Cleaning robot

Abstract

The utility model provides a cleaning robot. The cleaning robot comprises a dust collection assembly, and the dust collection assembly comprises a rolling brush assembly, a cavity used for containing the rolling brush assembly, a first baffle located on the front side of the rolling brush assembly and a second baffle located on the rear side of the rolling brush assembly; the rolling brush assembly comprises a first rolling brush and a second rolling brush which are arranged front and back; the first baffle and the second baffle are provided with free ends close to the environment surface; under the condition that the cleaning robot is located on the hard ground, the first airflow and the second airflow flow from the exterior of the cavity to the dust inlet of the cavity through the interior of the carpet, and the ratio of the first airflow to the second airflow ranges from 0.7 to 1.3. And a solution is provided for strategically improving the cleaning efficiency of the cleaning robot.

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 surface to be cleaned (also known as the environmental surface) of the indoor environment, and plays an increasingly important role in people's daily lives. Taking a floor sweeping robot as an example, its working system usually 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 specific description is as follows:

[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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component includes a first roller brush and a second roller brush, the first roller brush and the second roller brush are arranged front and back, and the first roller brush is close to the front end of the main body; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the height difference between the first distance and the second distance is within 3 mm, so that when the first roller brush and the second roller brush rotate in opposite directions, a first air flow flows from outside the cavity, through the bottom of the first roller brush, into the space between the first roller brush and the second roller brush, and a second air flow flows from outside the cavity, through the bottom of the second roller brush, into the space between the first roller brush and the second roller brush.

[0006] In one embodiment, when the cleaning robot is on a carpet and the free ends of the first shielding member and the second shielding member are in contact with the carpet, the first air flow and the second air flow can concentrate and flow through the interior of the carpet. The cleaning robot includes a dust suction fan for generating negative pressure. When the cleaning robot is on the carpet and the free ends of the first shielding member and the second shielding member are in contact with the carpet, the flow rate of the air flow flowing through the interior of the carpet accounts for 70% or more of the flow rate of the air flow flowing out of the dust inlet of the cavity.

[0007] In one embodiment, the first distance is greater than or equal to the second distance, and the difference between the first distance and the second distance is within 2 mm.

[0008] In one embodiment, the minimum distance between the free end of the first shielding member and the lowest position point of the first roller brush is a third distance, where the third distance is less than 15 mm, and the first air flow is guided to the bottom of the first roller brush; the minimum distance between the free end of the second shielding member and the lowest position point of the second roller brush is a fourth distance, where the fourth distance is less than 15 mm, and the second air flow is guided to the bottom of the second roller brush; or, the free end of the first shielding member is at a third distance from the lowest position point of the first roller brush, where the third distance is less than or equal to 12 mm, and the first air flow is guided to the first beating area of the first roller brush; the free end of the second shielding member is at a fourth distance from the lowest position point of the second roller brush, where the fourth distance is less than or equal to 12 mm, and the second air flow is guided to the second beating area of the second roller brush.

[0009] In one embodiment, the length of the line connecting the free end of the first shielding member and the lowest position point of the first roller brush is less than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush, or the first distance is less than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

[0010] In one embodiment, the first horizontal distance between the free end of the first shielding member and the outer contour of the first roller brush is less than or equal to 5 mm; the second horizontal distance between the free end of the second shielding member and the second roller brush is less than or equal to 5 mm; or, the minimum distance between the free end of the first shielding member and the outer contour of the first roller brush is less than or equal to 4 mm; the minimum distance between the free end of the second shielding member and the outer contour of the second roller brush is less than or equal to 4 mm.

[0011] In one embodiment, the cavity has a dust inlet connected to a dust suction fan; 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 to and facing the first direction; the free end of the first shielding member is spaced from the first roller brush by a first horizontal distance to form a first inlet for air flow, and the first direction obstructs the air flow that enters through the first inlet and flows towards the dust inlet of the cavity along the space between the outer contour of the first roller brush and the first shielding member; the free end of the second shielding member is spaced from the second roller brush by a second horizontal distance to form a second opening for air flow to enter, and the second direction obstructs the air flow that enters through the second opening and flows towards the dust inlet along the space between the outer contour of the second roller brush and the first shielding member.

[0012] In one embodiment, the hardness of the materials of the first shielding member and the second shielding member is greater than or equal to 80 HA.

[0013] In one embodiment, the first shielding member is movable to adjust the distance between the free end of the first shielding member and the hard floor, 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 spaced from the hard floor by a first distance; when the first shielding member is in the open state, the distance between the free end of the first shielding member and the hard floor is greater than the first distance.

[0014] In one embodiment, the dust suction assembly includes a housing, the housing includes a first roller brush support portion that at least partially covers the first roller brush, the first shielding member is movably disposed on the first roller brush support portion to shield the first roller brush; the housing further includes a second roller brush support portion that at least partially covers the second roller brush, and the second shielding member is a part of the second roller brush support portion to shield the second roller brush; the first roller brush support portion and the second roller brush support portion enclose a cavity for accommodating the roller brush assembly.

[0015] In one embodiment, when the first shielding member is in the open state, the difference between the first air flow and the second air flow is Δ1; when the first shielding member is in the closed state, the difference between the first air flow and the second air flow is Δ2; where Δ2 is less than Δ1; alternatively, when the first shielding member is in the closed state, the air flow at the beating area where the first roller brush beats the environmental surface has a first flow rate; when the first shielding member is in the open state, the air flow at the beating area has a second flow rate, and the first flow rate is greater than the second flow rate.

[0016] In one embodiment, when the first shielding member is in the closed state, the vacuum degree at a certain position in the cavity is greater than the vacuum degree at the same position in the cavity when the first shielding member is in the open state.

[0017] In one embodiment, the dust suction assembly includes a housing, 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; 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.

[0018] In one embodiment, the first shielding member is configured to be able to float in the up and down direction, and the first shielding member is configured to float synchronously with the roller brush bracket.

[0019] In one embodiment, the first shielding member is arranged on the roller brush bracket.

[0020] In one embodiment, the cleaning robot has a deep cleaning mode and a regular cleaning mode. Among them, in the deep cleaning mode, the cleaning robot has a first cleaning parameter, and in the regular cleaning mode, the cleaning robot has a second cleaning parameter. The first cleaning parameter is different from the second cleaning parameter. Among them, the cleaning parameter at least includes: the state of the first shielding member; in the deep cleaning mode, the first shielding member is in the closed state; in the regular cleaning mode, the first shielding member is in the open state.

[0021] In one embodiment, the cleaning robot includes a blower, and the power of the blower is greater than or equal to 60W.

[0022] On the other hand, the present disclosure provides a cleaning robot, which includes: a main body having a front end; a moving assembly 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 dust suction assembly arranged on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein, the dust suction assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first shielding member located in front of the roller brush assembly, and a second shielding member located behind the roller brush assembly; the roller brush assembly includes a first roller brush and a second roller brush, and 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5mm, the second distance is less than 5mm, and the difference between the first distance and the second distance is within 3mm, so that 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, a first air flow flows from outside the cavity through the first patting area to the dust inlet of the cavity, and a second air flow flows from outside the cavity through the second patting area to the dust inlet; the dust inlet can be communicated with a dust suction blower that generates negative pressure.

[0023] The present disclosure also provides a cleaning robot, which 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component includes a first roller brush and a second roller brush, and 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the first opening formed by the first shielding member and the hard floor has a first area, and the second opening formed by the second shielding member and the hard floor has a second area, wherein the ratio of the first area to the second area is within the range of 0.7 - 1.3; the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate in opposite and facing directions, a first air flow flows from outside the cavity, through the bottom of the first roller brush, into the space between the first roller brush and the second roller brush, and a second air flow flows from outside the cavity, through the bottom of the second roller brush, into the space between the first roller brush and the second roller brush.

[0024] The present disclosure also provides a cleaning robot, which 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component includes a first roller brush and a second roller brush, and 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the first opening formed between the first shielding member and the hard floor has a first area, and the second opening formed between the second shielding member and the hard floor has a second area, wherein the ratio of the first area to the second area is in the range of 0.7 - 1.3; the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm, so that 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, a first air flow flows from outside the cavity through the first patting area to the dust inlet of the cavity, and a second air flow flows from outside the cavity through the second patting area to the dust inlet; the dust inlet can be communicated with a dust suction fan that generates negative pressure.

[0025] The present disclosure also provides a cleaning robot, which 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component includes a first roller brush and a second roller brush, and 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm.

[0026] The present disclosure also provides a cleaning robot, which 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein, the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the area of the air leakage holes of at least one of the first shielding member and the second shielding member accounts for within 30% of the area of the corresponding shielding member; the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate in opposite and facing directions, a first air flow flows from outside the cavity, through the bottom of the first roller brush, into the space between the first roller brush and the second roller brush, and a second air flow flows from outside the cavity, through the bottom of the second roller brush, into the space between the first roller brush and the second roller brush.

[0027] The present disclosure also provides a cleaning robot, which 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein, the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a carpet and the free ends of the first baffle and the second baffle are in contact with the carpet, the flow rate of the air flowing through the carpet accounts for 70% or more of the flow rate flowing out of the dust inlet; the dust inlet can be communicated with a dust suction fan generating negative pressure.

