collision portions 2302 bear the impact force, thus preventing the shielding member from being directly stressed.

[0314] Given that the shielding member is relatively long, in order to improve the smoothness of transmission, in one embodiment, the transmission system adopts a gear-rack synchronous transmission system; further, the transmission system adopts a double gear-rack synchronous transmission system, where the rack can be integrally provided with the shielding member 110 or arranged on the shielding member; in one embodiment, referring to Figure 34 ..., the transmission system includes a gear shaft 1203, a first gear set 1201, and a second gear set 1202, where the two gear sets are synchronously driven by the gear shaft, and then the gear sets drive the rack on the shielding member to move synchronously, realizing the opening and closing of the shielding member.

[0315] Further, in order to reduce the space occupied by the transmission system, in one embodiment, the two gear sets are asymmetrically arranged. For example, the first gear set 1201 and the second gear set 1202 are asymmetric with respect to the central plane of the roller brush bracket.

[0316] In order to improve the cleaning efficiency, in one embodiment, the blower 24 uses a blower with a relatively high power. For example, the power of the blower 24 is greater than or equal to 65W.

[0317] In one embodiment, when the cleaning robot is cleaning on a soft ground (such as a carpet), it can identify large particles (for example, by means of AI), and when large particles are identified, control the shielding member to open, that is, switch from the closed state to the open state, so as to suck in the large particles. Then, after the shielding member has been open for a period of time or when no large particles are detected, the shielding member is closed again for cleaning the inside of the carpet.

[0318] It is found in the research that the existing structure of the cooperation between the roller brush assembly and the housing of the dust suction assembly has limitations. Specifically, there is a relatively large gap between the mounting bracket (also known as the roller brush bracket) of the roller brush assembly and the ground, resulting in the air flow being unable to deeply clean the surface of the ground (especially the carpet), affecting the dust suction efficiency per unit of energy.

[0319] Therefore, in order to improve the sealing performance and thus the dust suction efficiency per unit of energy, in one embodiment, sealing components such as baffles (also known as shielding members, sealing doors) can be provided to seal the relatively large gap between the mounting bracket and the ground. In another embodiment, the structure of the mounting bracket can also be improved so that one end of the mounting bracket close to the cleaning ground (environmental surface) extends close to the cleaning ground to seal the relatively large gap as much as possible, that is, using a part of the mounting bracket as a baffle to improve the sealing performance.

[0320] Due to the possible unevenness of the ground or the problem of uneven surfaces, in order to achieve real-time sealing and improve the fitting degree, in one embodiment, the sealing component is set to be floating;

[0321] Considering that the greater the sealing amount of the spacing (the closer to the surface of the cleaning ground), although the better the sealing performance and the higher the dust suction efficiency per unit energy, there may be a problem that large particles, clumped hairs and other garbage on the ground (especially on soft ground) cannot be sucked in. In other words, too large a sealing amount between the housing of the dust suction component (especially the mounting bracket) and the ground is not conducive to cleaning large particles and clumped hairs; in addition, too large a sealing amount increases the friction between the dust suction component and the cleaning surface, which may affect the movement and passability of the cleaning robot. Therefore, the sealing amount is not the larger the better. Therefore, in one embodiment, the sealing component is set to be movable.

[0322] In order to achieve intelligent control of the cleaning robot, furthermore, the sealing component can be designed to be intelligently adjustable. For example, when cleaning soft ground such as carpets, the sealing amount is large; while when encountering large particle garbage, the sealing amount is small.

[0323] Through structural improvement, such as the design of the above-mentioned sealing component, the flow path of the air flow is improved. On the one hand, the sealing component is arranged closer to the cleaning surface, even closer to the position of beating up dust, so that more air flow flows through the required places, such as through the soft ground (such as the inside of the standard test carpet), the bottom of the roller brush or the beating area, in order to take away the dust inside the soft ground or the dust beaten up by the roller brush; on the other hand, the air flow is reduced from flowing through the places where it is not needed, such as flowing through the areas that are not beaten and do not generate dust. For example, the distance between the roller brush and the bracket or the roller brush and the sealing component is made as small as possible, and the rotation direction of the roller brush is adjusted so that the rotation direction of the roller brush hinders the air flow flowing through the places where it is not needed.

[0324] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0325] The above embodiments only represent several implementation manners of the present disclosure, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several deformations and improvements can still be made, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the appended claims.

Claims

1. A cleaning robot, characterized in that , comprising: a main body having a front end; a moving component disposed on the main body to support and drive the cleaning robot to move on the environmental surface of the area to be cleaned; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; a dust suction component disposed on the main body to perform cleaning work on the environmental surface; the dust suction component includes a rotary brush mechanism and a sealing and adjusting mechanism; the sealing and adjusting mechanism can move along with the rotary brush mechanism to maintain a relatively stable state with respect to the rotary brush mechanism.