[0028] 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 during some periods, thereby being 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 during the cleaning process, so as to strategically improve the cleaning efficiency. Description of the Drawings

[0029] Figure 1 System block diagram of a cleaning robot as an example in an embodiment of the present disclosure;

[0030] Figure 2 Schematic diagram of the state of a prior art roller brush mechanism cleaning on a cleaning surface;

[0031] Figure 3 Schematic structural diagram of a cleaning robot provided in an embodiment of the present disclosure;

[0032] Figure 4 Structural diagram of a dust collection system as an example in an embodiment of the present disclosure;

[0033] Figure 5 Structural diagram of the dust collection system of the cleaning robot provided in an embodiment of the present disclosure;

[0034] Figure 6 Schematic diagram of the state of the roller brush mechanism cleaning on a cleaning surface in an embodiment of the present disclosure;

[0035] Figure 7 Schematic diagrams respectively corresponding to the states when the shielding member of the sealing adjustment mechanism is in the first position and the second position provided in an embodiment of the present disclosure;

[0036] Figure 8 Schematic diagrams respectively corresponding to the states when the shielding member of the sealing adjustment mechanism is in the first position and the second position provided in another embodiment of the present disclosure;

[0037] Figure 9 Structural diagram of the dust collection system of the cleaning robot provided in another embodiment of the present disclosure;

[0038] Figure 10 Structural diagram of the dust collection system of the cleaning robot provided in another embodiment of the present disclosure;

[0039] Figure 11 For Figure 8 Schematic diagram of the state of a preferred embodiment of the shielding member of the dust collection system in

[0040] Figure 12 For Figure 8 Schematic diagram of a preferred embodiment of the shielding member of the dust collection system in

[0041] Figure 13 Structural diagram of the dust collection system of the cleaning robot provided in another embodiment of the present disclosure;

[0042] Figure 14 For Figure 10 State diagram of the shielding member of the dust collection system in the first position in

[0043] Figure 15 For Figure 10 State diagram of the shielding member of the central vacuuming system in the second position;

[0044] Figure 16 Structural diagram of the vacuuming system of the cleaning robot provided by another embodiment of the present disclosure;

[0045] Figure 17 For Figure 16 Schematic diagram of the driving principle of the traction unit in the vacuuming system of;

[0046] Figure 18 Structural diagram of the vacuuming system of the cleaning robot provided by another embodiment of the present disclosure;

[0047] Figure 19 For Figure 18 Schematic diagram of the position switching of the traction unit in the vacuuming system of;

[0048] Figure 20 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure;

[0049] Figure 21 Schematic diagram of another cleaning robot provided by an embodiment of the present disclosure;

[0050] Figure 22 Flow chart of the control system of the cleaning robot provided by an embodiment of the present disclosure;

[0051] Figure 23 Flow chart of the control system of the cleaning robot provided by another embodiment of the present disclosure;

[0052] Figure 24 Flow chart of the control system of the cleaning robot provided by another embodiment of the present disclosure;

[0053] Figure 25 Structural schematic diagram of the vacuuming system of the cleaning robot provided by still another embodiment of the present disclosure when the shielding member is in the closed state;

[0054] Figure 26 Structural schematic diagram of the vacuuming system of the cleaning robot provided by still another embodiment of the present disclosure when the shielding member is in the closed state and floats;

[0055] Figure 27 Structural schematic diagram of the vacuuming system of the cleaning robot provided by still another embodiment of the present disclosure when the shielding member is in the open state;

[0056] Figure 28 Structural schematic diagram of the vacuuming system of the cleaning robot provided by still another embodiment of the present disclosure when the shielding member is in the open state and floats;

[0057] Figure 29 Schematic diagram of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure when the shielding member is in the closed state;

[0058] Figure 30 State diagram of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure when the shielding member is in the second position;

[0059] Figure 31 Schematic diagram of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure when the shielding member is in the open state;

[0060] Figure 32 State diagram of the dust suction system of the cleaning robot provided by another embodiment of the present disclosure when the shielding member is in the first position;

[0061] Figure 33 For Figure 29 Schematic diagram of the shielding member of the dust suction system in the closed state in

[0062] Figure 34 For Figure 31 Schematic diagram of the shielding member of the dust suction system in the open state in

[0063] Figure 35 Schematic diagram of the structure of a cleaning robot provided by the present disclosure;

[0064] Figure 36 Schematic diagram of the structure of a cleaning robot for obstacle recognition provided by the present disclosure;

[0065] Figure 37 Schematic diagram of the structure of a cleaning robot for obstacle crossing provided by the present disclosure;

[0066] Figure 38 Logic diagram of a cleaning robot provided by the present disclosure when performing a cleaning task on a hard floor;

[0067] Figure 39 Schematic diagram of the structure of a cleaning robot provided by the present disclosure when cleaning along a wall;

[0068] Figure 40 Schematic diagram of the three-dimensional structure of a cleaning robot provided by the present disclosure;

[0069] Figure 41 For Figure 40 Schematic diagrams of different perspectives of the cleaning robot in

[0070] Figure 42 Logic diagram of a cleaning robot provided by the present disclosure when performing a cleaning task on a soft floor;

[0071] Figure 43Schematic diagram of a cleaning robot provided by the present disclosure on a carpet with a first thickness;

[0072] Figure 44 Schematic diagram of a cleaning robot provided by the present disclosure on a carpet with a second thickness;

[0073] Figure 45 Flowchart of a cleaning robot provided by the present disclosure when traveling on a soft ground;

[0074] Figure 46 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when cleaning on a carpet;

[0075] Figure 47 Graph of speed change of a cleaning robot provided by an embodiment of the present disclosure when identifying large particles on a carpet;

[0076] Figure 48 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when encountering a carpet on the floor;

[0077] Figure 49 Schematic diagram of a cleaning robot provided by an embodiment of the present disclosure when cleaning on the floor and encountering a carpet;

[0078] Figure 50 Schematic diagram of a structure of a single roller brush seal provided by the present disclosure;

[0079] Figure 51 Schematic diagram of a structure of a double roller brush without a seal provided by the present disclosure;

[0080] Figure 52 Schematic diagram of a structure of a double roller brush seal provided by the present disclosure;

[0081] Figure 53 Schematic diagram of a structure of a cleaning robot provided by the present disclosure when traveling on an uneven ground and the roller brush mechanism can float;

[0082] Figure 54 Schematic diagram of a structure of a cleaning robot provided by the present disclosure when traveling on a flat ground and the roller brush mechanism is lowered;

[0083] Figure 55 Another schematic diagram of a structure of a cleaning robot provided by the present disclosure when traveling on a flat ground and the roller brush mechanism is lowered;

[0084] Figure 56 For Figure 53 Cross-sectional schematic diagram along the B-B direction;

[0085] Figure 57 Schematic diagram of a shielding member in an open state provided by the present disclosure;

[0086] Figure 58 Schematic diagram of a shielding member provided by the present disclosure in a closed state;

[0087] Figure 59 Schematic diagram of a roller brush mechanism provided by the present disclosure from a first perspective;

[0088] Figure 60 For Figure 57 Enlarged view of the structure at position I in

[0089] Figure 61 Schematic diagram of a roller brush mechanism provided by the present disclosure from another perspective;

[0090] Figure 62 Schematic diagram of a roller brush mechanism provided by the present disclosure from a third perspective;

[0091] Figure 63 For Figure 61 Schematic diagram of the right part;

[0092] Figure 64 Schematic diagram of a roller brush mechanism provided by the present disclosure in an open state;

[0093] Figure 65 Schematic diagram of a roller brush mechanism provided by the present disclosure in a state where the roller brush cover is removed;

[0094] Figure 66 Schematic diagram of a roller brush cover provided by the present disclosure;

[0095] Figure 67 For Figure 66 Detailed schematic diagram of the dust-containing space involved in

[0096] Figure 68 For Figure 67 Schematic diagram of the structure at position II of

[0097] Figure 69 Bottom view of a cleaning robot provided by the present disclosure;

[0098] Figure 70 Stereogram of a cleaning robot provided by the present disclosure;

[0099] Figure 71 Schematic diagram of a cleaning robot on the surface of a base station provided by the present disclosure;

[0100] Figure 72 Schematic diagram of a base station provided by the present disclosure;

[0101] Figure 73 Internal structure schematic diagram of a cleaning robot provided by the present disclosure;

[0102] Figure 74 A structural schematic diagram of a cleaning robot provided by the present disclosure;

[0103] Figure 75 Another structural schematic diagram of a cleaning robot provided by the present disclosure;

[0104] Figure 76 Yet another structural schematic diagram of a cleaning robot provided by the present disclosure;

[0105] Figure 77 Still another structural schematic diagram of a cleaning robot provided by the present disclosure;

[0106] Figures 78 to 82 A structural schematic diagram of a baffle with different shapes provided by the present disclosure;

[0107] Figures 83 to 84 A schematic diagram of a baffle with different opening structures provided by the present disclosure;

[0108] Figures 85 to 86 Structural schematic diagrams of the dust suction assembly of the cleaning robot when it is on a hard floor and a soft floor respectively provided by the present disclosure;

[0109] Figures 87 to 89 Other structural schematic diagrams of the dust suction assembly provided by the present disclosure. Detailed implementation manners

[0110] For ease of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The 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 understand the disclosure of the present invention more thoroughly and comprehensively.

[0111] In the present invention, unless otherwise clearly specified and limited, terms such as "install", "connect", "couple", "fix", 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, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of 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 circumstances.

[0112] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0113] 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" used herein includes any and all combinations of one or more of the related listed items.

[0114] 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.

[0115] First, a brief description of the terms involved in the present disclosure is given:

[0116] Cleaning Efficiency (CE): If there are 100 units of dust on the surface to be cleaned and after 1 pass of cleaning, 1 unit of dust is cleaned or the dust is reduced by 1 unit, the cleaning efficiency is defined as 1%.

[0117] Power: The power involved in the present disclosure refers to the rated input power of the energy-consuming devices (such as fans, roller brush motors, drive motors, etc.), unless otherwise specified.

[0118] 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.

[0119] Dust raising: It means that at least part of the dust, hair, debris and other garbage is detached or temporarily detached from the ground to be cleaned.

[0120] Beating frequency: It refers to the number of times of beating the ground to be cleaned per unit time.

[0121] 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 to say, 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.

[0122] Beating area: It refers to the area formed by the part where the rotary brush contacts the environmental surface; when the cleaning robot is on a hard floor, the interference between the rotary brush and the hard floor is negative, that is to say, there is a gap between the rotary brush and the hard floor, and the rotary brush does not contact the hard floor. At this time, the beating area of the rotary brush is 0. Or, when the cleaning robot is on a hard floor, the interference between the rotary brush and the hard floor is 0, that is to say, the rotary brush just contacts the hard floor. At this time, the beating area of the rotary brush is a line, the line length is equal to the axial length of the rotary 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 rotary brush and the soft floor is positive. In other words, the rotary brush sinks into the interior of the soft floor. At this time, the rotary brush contacts the soft floor and has a width, and the beating area of the rotary brush is a rectangular area. The length of the rectangle is the length of the rotary brush in the axial direction; the width of the rectangle is the length of the line connecting two points where the rotary brush contacts the surface of the soft floor in the circumferential direction (circular outer contour).

[0123] As Figures 74 to 87 As shown in the figure, 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; 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 rotary brush assembly 220 and a cavity 4 for accommodating the rotary brush assembly.

[0124] In one embodiment, the cleaning robot may further include a sensing component 5 to detect the environment and send it to the controller 3.

[0125] In order to improve the cleaning efficiency of the cleaning robot, it is achieved by improving the structure of the dust suction component of the cleaning robot, so that the cleaning effect of the cleaning robot can reach a level comparable to that of a handheld vacuum cleaner.

[0126] The applicant has improved the dust raising effect of the cleaning robot. In order to improve the dust raising effect, in one embodiment, the rotary brush assembly includes a first rotary brush 2201 and a second rotary brush 2202. 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;

[0127] Among them, the first rotary brush beats the environmental surface to form a first beating area 100A, and the second rotary brush beats the environmental surface to form a second beating area 100B.

[0128] The cleaning robot uses a double rotary brush for beating. Compared with a single rotary brush, the number of beating mechanisms and the beating area are increased, thereby improving the dust raising effect.

[0129] Considering that the dust and other garbage slapped up by the double rotating brushes may not all be sucked in, which will also lead to low cleaning efficiency. Therefore, in order to suck in the dust slapped up by the double rotating brushes, the applicant has also improved the dust suction effect so that the dust suction effect is adapted to or matches the dust raising effect of the double rotating brushes.

[0130] In order to improve the dust suction effect, in one embodiment, 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 rotating brush assembly 220, the slapping areas (100A, 100B) formed by the slapping of the rotating brush assembly, the inside of the soft ground (such as a fully covered carpet with straight hair fibers and the thickness value of the straight hair between 5 mm and 15 mm), and even the gaps of 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 improved, reducing the power or energy loss of the dust suction mechanism, thereby improving the dust suction effect.

[0131] 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.

[0132] In one embodiment, the dust suction assembly includes a first baffle 110 located in front of the rotating brush assembly and a second baffle 112 located behind the rotating brush assembly; both the first baffle and the second baffle have free ends close to the environmental surface.

[0133] Among them, the free end of the baffle 109 (such as the general term for the first baffle and the second baffle) can be the lower end surface of the baffle.

[0134] In the present disclosure, the improvement of the sealing performance is achieved by the baffle. By setting the first baffle in front of the rotating brush assembly and the second baffle behind the rotating 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 rotating brush assembly; the second baffle seals the rear of the rotating brush assembly, so that the airflow outside the cavity can flow through the places where the environmental surface is slapped by the rotating brush, such as through the bottom of the rotating brush or the slapping area, in order to take away the dust slapped up by the rotating brush.

[0135] In one embodiment, the degree of sealing of the baffle to the cavity can be characterized by the distance between the free end of the baffle and the environmental surface.

[0136] Considering that for the same cleaning robot on different environmental surfaces, such as hard floors and soft floors, and even soft floors with different thicknesses, the distance between the baffle and the environmental surface is different. Especially on soft floors, due to its own gravity and the surface characteristics of the soft floor, the cleaning robot (such as the moving component and the dust suction component) will have "sinking" (meaning that the interference between the cleaning robot and the environmental surface is a positive value, for example, the interference between the moving component, the dust suction component, etc. and the environmental surface is a positive value), while the cleaning robot (such as the moving component and the dust suction component) usually does not have such "sinking" on hard floors. In order to improve the reliability of characterizing the distance between the baffle and the environmental surface, therefore, in one embodiment, the sealing degree of the baffle (including the first baffle and the second baffle) to the cavity can be characterized by the distance between the free end of the baffle and the hard floor.

[0137] In one embodiment, when the cleaning robot is on the hard floor 2A, the minimum distance between the free end of the first baffle and the hard floor (or the plane formed by the moving component of the cleaning robot (such as two driving wheels 21 and one universal wheel 22)) is the first distance 1A, and the minimum distance between the free end of the second baffle and the hard floor is the second distance 1B; where the first distance is less than 5 mm and the second distance is less than 5 mm.

[0138] By setting the distance between the baffle and the hard floor to be small, the airflow outside the cavity can flow into the cavity in a way close to the surface of the hard floor, which is beneficial to taking away the garbage lifted by the roller brush.

[0139] It should be noted that considering that the baffle can be of various shapes. For example, the free end of the baffle (the lower end surface of the baffle) can be a horizontal line in the axial direction of the roller brush (such as Figure 78 ), or a straight line inclined at a certain angle to the horizontal plane (such as Figure 79 ), or even include a wavy shape (such as Figure 80 ), a toothed shape (such as Figure 81 the sawtooth shape of Figure 82 the pulse shape of

[0140] Of course, it is also possible to perform fitting, smoothing, etc. on baffles of different shapes. For example, the free end of the baffle can be equivalent to a horizontal straight line to characterize the sealing degree of the baffle.

[0141] Among them, the first baffle makes the first air flow (also known as the front air flow, 1F) close to the surface of the hard ground, which is conducive to taking away the garbage slapped up by the first roller brush; the second baffle makes the second air flow (also known as the rear air flow, 2F) close to the surface of the hard ground, which is conducive to taking away the garbage slapped up by the second roller brush.

[0142] In this way, the first baffle cooperates with the first roller brush. For example, the first baffle guides the first air flow to cooperate with the first roller brush, so that the first air flow flows through the bottom of the first baffle, the first roller brush or the first slapping area of the first roller brush; the first baffle cooperates with the first roller brush. For example, the second baffle guides the second air flow to cooperate with the second roller brush. For example, the second air flow flows under the second baffle, through the bottom of the second roller brush or the second slapping area of the second roller brush.

[0143] In order to make the first air flow and the second air flow equivalent, for example, to control the difference between the first air flow and the second air flow within a certain range. In one embodiment, it can be considered that the first distance and the second distance are set to be approximately the same, or the difference between the first distance and the second distance is within a predetermined range.

[0144] In one embodiment, when the cleaning robot is on a hard ground, the difference between the first distance and the second distance is within 3 mm. Further, the difference between the first distance and the second distance is 0 - 2 mm. Furthermore, the difference between the first distance and the second distance is 0 - 1.5 mm.

[0145] Considering that the baffle can be of various shapes, in one embodiment, the sealing degree of the baffle can be characterized by the area of the opening between the baffle and the hard ground.

[0146] In order to characterize the sealing degree of baffles with different shapes on the cavity, in one embodiment, it can be characterized by the area of the opening formed by the baffle and the hard ground. For example, when the cleaning robot is on a hard ground, the first opening formed by the free end of the first baffle and the hard ground has a first area, and the second opening formed by the free end of the second baffle and the hard ground has a second area, where the ratio of the first area to the second area is within the range of 0.7 - 1.3; further, the ratio of the first area to the second area is within the range of 0.8 - 1.2. Furthermore, the ratio of the first area to the second area is within the range of 0.9 - 1.1.

[0147] For example, when the free end of the baffle is tooth-shaped, when the baffle is on a hard ground, the end face of the tooth-shaped free end of the baffle and the hard ground form a first opening, and the area of the first opening is equal to the sum of the area of the tooth shape and the area of the opening formed by the connection line of the endpoints of the lower surface of the tooth shape and the hard ground.

[0148] It can be understood that the free end of the baffle can have a shape such as a partial tooth shape. The calculation of the area of the opening formed by the free end and the hard ground is similar to the above, and will not be elaborated here.

[0149] Here, the shape of the baffle is taken into consideration. By making the sealing degrees of the front and rear baffles to the cavity basically the same, the airflows entering the cavity from both sides are made close, and the difference between the front and rear airflows is reduced.

[0150] Considering that on the baffle, especially in the position close to the free end, there may also be openings provided. The holes can be oval, triangular, such as Figure 83 and Figure 84 , and of course, other shapes are also possible. In order to characterize the sealing degrees of baffles with different shapes and openings to the cavity, in one embodiment, it can be characterized by the area of the opening formed by the baffle and the hard ground combined with the opening area. For example, when there is a first hole provided on the first baffle, when the cleaning robot is on the hard ground, the first opening formed by the free end of the first baffle and the hard ground has a first area, and the second opening formed by the free end of the second baffle and the hard ground has a second area, where the ratio of the sum of the first area and the area of the first hole to the second area is within the range of 0.7 - 1.3; further, the ratio of the sum of the first area and the area of the first hole to the second area is within the range of 0.8 - 1.2. Further still, the ratio of the sum of the first area and the area of the first hole to the second area is within the range of 0.9 - 1.1.

[0151] It can be understood that when there is a second hole provided on the second baffle, the area of the second hole needs to be taken into consideration. For example, the ratio of the sum of the first area and the area of the first hole and the sum of the second area and the area of the second hole is within the range of 0.7 - 1.3.

[0152] Here, the influences of the openings on the baffle and the shape of the baffle on the sealing degree of the cavity are both taken into consideration. By making the sealing degrees of the front and rear baffles to the cavity basically the same, the airflows entering the cavity from both sides are made close or equivalent, and the difference between the front and rear airflows is reduced.

[0153] By limiting the first distance and the second distance to be very small, for example, the first distance is less than 5 mm and the second distance is less than 5 mm; limiting the difference between the first distance and the second distance to be small, for example, the difference between the first distance and the second distance is within 3 mm; and limiting the opening areas of the front and rear baffles to the environmental surface to be close, 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 airflow flows from outside the cavity through the first patting area to the dust inlet of the cavity, and the second airflow flows from outside the cavity through the second patting area to the dust inlet.

[0154] Wherein, the dust inlet can be communicated with a dust suction fan that generates negative pressure.

[0155] In one embodiment, the degree of sealing can also be characterized by the area of the air leakage range caused by the shape of the baffle or the opening. Here, the gaps for gas flow generated by the shape of the baffle, the opening, etc. are called air leakage holes. For example, the area of the air leakage holes of the baffle is controlled within 30% of the total area of the baffle. In one embodiment, the area of the air leakage holes of at least one of the front and rear baffles accounts for within 30% of the total area of the baffle, so that the air flow difference between the front and rear baffles is controlled within a certain range, making the front and rear air flows close or equivalent.

[0156] In one embodiment, the first distance is greater than or equal to the second distance. For example, the value obtained by subtracting the second distance from the first distance is in the range of 0 - 3 mm; further, the value range of subtracting the second distance from the first distance is in the range of 0 - 2 mm; still further, the value range of subtracting the second distance from the first distance is in the range of 0 - 1.5 mm.

[0157] In one embodiment, the first distance is equal to the second distance.

[0158] It should be noted that when the first distance is equal to the second distance, the flow rates of the first air flow and the second air flow are made substantially the same.

[0159] In one embodiment, the first distance is greater than the second distance.

[0160] In one embodiment, the value range of the first distance is 3 - 4 mm. When the cleaning robot is on a hard floor, the setting of the first distance can allow garbage with a size of 2 - 3 mm (also known as small particles) to pass through, improving the garbage collection effect and thus the cleaning efficiency of the hard floor.

[0161] In one embodiment, the value range of the second distance is 1 - 2 mm, which can ensure the sealing of the rear part of the cavity, enabling the second air flow to better flow through the bottom of the second roller brush or the second flapping area.

[0162] In one embodiment, when the cleaning robot is on a soft floor, the first air flow and the second air flow can flow concentratedly from the surface of the soft floor or even from the interior of the soft floor; wherein, the meaning of concentrated is as follows: compared with the air flow when the cleaning robot is not provided with a baffle (or the baffle described below is in the open state), the air flow increases. That is to say, when the cleaning robot is on a soft floor, the air flow rates of the first air flow and the second air flow flowing from the surface of the soft floor or even from the interior of the soft floor both increase.