2. The cleaning robot according to claim 1, characterized in that the rotary brush mechanism includes a housing, and the sealing and adjusting mechanism is disposed on the housing so that it can move along with the rotary brush mechanism.

3. The cleaning robot according to claim 2, characterized in that the rotary brush mechanism is configured to be floating on the main body, and the sealing and adjusting mechanism can float along with the floating of the rotary brush mechanism.

4. The cleaning robot according to claim 3, characterized in that the rotary brush mechanism includes a rotary brush assembly, and the housing includes a rotary brush bracket for at least partially covering and supporting the rotary brush assembly; the rotary brush bracket is configured to be able to float up and down relative to the horizontal plane or the main body of the cleaning robot; the rotary brush assembly is disposed on the rotary brush bracket, and the rotary brush assembly floats along with the floating of the rotary brush bracket.

5. The cleaning robot according to claim 4, characterized in that the sealing and adjusting mechanism includes a first shielding member located in front of the rotary brush assembly, and the first shielding member is configured to be able to float in the up and down direction; the first shielding member is configured to float synchronously with the rotary brush bracket.

6. The cleaning robot according to claim 5, characterized in that the first shielding member is disposed on the rotary brush bracket so that the first shielding member can float along with the floating of the rotary brush bracket.

7. The cleaning robot according to claim 1, characterized in that the rotary brush mechanism includes a rotary brush assembly, the rotary brush assembly includes a first rotary brush and a second rotary brush, the first rotary brush and the second rotary brush are arranged front and back, wherein the first rotary brush is close to the front end of the main body.

8. The cleaning robot according to claim 1, characterized in that the sealing and adjusting mechanism includes a first shielding member located in front of the rotary brush mechanism, and the first shielding member is movable so that the first shielding member has a closed state and an open state; wherein, when the first shielding member is in the closed state, the free end of the first shielding member is at a first distance from the hard ground, and when the first shielding member is in the open state, the distance between the free end of the first shielding member and the hard ground is greater than the first distance.

9. The cleaning robot according to claim 1 or 2, characterized in that the cleaning robot is provided with a lifting drive structure to drive the rotary brush mechanism to lift; the sealing and adjusting mechanism can lift along with the lifting of the rotary brush mechanism.

10. The cleaning robot according to claim 8, characterized in that The sealing and adjusting mechanism includes a first shielding member; the rolling brush mechanism includes a rolling brush assembly; when the cleaning robot encounters an obstacle smaller than a preset value during the cleaning of a hard floor, the first shielding member closes and the rolling brush assembly is lifted; and / or when the cleaning robot recognizes the presence of a carpet or the carpet boundary ahead during the cleaning of a hard floor, the first shielding member closes and the rolling brush assembly is lifted.

11. The cleaning robot according to claim 10, wherein, the rolling brush assembly includes a first rolling brush and a second rolling brush, the first rolling brush and the second rolling brush are arranged front and back, wherein the first rolling brush is close to the front end of the main body; a guiding surface is defined on the outer side wall of the first shielding member, the guiding surface is inclined towards the first rolling brush and is arranged at an acute angle with the horizontal plane; when the first shielding member is in the closed state, at least part of the guiding surface is closer to the environmental surface than the rolling brush bracket for supporting the rolling brush assembly to assist in lifting the rolling brush assembly.

12. The cleaning robot according to claim 8, wherein, the sealing and adjusting mechanism includes a first shielding member; when the cleaning robot recognizes large-sized garbage during the cleaning of a carpet, the first shielding member opens to clean the large-sized garbage.

13. The cleaning robot according to claim 1, wherein, the cleaning robot includes a lifting mechanism for driving the dust suction assembly to lift, the lifting mechanism includes a driving motor, and the driving motor is configured to drive the dust suction assembly to move up and down in the vertical direction.

14. The cleaning robot according to claim 13, wherein, the sealing and adjusting mechanism includes a first shielding member; the first shielding member is movable, and the driving motor is further configured to drive the first shielding member to move.

15. A cleaning robot, wherein, the cleaning robot includes: a main body having a front end; a moving component arranged on the main body to support and drive the cleaning robot to move on the environmental surface of the area to be cleaned; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; a dust suction assembly arranged on the main body to perform cleaning work on the environmental surface; wherein, the dust suction assembly includes a rolling brush assembly, a cavity for accommodating the rolling brush assembly, a first baffle located in front of the rolling brush assembly, and a second baffle located behind the rolling brush assembly; both the first baffle and the second baffle have free ends close to the environmental surface; when the rolling brush assembly is lifted, the first baffle and the second baffle are configured to be able to be lifted along with the rolling brush assembly; the lifting includes passive floating.

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