[0163] Due to the above-mentioned "sinking" effect, when the cleaning robot is on a soft ground, compared with the situation of the cleaning robot on a hard ground, the distance between the baffle and the soft ground is further reduced, and the sealing performance is further improved. As a result, the airflow outside the cavity can flow into the cavity in a way that is closer to the surface of the soft ground or even through the inside of the soft ground, and cooperate with the roller brush assembly in the cavity to achieve a better effect of taking away the garbage slapped by the roller brush; that is to say, the cleaning efficiency of the cleaning robot on the soft ground is greater than that of the cleaning robot on the hard ground.

[0164] It should be noted that when the cleaning robot with improved sealing performance is cleaning on a hard ground, compared with the cleaning robot without improved sealing performance, the cleaning efficiency is improved to a certain extent (for example, increased by about 5%), and when the cleaning robot is cleaning on a soft ground, compared with the cleaning robot without improved sealing performance, the cleaning efficiency is greatly improved (for example, increased by about 25%).

[0165] In one embodiment, for some soft grounds, such as carpets, which have channels for gas circulation inside (the gaps between carpet fibers), when the cleaning robot is on such a soft ground with an internal structure for gas passage, the first airflow and the second airflow can flow concentratedly through the surface or even the inside of the soft ground to achieve a better cleaning effect.

[0166] Compared with a hard ground, for a carpet, the distance between the free ends of the first baffle and the second baffle from the surface to be cleaned is further reduced, and the sealing performance is improved, so that the first airflow and the second airflow can flow concentratedly through the surface or even the inside of the carpet; that is to say, compared with the existing cleaning robots, when the cleaning robot is on the carpet, the airflow flowing through the surface or inside of the carpet increases, which is beneficial to improving the cleaning effect on the carpet.

[0167] In one embodiment, for a carpet with straight carpet fibers (for example, the free ends of the fibers are vertically upward when produced) and the fiber length is greater than a certain length (predetermined length), when the cleaning robot is on such a carpet, the free ends of the first baffle and the second baffle can contact the surface of the carpet, so that the first airflow flows from outside the cavity through the inside of the carpet to the dust inlet of the cavity, and the second airflow flows from outside the cavity through the inside of the carpet to the dust inlet; the ratio of the first airflow to the second airflow is greater than or equal to 0.7 and less than or equal to 1.3.

[0168] For baffles of different shapes, even with openings, on a certain carpet, the free end of the baffle can contact the carpet and meet the preset sealing degree, so that the first airflow and the second airflow are equivalent.

[0169] In one embodiment, the pile length of the carpet is greater than or equal to 5 mm and less than or equal to 15 mm. In one embodiment, the pile length of the carpet is greater than or equal to 5 mm and less than or equal to 10 mm. In one embodiment, the pile length of the carpet is greater than or equal to 5 mm and less than or equal to 8 mm.

[0170] For example, when the cleaning robot is on a wall-to-wall carpet with a pile length greater than or equal to 10 mm, the first air flow and the second air flow flow centrally through the interior of the wall-to-wall carpet to clean the interior of the wall-to-wall carpet. Here, the wall-to-wall carpet refers to a straight pile carpet.

[0171] It can be understood that for a wall-to-wall carpet with a pile length of 4.5 mm for straight pile (pile), since the carpet usually has a pad (such as 1 mm) for setting the pile, the thickness of the wall-to-wall carpet with a pile length of 4.5 mm will be greater than 5 mm. However, since the pile length is not greater than 5 mm, even if the total thickness is satisfied, the carpet that does not meet the above requirements in terms of pile length does not fall within the category of the above-mentioned carpets that meet the conditions.

[0172] Among them, when the cleaning robot is on a wall-to-wall carpet, the distances from the free ends of the first baffle and the second baffle to the surface to be cleaned are further reduced, and even the free ends of the first baffle and the second baffle can contact the surface of the wall-to-wall carpet, so that the first air flow and the second air flow can flow centrally through the interior of the wall-to-wall carpet; that is to say, compared with the existing cleaning robot, when the cleaning robot is on a wall-to-wall carpet, the air flow flowing through the interior of the wall-to-wall carpet increases.

[0173] In addition, the roller brush assembly "sinks" into the wall-to-wall carpet, so that the lowest points of the bottoms of the first roller brush and the second roller brush are inside the wall-to-wall carpet. The first roller brush and the second roller brush can pat the interior of the wall-to-wall carpet to pat up the garbage in the gaps between the carpet piles. The first air flow can take away the garbage patted up by the first roller brush, and the second air flow can take away the garbage patted up by the second roller brush, greatly improving the cleaning effect on the wall-to-wall carpet.

[0174] In one embodiment, the cleaning robot includes a dust suction fan for generating negative pressure;

[0175] 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 air flow flowing through the interior of the carpet accounts for 70% or more of the flow rate flowing out of the dust inlet.

[0176] Among them, the flow rate of the air flow flowing out of the dust inlet can be measured at the dust inlet or on the suction side of the dust suction fan (communicating with the dust inlet);

[0177] In one embodiment, the flow rate of the air flow flowing through the interior of the carpet can be measured at the dust inlet after sealing the channel between the baffle and the roller brush or even the space between the roller brush heads.

[0178] It should be noted that this negative pressure can be used to generate an air flow for sucking up garbage on the environmental surface.

[0179] Due to the improved sealing performance, especially 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, that is to say, the distances between the first baffle and the second baffle and the surface of the standard test carpet are basically equal to 0, or even less than 0, where less than 0 means that the baffle extends into the interior of the standard test carpet, the air flow formed by the negative pressure of the dust suction fan flows concentratedly through the interior of the carpet. The degree of the air flow flowing concentratedly through the carpet can be characterized by a proportion. For example, the flow rate of the air flow flowing through the interior of the standard test carpet accounts for more than 70% of the flow rate of the air flow on the suction side of the dust suction fan.

[0180] For other soft floors, if the carpet has a hardness higher than a certain set value (such as approaching the hardness of the floor) or the pile length is much less than a certain length, such as a carpet with a pile length of 2 mm, the air flow may not be able to circulate through its interior. Therefore, when the cleaning robot is on such a soft floor, the first air flow and the second air flow can also flow concentratedly through the surface of such a soft floor, which can also improve the cleaning effect on such a soft floor.

[0181] In one embodiment, the first distance is less than the length of the line 1C formed by the lowest position point of the first roller brush and the lowest position point of the second roller brush.

[0182] The second distance is less than the length of the line formed by the lowest position point of the first roller brush and the lowest position point of the second roller brush.

[0183] The distance between the baffle and the environmental surface is small, and the opening formed by this small distance generates a first resistance to the air flow, while the interior of a carpet with a certain pile length (such as a straight pile carpet with a pile length of 3 - 5 mm) generates a second resistance to the air flow. Among them, the first resistance is equivalent to the second resistance. For example, the ratio of the second resistance to the first resistance is between 0.8 and 1.2. At this time, when the cleaning robot is on a soft floor, especially for such a carpet with a certain pile length, the air flow can flow concentratedly through the interior of the carpet; while the distance between the lowest position points of the outer contours of the first roller brush and the second roller brush is large, and the opening formed by this large distance generates a third resistance to the air flow. Among them, the third resistance is equivalent to the second resistance. For example, the third resistance is less than or equal to the second resistance, so that when the cleaning robot is on a soft floor, especially for such a carpet with a certain pile length, the air flow can flow out from the space between the first roller brush and the second roller brush.

[0184] To better coordinate the air flow with the beating action of the roller brush and direct the air flow to the desired location (e.g., directing the air flow to the bottom / beating area of the roller brush) and avoid the loss of air flow from the unwanted locations (e.g., the side gap / space / channel formed between the baffle and the outer contour of the roller brush instead of the bottom / beating area of the roller brush), so as to improve the utilization rate of the air flow; in one embodiment, the free end of the baffle can be extended to be close to the bottom of the roller brush or the beating area formed by the roller brush; or, when the roller brush contacts the environmental surface, the baffle is extended to the position close to the contact of the roller brush with the environmental surface.

[0185] Therefore, in one embodiment, the degree of extension of the baffle can be characterized by the distance between the free end of the baffle and the lowest position point of the adjacent roller brush;

[0186] For example, the minimum distance between the free end 110A of the first baffle and the lowest position point 2201A of the first roller brush is the third distance M1, where the third distance is less than 15 mm, and the first air flow is directed to the bottom of the first roller brush;

[0187] The minimum distance between the free end 112A of the second baffle and the lowest position point 2202A of the second roller brush is the fourth distance M2, where the fourth distance is less than 15 mm, and the second air flow is directed to the bottom of the second roller brush.

[0188] Furthermore, the minimum distance between the free end of the first baffle and the lowest position point of the first roller brush is the third distance, where the third distance is less than 12 mm, and the first air flow is directed to the bottom of the first roller brush;

[0189] The minimum distance between the free end of the second baffle and the lowest position point of the second roller brush is the fourth distance, where the fourth distance is less than 12 mm, and the second air flow is directed to the bottom of the second roller brush.

[0190] For the sake of easy understanding, when the center distance between the front and rear roller brushes is 35.5 mm (the radius of the roller brush is about 17.25 mm) and the reserved spacing between the two roller brushes is 1 mm (to prevent interference between the two roller brushes), when the lowest end of the front baffle is 2 mm from the ground, the distance between the lowest end and the lowest point of the front roller brush in contact with the ground is about 11.76 mm; when the lowest end of the rear baffle is 1 mm from the ground, the distance between the lowest end and the lowest point of the rear roller brush in contact with the ground is about 10.1 mm.

[0191] By extending the first baffle to be close to the lowest position point of the first roller brush and directing the first air flow to the bottom of the first roller brush, the first air flow is better coordinated with the beating of the first roller brush; further, by extending the second baffle to be close to the lowest position point of the second roller brush and directing the second air flow to the bottom of the second roller brush, the second air flow is better coordinated with the beating of the second roller brush, thereby improving the cleaning effect on the environmental surface.

[0192] In one embodiment, the free end 110A of the first baffle is at a third distance M1 from the lowest position point 2201A of the first roller brush, where the third distance is less than 15 mm, and the first air flow is directed to the first flapping area of the first roller brush;

[0193] The free end 112A of the second baffle is at a fourth distance M2 from the lowest position point 2202A of the second roller brush, where the fourth distance is less than 15 mm, and the second air flow is directed to the second flapping area of the second roller brush.

[0194] Further, the free end of the first baffle is at a third distance from the lowest position point of the first roller brush, where the third distance is less than 12 mm, and the first air flow is directed to the first flapping area of the first roller brush;

[0195] The free end of the second baffle is at a fourth distance from the lowest position point of the second roller brush, where the fourth distance is less than 12 mm, and the second air flow is directed to the second flapping area of the second roller brush. Similarly, by arranging the baffle at a position close to the flapping area, the air flow is directed to the flapping area of the roller brush, so that the air flow capable of carrying garbage can cooperate more directly with the flapping action of the roller brush, which is beneficial to improving the cleaning efficiency of the environmental surface.

[0196] It should be noted that by arranging the baffle close to the lowest position point of the roller brush, when the cleaning robot is on a soft ground surface, especially in the case of a carpet with a certain pile length, the air flow can flow through the inside of the carpet, greatly improving the cleaning effect on the carpet.

[0197] The above-mentioned lowest position point of the roller brush refers to the lowest position point on the outer contour of the roller brush when the cleaning robot is on the environmental surface.

[0198] In one embodiment, the length of the line connecting the free end of the first baffle and the lowest position point of the first roller brush is less than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

[0199] The distance between the free end of the first baffle and the lowest position point of the first roller brush is small. On the one hand, it can guide the first airflow to the required place. On the other hand, the resistance of the opening formed by the distance between the free end of the first baffle and the lowest position point of the first roller brush to the airflow is equivalent to the resistance of the internal passage of a carpet with a certain pile length (such as a carpet with a pile length of 3-4 mm) to the airflow, prompting the first airflow to flow through the interior of the carpet. That is to say, making the distance between the free end of the first baffle and the lowest position point of the first roller brush small enables the first airflow to be better guided to the bottom of the first roller brush or the first beating area when the cleaning robot is on a soft floor, especially a carpet with a certain pile length, and the first airflow is also more likely to flow through the interior of the carpet. The distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush is large, and the resistance of the opening formed by the lowest position point of the first roller brush and the lowest position point of the second roller brush to the airflow is less than or equal to the resistance of the carpet to the airflow, allowing the airflow flowing through the interior of the carpet to flow out from the space between the first roller brush and the second roller brush and towards the dust box of the cleaning robot.

[0200] In one embodiment, the length of the line connecting the free end of the second baffle and the lowest position point of the second roller brush is less than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

[0201] Similarly, the distance between the second baffle and the lowest position point of the second roller brush is small, while the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush is large, enabling the second airflow to be more smoothly guided to the bottom of the second roller brush or the second beating area when the cleaning robot is on a soft floor, especially a carpet with a certain pile length. The second airflow is more likely to flow through the interior of the carpet and flow out from the space between the first roller brush and the second roller brush, and finally flow into the dust box of the cleaning robot.

[0202] 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 roller brush (for example, the distance between the free end of the baffle and the point on the outer contour of the roller brush that is at the same horizontal plane as the free end and closest to the free end).

[0203] 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, where the distance between the intermediate point and the lowest position of the first roller 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 roller brush.

[0204] 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 roller brush, which can play a certain role in assisting in obstacle crossing.

[0205] In one embodiment, the first baffle has a non-free end, where the non-free end refers to the other part of the baffle that is higher from the ground than the free end;

[0206] The horizontal distance between the free end of the first baffle and the first roller brush (corresponding to the first horizontal distance below) is less than or equal to the horizontal distance between the non-free end of the first baffle and the first roller brush;

[0207] The horizontal distance between the free end of the second baffle and the second roller brush (corresponding to the second horizontal distance below) is less than or equal to the horizontal distance between the non-free end of the second baffle and the second roller brush;

[0208] In one embodiment, the first baffle is arc-shaped and extends towards the first roller brush; the second baffle is arc-shaped and extends towards the second roller brush.

[0209] By setting the baffle in an arc shape, the baffle fits better with the shape of the roller brush, enabling the baffle to smoothly transition and extend to the roller brush. On the one hand, this makes the guiding of the air flow smoother, and on the other hand, it better adapts to the obstacle-crossing scenario; among them, the first baffle smoothly extends towards the first roller brush, and the second baffle smoothly extends towards the second roller brush.

[0210] Of course, in other embodiments, the first baffle and the second baffle can also be set to be non-arc-shaped, such as stepped.

[0211] In order to reduce the flow of gas from unwanted places, for example, to reduce the flow of air from the channel between the first baffle and the first roller brush; in one embodiment, the opening size between the baffle and the adjacent roller brush can be characterized by the horizontal distance between the free end of the baffle and the outer contour of the adjacent roller brush;

[0212] For example, the free end of the first baffle is separated from the outer contour of the first roller brush by a first horizontal distance N1, and the first horizontal distance is less than or equal to 5 mm;

[0213] In order to reduce the flow of air from the channel between the second baffle and the second roller brush; in one embodiment, the free end of the second baffle is separated from the second roller brush by a second horizontal distance N2, and the second horizontal distance is less than or equal to 5 mm.

[0214] Furthermore, the free end of the first baffle is separated from the outer contour of the first roller brush by a first horizontal distance, and the first horizontal distance is less than or equal to 4 mm; the free end of the second baffle is separated from the second roller brush by a second horizontal distance, and the second horizontal distance is less than or equal to 4 mm; furthermore, the first horizontal distance is less than or equal to 3 mm; the free end of the second baffle is separated from the second roller brush by a second horizontal distance, and the second horizontal distance is less than or equal to 3 mm.

[0215] It should be noted that, in order to avoid abrasion, the free end of the baffle cannot contact the outer contour of the adjacent roller brush. Therefore, in one embodiment, the above-mentioned first horizontal distance and second horizontal distance are greater than 0.

[0216] In one embodiment, the opening size between the baffle and the adjacent roller brush can be characterized by the minimum distance between the free end of the baffle and the outer contour of the adjacent roller brush; the minimum distance here refers to the minimum value of the distance between the point on the free end and the center of the roller brush minus the radius of the roller brush.

[0217] For example, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is the fifth distance Y1, and the fifth distance is less than or equal to 4 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is the sixth distance Y2, and the sixth distance is less than or equal to 4 mm.

[0218] Furthermore, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is less than or equal to 3 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is less than or equal to 3 mm; furthermore, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush is less than or equal to 2 mm; the minimum distance between the free end of the second baffle and the outer contour of the second roller brush is less than or equal to 2 mm.

[0219] It should be noted that, in order to avoid abrasion, the free end of the baffle cannot contact the outer contour of the adjacent roller brush. Therefore, in one embodiment, the minimum distance between the free end of the first baffle and the outer contour of the first roller brush and the minimum distance between the free end of the second baffle and the outer contour of the second roller brush are greater than 0.

[0220] By making the openings on both sides smaller, the airflow flowing in from the openings on both sides is reduced, so that more airflow can flow through the bottom / flapping area of the roller brush; at the same time, the interference between the roller brush and the baffle is avoided, and the abrasion is prevented from affecting the service life of the components.

[0221] Specifically, taking the horizontal distance as an example to characterize the opening size, the first horizontal distance between the free end of the first baffle and the first roller brush is made smaller to reduce the first airflow flowing in from the opening formed by the first horizontal distance, so that more airflow flows to the bottom or the first flapping area of the first roller brush;

[0222] The second horizontal distance between the free end of the second baffle and the outer contour of the second roller brush is made smaller to reduce the second airflow flowing in from the opening formed by the second horizontal distance, so that more airflow flows through the bottom or the second flapping area of the second roller brush.

[0223] 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 into 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 into the space between the first roller brush and the second roller brush.

[0224] The double roller brushes adopt 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), while the double roller brushes rotate in two opposite and facing directions, which is beneficial to promoting 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 concentratedly into 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 into 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 into the space between the first roller brush and the second roller brush.

[0225] In one embodiment, the cavity has a dust inlet 14 connected to a dust suction fan;

[0226] The first roller brush rotates in a first direction, and the second roller brush rotates in a second direction, and the second direction is opposite and facing to the first direction; for example, the first direction is counterclockwise and the second direction is clockwise.

[0227] 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 through the first inlet towards the dust inlet of the cavity;

[0228] 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 through the second opening towards the dust inlet.

[0229] Compared with a single rotating brush, when two rotating brushes rotate in opposite directions, the agitation effect on air is higher. Besides promoting the air flow from the required places (for example, promoting the air on both sides to flow through the bottom / percussion area of the first rotating brush and the second rotating brush respectively and then gathering and flowing to the space between the two rotating brushes), the rotation direction of the two rotating 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 and the rotating brushes (for example, the air flow flowing from the first inlet along the space between the outer contour of the first rotating brush and the first baffle 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 rotating brush and the first baffle to the dust inlet of the cavity).

[0230] In one embodiment, the two rotating brushes share a single rotating brush motor for driving, and the power of the rotating brush motor ranges from 20 to 40 W.

[0231] In this cleaning robot, the power of the rotating brush motor of the two rotating brushes (for example, 25 - 35 W) is higher than that of the single rotating brush (10 - 20 W), so that the number of percussions per unit time is increased, improving the dust-raising effect.

[0232] In order to reduce the possible adverse effects of the suction force of the air flow on the baffle, such as causing the baffle to deform and affecting the sealing performance, therefore, in one embodiment, the hardness of the material of at least one of the first baffle and the second baffle is greater than or equal to 80 HA.

[0233] In one embodiment, the hardness of the material of the first baffle is greater than or equal to 80 HA; further, the hardness of the material of the second baffle is greater than or equal to 80 HA.

[0234] By making the hardness of the materials of both the first baffle and the second baffle greater than or equal to 80 HA, the baffle can match the suction force after sealing and is not easily deformed.

[0235] 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 (for example, 5 mm - 20 mm), at least one of the first baffle and the second baffle is set to be movable.

[0236] 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, 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, 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 that in 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 (to achieve 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.

[0237] 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.

[0238] 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;

[0239] 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;

[0240] 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).

[0241] 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 higher cleaning efficiency, and when the first baffle is in the open state, the cleaning robot can suck up large particles and clumped hairs (also known as hair balls) in front.

[0242] That is to say, when the cleaning robot recognizes clumped hairs, the baffle is in the open state; for example, the first baffle is movable, and when the cleaning robot recognizes clumped hairs, the first baffle opens to clean the clumped hairs.

[0243] 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;

[0244] The second baffle has a closed state and an open state;

[0245] 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.

[0246] Similarly, when the second baffle is movable and it is necessary to clean large particles or clumped hairs near the second baffle, the second baffle opens.

[0247] It should be noted that since the second baffle is provided 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.

[0248] 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.

[0249] In one embodiment, the housing further includes a second roller brush support portion that at least partially covers the second roller brush.

[0250] 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.

[0251] 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.

[0252] In one embodiment, a dust inlet 14 is provided in the upper part of the housing.

[0253] For example, referring to Figure 85 and Figure 86 , 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 and can be provided, for example, 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 a cavity.

[0254] Again, referring to Figure 87 , 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 and can be provided, for example, 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 a cavity.

[0255] Again, referring to Figure 88 , 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 a cavity.

[0256] Once again, referring to Figure 89 , 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 and can be provided, for example, 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 and can be provided, for example, 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 a cavity.

[0257] In one embodiment, the housing may further include a roller brush cover. As shown in Figure 64 , the roller brush support and the roller brush cover are detachably connected to facilitate the maintenance of the roller brush assembly.

[0258] In one embodiment, the housing includes an upper housing (also referred to as an upper bracket) and a lower housing (also referred to as a roller brush cover, a lower bracket), wherein the upper housing and the lower housing together form a roller brush bracket, that is to say, the roller brush bracket may 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, wherein 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.

[0259] In one embodiment, a dust inlet 14 communicating with the dust suction fan may be formed on the upper housing.

[0260] In one embodiment, the first baffle may be movably disposed on the first roller brush bracket portion to block the first roller brush.

[0261] By disposing 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 tightness of the cavity, while reducing the impact of the opening and closing of the first baffle on the entire housing structure.

[0262] It should be noted that the first baffle may be disposed outside the first roller brush bracket portion or inside the first roller brush bracket portion (that is to say, the first baffle may be disposed between the first roller brush and the first roller brush bracket portion).

[0263] In order to ensure sealing, avoid interference between 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 may be disposed outside the first roller brush bracket portion.

[0264] By disposing the first baffle outside the first roller brush bracket portion, it is convenient to arrange the traction mechanism for driving its movement, and 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.

[0265] 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.

[0266] 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 surround and form a cavity for accommodating the roller brush assembly.

[0267] 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.

[0268] In one embodiment, when the first baffle is in the open state, the difference between the first air flow and the second air flow is Δ1; when the first baffle is in the closed state, the difference between the first air flow and the second air flow is Δ2; where Δ2 is less than Δ1; when the second baffle is always in the closed state, for example, as a part of the housing and always sealing the rear part of the cavity, before and after the first baffle is closed, the difference between the first air flow and the second air flow becomes smaller.

[0269] It can be understood that regardless of whether the environmental surface is a hard floor or a soft floor, when the first baffle is in the closed state, the sealing can be improved, thus achieving the effects brought by the improved sealing performance mentioned above. Moreover, when the cleaning robot is on a soft floor, the cleaning efficiency when the baffle is in the closed state is higher than that when the cleaning robot is on a hard floor and the baffle is in the closed state.

[0270] Among them, before the first baffle is closed, that is, when the first baffle is in the open state, the distance from the ground is relatively large and the resistance is small. Since the second baffle is in the closed state, that is, the distance from the ground is relatively small and the resistance is large when the second baffle is in the closed state. Because the air flow tends to flow through the place with small resistance, the air flow formed by the negative pressure is more inclined to enter the cavity from the first baffle (the front side of the main body), and avoid entering the cavity from the second baffle (the rear side of the main body). Therefore, the first air flow is larger and enters concentratedly from the front side of the main body, while the second air flow is less and almost zero; moreover, the first air flow entering from the relatively large opening formed between the first baffle and the environmental surface cannot effectively reach the first roller brush. Therefore, the first air flow cannot effectively cooperate with the bottom or the beating area of the first roller brush; after the first baffle is closed, the distance from the first baffle to the ground becomes smaller and the resistance becomes larger. The distance from the first baffle to the second baffle from the ground is close and the resistance is basically the same. The air flow generated by the negative pressure (including the first air flow and the second air flow) can enter concentratedly from the front and rear sides of the main body, so that the first air flow reaches the bottom or the beating area of the first roller brush through the first baffle, and the second air flow reaches the bottom or the beating area of the second roller brush through the second baffle, greatly improving the cleaning efficiency.

[0271] In one embodiment, when the first baffle is in the closed state, the air flow at the beating area where the first roller brush beats the environmental surface has a first flow rate; when the first baffle is in the open state, the air flow at the beating area has a second flow rate, and the first flow rate is greater than the second flow rate.

[0272] That is to say, when the second baffle is always in the closed state, or when the height on the hard ground is less than or equal to 5 mm, or when the free end of the second baffle in a certain carpet contacts the carpet, before and after the first baffle is closed, the flow velocity of the air flow in the flapping area increases, which can better carry away the flapped garbage and improve the cleaning effect.

[0273] In one embodiment, when the cleaning robot is on a carpet and the free end of the first baffle contacts the second baffle, when the first baffle is in the closed state, the air flow in the first flapping area where the first roller brush flaps the environmental surface has a first flow velocity; when the first baffle is in the open state, the air flow in the first flapping area has a second flow velocity, and the first flow velocity is greater than the second flow velocity.

[0274] In one embodiment, when the cleaning robot is on a carpet and the free end of the second baffle contacts the carpet, when the first baffle is in the closed state, the flow rate of the air flow flowing through the first baffle from the inside of the carpet is greater than that when the first baffle is in the open state and the air flow flows through the first baffle from the inside of the standard carpet.

[0275] In other words, when the second baffle is always in the closed state, or when the height on the hard ground is less than or equal to 5 mm, or when the free end of the second baffle in a certain carpet contacts the carpet, before and after the first baffle is closed, the flow rate of the air flow flowing through the bottom of the first baffle from the inside of the carpet increases, improving the cleaning effect on the standard test carpet.

[0276] The reason is that when the first baffle is in the closed state, the distance between the free end of the first baffle and the carpet (for example, in contact, the distance is 0) is less than the distance when the first baffle is in the open state (for example, there is a small gap that allows air flow to pass through). The resistance of the opening in the closed state is greater than that in the open state, and the air flow is more likely to flow through the inside of the carpet.

[0277] In one embodiment, when the cleaning robot is on a carpet and the free end of the second baffle contacts the carpet, when the first baffle is in the closed state, the flow rate of the air flow flowing through the second baffle from the inside of the carpet is greater than that when the first baffle is in the open state and the air flow flows through the second baffle from the inside of the carpet.

[0278] That is to say, when the second baffle is always in the closed state, before and after the first baffle is closed, the flow rate of the air flow flowing through the bottom of the second baffle from the inside of the carpet also increases, improving the cleaning effect on the carpet.

[0279] In one embodiment, when the first baffle is in the closed state, the vacuum degree at a certain position in the cavity is greater than that at the same position in the cavity when the first baffle is in the open state.

[0280] When the second baffle is always in the closed state, or when the above is less than or equal to 5 mm on a hard floor, or when the free end of the second baffle on a certain carpet contacts the carpet, the sealing performance at the same position of the cavity is improved before and after the first baffle is closed.

[0281] Among them, a certain position of the cavity includes but is not limited to the dust inlet of the cavity and the space between the first roller brush and the second roller brush.

[0282] Therefore, in one embodiment, when the first baffle is in the closed state, the dust inlet of the cavity has a first vacuum degree, and when the first baffle is in the open state, the dust inlet of the cavity has a second vacuum degree, where the first vacuum degree is greater than the second vacuum degree.

[0283] In order to enable the baffle to be movable, in one embodiment, the dust suction assembly includes a traction unit, and the traction unit is arranged on the housing to drive the first baffle to switch between the open state and the closed state.

[0284] 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.

[0285] In order to enable the baffle to be reset, in one embodiment, the dust suction assembly may include a reset unit.

[0286] 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.

[0287] In order to meet the requirements of obstacle crossing, cleaning and sealing of 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;

[0288] The roller brush assembly is arranged on the roller brush bracket, and the roller brush assembly floats with the floating of the roller brush bracket.

[0289] In order 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

[0290] For example, the first baffle is configured to be able to float in the up and down direction.

[0291] 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.

[0292] Another example is that the second baffle is configured to be able to float in the up and down direction.

[0293] 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 and the second roller brush maintain a relatively stable state, ensuring the sealing effect of the cavity.

[0294] Since the second baffle is usually 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.

[0295] The first baffle is usually independently arranged. Therefore, in one embodiment, the first baffle is configured to float synchronously with the roller brush bracket, so as to maintain a relatively stable state between the first baffle and the first roller brush.

[0296] 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 roller brush bracket, so that the first baffle can float with the floating of the roller brush bracket like the roller brush assembly, thereby achieving the purpose of maintaining a relatively stable state between the first baffle and the first roller brush.

[0297] 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 roller brush driving assembly for driving the rotation of the roller brush assembly. The baffle driving assembly and the roller brush driving assembly are both arranged on the roller brush bracket, so that the baffle driving assembly and the roller brush driving assembly both float with the floating of the roller brush bracket.

[0298] Among them, the baffle driving assembly includes a baffle driving motor and a first transmission component connected to the driving motor;

[0299] The roller brush driving assembly includes a roller brush driving motor and a second transmission component connected to the roller brush driving motor;

[0300] 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.

[0301] Of course, considering whether the baffle is in place, 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 details will be elaborated here.

[0302] It should be noted that the position detection device can also be arranged on the roller brush bracket, so that the position detection device floats with the floating of the roller brush bracket.

[0303] 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.

[0304] To facilitate the disassembly and maintenance of the roller brush, in one embodiment, the housing includes a roller brush cover.

[0305] Considering how to set the baffle, especially the movable first baffle, in one embodiment, the roller brush cover has connecting parts connected to the roller brush bracket (which can be narrowly understood as the upper bracket here), and there are two of the connecting parts; along the direction parallel to the rotation axis, the two connecting parts are respectively arranged on both sides of the first baffle;

[0306] By arranging the connecting parts 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.

[0307] It should be noted that the movement is active, for example, realized by the controller or manually through the traction unit; while the floating is passive, only a floating space is required.

[0308] To guide the movable baffle and prevent the baffle from being stuck by dust when it moves; taking the first baffle as an example of being movable, in one embodiment, ribs are arranged between the first baffle and the first roller brush bracket part, and the ribs are used to guide the baffle to move along the first roller brush bracket part. In one embodiment, there can be multiple ribs, and a space for accommodating dust can be formed between adjacent ribs.

[0309] To prevent the air flow from flowing away through the gap between the roller brush bracket part 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 arranged between the first baffle and the first roller brush bracket part. The above can be specifically referred to the description of the dust accommodating space below.

[0310] Considering the scenario of the roller brush being lifted, a lifting drive structure needs to be set. 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 suction assembly to lift, and the lifting mechanism includes the drive motor 1291. The drive motor is also configured to drive the dust suction assembly to move up and down in the vertical direction. For details, please refer to the following text.

[0311] In order to make the structure of the dust collection assembly more compact, in one embodiment, the first baffle is rotatably movable 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.

[0312] In order to prevent damage to the gear set in a collision scenario: in one embodiment, the fit between the motor output shaft and the gear is designed to be loose (with a margin). For example, the dust collection assembly includes a drive system for driving the movement of the first baffle and a transmission system for transmitting the driving force of the drive system to the first baffle; the drive system includes a drive motor, the transmission system includes a gear set, and there is a gap between the output shaft of the drive motor and the gear set. For specific reference, see the following description of loose fit.

[0313] In order to reduce the force on the baffle in a collision scenario, in one embodiment, an anti-collision portion can be provided on the bracket for anti-collision. Taking the reduction of the force on the first baffle as an example, in one embodiment, the dust collection assembly has an anti-collision portion. Along the front end direction of the main body, the anti-collision portion at least has a part located in front of the first baffle, and this part located in front of the first baffle has no connection relationship with the first baffle, so as to contact the obstacle when the cleaning robot collides with the obstacle. Further, the dust collection assembly includes a housing, the housing has a first roller brush support portion that at least partially covers the first roller brush, and the anti-collision portion includes a protrusion provided on the outer side wall of the first roller brush support portion and protruding beyond the first baffle.

[0314] In order 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;

[0315] 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.

[0316] Further, the cleaning robot includes an environmental detection device for detecting the foreign object type;

[0317] 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 environmental detection device identifies that the foreign object type is garbage with a size meeting the preset conditions.

[0318] To reduce the hardware cost of real-time detection, taking the real-time detection seal of the first baffle of an activity as an example, in one embodiment, the cleaning robot has a deep cleaning mode and a regular cleaning mode. Among them, in the deep cleaning mode, the cleaning robot has a first cleaning parameter, and in the regular cleaning mode, the cleaning robot has a second cleaning parameter, and the first cleaning parameter is different from the second cleaning parameter. Among them, the cleaning parameter at least includes one of the following parameters: the state of the first baffle, the moving speed, and the fan power;

[0319] When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to switch between the two cleaning modes to alternately perform the cleaning operation.

[0320] Further, in the deep cleaning mode, the first baffle is in a closed state; in the regular cleaning mode, the first baffle is in an open state.

[0321] Further, the controller is configured to control the cleaning robot to alternately execute the deep cleaning mode and the regular cleaning mode according to natural days. Among adjacent two natural days, the cleaning modes of the cleaning robot are different;

[0322] Alternatively, the controller is configured to control the cleaning robot to alternately execute the deep cleaning mode and the regular cleaning mode according to the number of times. Wherein, one traversal of the cleaning robot on the environmental surface is called once, and among adjacent two times, the cleaning modes of the cleaning robot are different.

[0323] When the cleaning robot performs a cleaning operation on a soft floor, the controller controls the cleaning robot to first clean the soft floor in the deep cleaning mode, and then perform at least one edge cleaning on the soft floor. And during the first edge cleaning, the cleaning robot is in the regular cleaning mode.

[0324] Here, the deep cleaning mode and the high-efficiency cleaning mode below are both modes that can improve the cleaning efficiency of the cleaning robot, and can be collectively referred to as the first cleaning mode. Here, the regular cleaning mode and the ordinary cleaning mode below are both modes in which the cleaning robot maintains a relatively general cleaning efficiency, and can be collectively referred to as the second cleaning mode.

[0325] In order to realize 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, and the guiding surface is inclined towards the first roller brush and is arranged at an acute angle with the horizontal plane; when the first baffle is in a closed state, at least a part of the guiding surface is closer to the environmental surface relative to the roller brush bracket.

[0326] It can be understood that when the first baffle is movably arranged on the first roller brush support part, in order to lift the roller brush assembly when the first baffle assists in overcoming an obstacle, 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 roller brush support part and the cleaning surface.

[0327] Furthermore, 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 with a size meeting a preset condition, the controller controls the first baffle to close.

[0328] In one embodiment, the cleaning robot includes a blower, and the power of the blower is greater than or equal to 60W.

[0329] Since the sealing effect is improved, a blower with a medium power, such as 60W - 80W, can be used to achieve a 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, which saves costs, reduces the power supply capacity requirement of the power supply device, and is beneficial to the miniaturization of the machine.

[0330] It should be noted that all the above technologies can be applied to other cleaning devices such as handheld vacuum cleaners, especially DC (direct current) handheld vacuum cleaners, etc., and the present disclosure will not elaborate too much on this.

[0331] It is found in the research that the existing structure of the cooperation between the roller brush assembly and the housing has limitations, resulting in the suction port of the cleaning robot being unable to adjust the suction efficiency of the airflow generated by negative pressure for foreign objects according to different cleaning surface conditions during the cleaning process. Specifically, the contact state between the suction port and the cleaning surface and the contact state between the roller brush and the cleaning surface during the cleaning process of the cleaning robot limit the flow path of the airflow during cleaning and the carrying capacity of the airflow for foreign objects. Please refer to Figure 2 Figure, which shows the schematic diagrams of the states of the suction port, the roller brush, and the cleaning surface on the housing during the cleaning of two cleaning surfaces, namely the carpet and the floor, by the cleaning robot, and marks the flow path of the airflow. Figure 2It can be intuitively obtained that on one side of the traveling direction of the robot, the distance between the dust suction port and the cleaning surface is relatively large, and most of the airflow generated by the negative pressure flows into the air duct from the side of the dust suction port facing the traveling direction of the robot and the adjacent side edges. In this structural setting of the dust suction port, due to the relatively poor sealing performance on the front side of the traveling direction of the robot, the pressure difference of the negative pressure at the dust suction port is weakened, resulting in poor dust suction ability of the dust suction system; in particular, when the cleaning robot cleans on soft floors such as carpets, there is a problem of low cleaning efficiency. As a solution, the suction power of the dust suction port can be increased by increasing the working power of the fan of the cleaning robot. However, increasing the fan power often leads to a larger volume, greater noise, more power consumption, and an overall increase in the cost of the electronic circuit system; when the change in the fan power is relatively large, it may also be necessary to cooperate with structural changes to meet the space and heat dissipation requirements of the electronic circuit system, resulting in a significant increase in cost. Therefore, it is necessary to provide a new solution idea to improve the cleaning performance of the cleaning robot on carpets.

[0332] The inventors of the present disclosure have pointed out through a large number of studies that the cleaning efficiency (CE) of the cleaning robot on the surface to be cleaned is closely related to the dust raising ability and dust suction ability of the dust suction system (dust suction component). Specifically, the dust raising ability can be reflected by the number of times the brush body pats the cleaning surface. The dust suction ability can be reflected by improving the aggregation ability and suction ability of the dust suction port for the garbage on the cleaning surface. Based on this, the technical solutions for improving the dust raising ability and dust suction ability are proposed in the embodiments of the present disclosure. The specific description is as follows:

[0333] The feasible implementation manners provided by the present disclosure for increasing the number of times the brush body of the roller brush assembly pats the cleaning surface are as follows: Any one of the following manners or any combination of manners can, to a certain extent, improve the dust raising ability of the dust suction system. Specifically, it includes:

[0334] 1. Increase the number of brush bodies of the roller brush assembly, specifically including: increasing the number of roller brushes and / or increasing the number of brush bodies (such as brush strips, bristles) on a single roller brush. 2. Increase the rotational speed of the roller brush. 3. Increase the patting force of the roller brush on the ground, specifically including increasing the interference amount between the brush body and the cleaning surface. 4. Change the dust raising angle or direction, specifically including adjusting the angle or direction of the bristles, adjusting the installation angle of the roller brush on the main body, the rotation direction, etc.; in the configuration with more than one roller brush, the dust raising ability can also be further optimized by adjusting the combination manner of the roller brushes. The adjustment of the combination manner specifically includes: the cooperation of the rotational speed, the cooperation of the rotation direction, the cooperation of the installation angle, the cooperation of the brush body material, and / or the cooperation of the patting sequence of the brush body, etc.

[0335] The present disclosure further provides feasible embodiments for improving the ability of a vacuuming system (also known as a vacuuming component) to gather garbage on a cleaning surface as follows: Any one of the following methods or any combination of adjusted methods can, to a certain extent, improve the vacuuming ability of the vacuuming system.

[0336] 1. Increase the passing rate when garbage gathers towards the vacuuming port. 2. Increase the coverage area of the vacuuming port.

[0337] The present disclosure also provides feasible embodiments for improving the sucking ability of a vacuuming system to suck garbage on a cleaning surface. Any one of the following methods or any combination of methods can, to a certain extent, improve the vacuuming ability.

[0338] 1. Improve the structure of the vacuuming port to guide the flow path of the airflow formed by the negative pressure at the vacuuming port.

[0339] 2. Increase the negative pressure within the coverage area of the vacuuming port and adjust the carrying ability of the airflow at the vacuuming port for foreign objects.

[0340] For ease of understanding, hereinafter, a first baffle (hereinafter described as an occlusion member) is movably provided on a first roller brush support portion to occlude the first roller brush; the second baffle is a part of the second roller brush support portion to occlude the second roller brush; the first baffle, the first roller brush support portion, and the second roller brush support portion enclose a cavity for accommodating the roller brush assembly. Taking this as an example, the cleaning robot provided by the present disclosure with movable sealing is described in conjunction with the accompanying drawings as Figure 3 and Figure 9 shown, the vacuuming system (corresponding to the vacuuming component) of the cleaning robot 100 is provided on the main body 10. The vacuuming system includes a roller brush mechanism, a sealing adjustment mechanism 11 (including a movable sealing structure of the first baffle and a traction unit), a blower (corresponding to a vacuuming blower), 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 inside the housing 210, and a vacuuming port 12 allowing the roller brush assembly 220 to contact the ground is opened on the housing. One end of the air duct 240 is located above the vacuuming port and is connected to the housing 210; the other end of the air duct 240 is provided with a blower, and the garbage at the vacuuming port is conveyed to the dust collection box through the air duct 240 under the action of the suction force generated by the blower.

[0341] In an embodiment of the present disclosure, the vacuuming port is as Figure 20 and Figure 21As shown, for the exposed roller brush assembly 220, 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 implementations, the structure of the dust suction port is not limited to a rectangle 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 blower rotates to generate negative pressure inside and outside the dust suction port. Under the action of the negative pressure, the 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.

[0342] In an 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.

[0343] In one embodiment, as Figure 4 and Figure 5 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. The housing 210 is provided with a dust suction port that allows the roller brush assembly 220 to contact the surface to be cleaned. When the roller brush assembly rotates, it pats the cleaning surface to separate foreign objects from the cleaning surface. 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.

[0344] 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.

[0345] 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 state of the shielding member 110 cooperating with 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 6As shown, the sealing and adjusting mechanism 11 forms a closed surface of the air flow passage on the front side in the traveling direction of the cleaning robot. Specifically, one 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, enabling the air flow to circulate more between the roller brush and the cleaning surface, and enhancing the ability to suck foreign matters on the carpet. On the other hand, the shielding member forms a closed surface of the air flow passage 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 ability of the dust suction system to suck foreign matters.

[0346] In one embodiment, on one side in the traveling direction of the robot, tooth-shaped protrusions 2301 can 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 gap 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 cleans on a soft ground such as a carpet, the closing effect of the shielding member 110 blocks the air flow passage 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 ability of the dust suction port to suck garbage on the cleaning surface. In some other embodiments, the tooth-shaped protrusions 2301 can be not provided, and the same method as the above shielding member 110 can still be adopted to increase the negative pressure in the coverage area of the dust suction port, and further improve the ability of the dust suction port to suck garbage on the cleaning surface.

[0347] In one embodiment, the housing 210 is set as a detachable component, and a dust suction port is arranged on 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.

[0348] In a preferred embodiment, the roller brush bracket 230 is provided with tooth-shaped protrusions.

[0349] As an optional 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 fills 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 gap 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 asFigure 5 The flat teeth shown can also be pointed teeth as shown by the protrusions. The pointed teeth can play a guiding role in foreign objects that can enter the notch, increasing its passing rate. Further, the roller brush bracket and the shielding member 110 can be assembled by means such as bonding or snap - fitting. 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.

[0350] The shielding member 110 can also form a closed surface in front of or behind the tooth - shaped protrusion. Or a closed surface is formed by matching the notches to fill the intervals between the tooth - shaped protrusions.

[0351] 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 its 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 to deform, so as to improve the passing rate when the foreign object gathers towards the dust suction port; and it automatically returns to its 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.

[0352] In some other embodiments, the hardness of the shielding member 110 can also be increased to make it maintain 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.

[0353] It should be noted that in the operation of improving the suction ability of 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 resist 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 in some scenarios, it can deform to allow garbage to gather near the dust suction port through the notches between the tooth - shaped protrusions, which also helps to improve the garbage suction ability.

[0354] 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 basic stable shape of the closed surface under the action of the negative pressure of the dust suction port. Thus, the present disclosure further provides optional implementation manners.

[0355] In one embodiment, at least a guiding or supporting structure is provided between the tooth-shaped protrusion 2301 and the shielding member 110. Under the action of negative pressure, the shielding member 110 maintains the basic stable shape of the closed surface by means of its own deformation property or the limitation of one of the guiding structure and the supporting structure.

[0356] It should be understood that in order to maintain the basic 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 plastics can be used.

[0357] In one embodiment, the shielding member 110 maintains the basic stable shape of the closed surface through its own material properties. Preferably, its hardness range is between 70HA and 80HA.

[0358] 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 during the cleaning of the carpet, the edge of the shielding member 110 can contact the carpet surface within this distance range to form a basically stable fitting surface, so as to improve the sealing between the dust suction port and the carpet during the cleaning process, generate a stable and larger pressure difference inside and outside the dust suction port, and thus obtain better carpet dust suction performance. It should also be noted that when the gap between the dust suction port and the ground is too small, the resistance to the ground will increase, affecting the performance of the walking system, and thus affecting the cleaning performance of the cleaning robot.

[0359] 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 to the ground is set between 0 and 5 mm.

[0360] In the above embodiments, it is described that the shielding member 110 of the sealing adjustment mechanism 11 forms a closed surface in the direction of the cleaning robot 100, which can increase the internal and external negative pressure during dust suction of the dust suction port, adjust the flow path of the airflow generated by the negative pressure at the dust suction port, and can maintain the basically stable negative pressure of the dust suction port, thereby helping to improve the garbage suction ability when cleaning soft floors such as carpets.

[0361] It can be understood that the sealing adjustment mechanism 11 in the above embodiments can at least act on the dust suction port during the cleaning process of soft floors such as carpets. This solution can be combined and optimized with other factors related to the dust-raising ability and dust-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 needs of different scenarios.

[0362] In a preferred embodiment, the rotary brush mechanism is disposed at the front of the main body 10, such as Figure 20 and Figure 21 shown. The cleaning robot 100 can 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 rotary 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 the walking system 2 causing secondary pollution to the cleaning surface, and further obtaining a better cleaning effect.

[0363] In a preferred embodiment, the rotary brush mechanism is arranged at the front of the main body, and the main body is configured in a D shape, such as Figure 20 and Figure 21 shown. It should be understood that the rotary brush mechanism being 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.

[0364] In a preferred embodiment, the rotary brush mechanism is arranged at the front of the main body, and the main body is configured in 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.

[0365] 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 (such as Figure 20 and Figure 21 shown), increasing the material of the brush body on the rotary brush, the beating direction, the installation position, etc. The specific settings can refer to any feasible implementation manner of the dust raising ability described above, and will not be repeated in this embodiment.

[0366] Based on the above embodiments, in the embodiments of the present disclosure, the sealing and adjusting mechanism 11 is configured to switch or move between two preset positions on the housing.

[0367] 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.

[0368] In particular, in one embodiment, adjusting the movement of the shielding member between the first position and the second position can achieve the adjustment of the size of the opening 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 capacity of the airflow at the dust suction port for foreign objects. The adjustment of the size of the opening 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 type of the ground, the opening size corresponding to cleaning the carpet is set to be smaller than the opening size corresponding to cleaning the hard ground; according to the size of the garbage, the opening size for sucking large-sized or piled-up garbage is set to be larger than the opening size corresponding to sucking small-sized garbage; or it can be adjusted according to a person's instruction (for example, remote control via an APP). When performing spot cleaning / or when a large amount of garbage needs to be sucked, corresponding instruction controls can be set to adjust the opening size.

[0369] In one embodiment, when the shielding member is in the first position on 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 on the housing.

[0370] 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 airflow path, and the airflow passing through the roller brush and the cleaning surface can suck the foreign objects into the air duct in a timely manner, 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 hindrance to the airflow.

[0371] In one embodiment, the shielding member is one of plastic, rubber, or non-woven fabric.

[0372] In one embodiment, the reset unit is one of a torsion spring or a compression spring.

[0373] In one embodiment, the traction unit includes a link drive structure or a hinge drive structure.

[0374] In one embodiment, the sealing adjustment mechanism 11 of the dust suction system 1 is further configured to enable its shielding member 110 to switch 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 path of the dust 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 for at least part of the time to adjust the flow path of the air flow in the traveling direction of the cleaning robot 100 or the pressure difference inside and outside the dust suction port, so as to improve the foreign object suction ability of the dust suction port.

[0375] Preferably, the shielding member can freely switch bidirectionally between any position between the first position and the second position.

[0376] In one embodiment, the sealing adjustment mechanism 11 is arranged on the main body 10.

[0377] 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 in the preset space of the main body to be away from or close to the ground. Further, the sealing adjustment mechanism 11 can be arranged 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 adjustment mechanism 11 is arranged on the housing 210 so that it can move with the roller brush mechanism to maintain a relatively stable state with the roller brush mechanism.

[0378] As before, Figure 6 The schematic diagram of the state of the shielding member 110 cooperating with the housing 210 in the traveling direction of the robot is shown, which is used to assist in explaining the process of adjusting or stabilizing the negative pressure generated by the dust suction port by the sealing adjustment mechanism. When the shielding member is in the second position, the sealing adjustment 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 the air flow circulates more between the roller brush and the cleaning surface, enhancing the foreign object suction ability 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. 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 of the dust suction port facing the traveling direction of the robot and the adjacent side, and the large gap between the dust suction port and the cleaning surface is beneficial to the entry of large-particle foreign objects into the dust suction port, so it helps to improve the passing rate of large-particle foreign objects on the hard ground.

[0379] It should be noted that when the cleaning robot 100 cleans a soft floor, the shielding member 110 of the sealing adjustment mechanism 11 can be set at 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 capacity. When the cleaning robot 100 cleans a hard floor, the shielding member 110 of the sealing adjustment mechanism 11 can be set at the first position, and the shielding member 110 avoids the air flow path to allow large particle garbage on the hard floor to gather towards the dust suction port. Thus, when the shielding member 110 is at the first position, the garbage gathering ability of the cleaning robot 100 on the hard floor can be improved, especially suitable for cleaning large particle garbage on the hard floor.

[0380] In a specific embodiment, the working principle of the shielding member 110 is achieved by controlling the position of the shielding member 110 and when the shielding member 110 closes the air flow path in the traveling direction of the cleaning robot 100.

[0381] 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. Therefore, it will not be elaborated in the present disclosure. The following further provides examples of feasible embodiments of the dust suction system 1 for facilitating the understanding of the main technical content of the present disclosure.

[0382] 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 path includes an air flow path formed by the gaps between adjacent tooth-shaped protrusions 2301.

[0383] 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 at the first position, the shielding member 110 avoids the air flow path; when the shielding member 110 is at the second position, the shielding member 110 at least partially shields the air flow path.

[0384] In an exemplary application, such as Figure 9As shown, when the shielding member 110 is in the first 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 second 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 second 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 protrusion, 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.

[0385] 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 distance from the ground 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 flow path of the air flow in the dust suction port, the negative pressure difference, and the negative pressure stability.

[0386] In a specific embodiment, please refer to Figure 9 , the sealing adjustment mechanism 11 includes a traction unit 120, and the traction unit 120 is configured to drive the shielding member 110 to switch between the first position and the second position. The traction unit 120, as the actuator of the above control instruction, 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 needed.

[0387] 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 through the winch 121, and the other end is connected to the shielding member 110. Please refer to Figure 10 , in the figure, the winch 121 includes an electric drive shaft, and the shielding member 110 is provided with a first mounting portion 1101 for connecting with the rope 122. When the electric drive shaft rotates, the rope 122 is driven by the electric drive shaft, so that the pulling force can be transmitted to the shielding member 110. Specifically, it can be set that when the electric drive 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 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 achieve a 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 the housing 210 is also provided with a second mounting portion 2102. As Figures 10 to 12As shown, the rope 122 is connected to the shielding member 110 after passing through the second mounting portion 2102; 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 pulling up the shielding member 110 by tightening the rope 122, 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, the pulling force of the rope 122 is set to be 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, as Figure 11 shown. 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, as Figure 12 shown. Further, by adjusting the elongation amount of the rope 122, the shielding member 110 can be maintained at any position between the first position and the second position.

[0388] In another embodiment, the traction unit 120 includes a winch 121, a rope 122, and a compression spring 123. Different from the above-described embodiment, in this example, the compression spring 123 is used to replace the torsion spring to achieve the limiting and damping effects on the shielding member 110. As Figure 13 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 2101 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 2101, 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, the pulling force of the rope 122 is set to be greater than the damping acting 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 maintained at the first position. The specific process can refer to Figure 14 the schematic diagram of the driving principle of the traction unit 120 shown. 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 limiting and guiding the rope 122.

[0389] In yet another embodiment, the traction unit 120 adopts a link drive method to achieve the switching of the position of the shielding member 110. Specifically, as Figure 15As shown in the figure, the traction unit 120 includes an electric drive rotating shaft, a cam 126, and a connecting rod 125. One end of the connecting rod 125 is connected to the electric drive rotating shaft through the cam 126, and the other end of the connecting rod 125 is fixedly connected to the shielding member 110. When the electric drive rotating shaft rotates, the driving direction of the connecting rod 125 is adjusted through the cam 126, thereby driving the shielding member 110 to displace. 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 connecting rod 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 16 the schematic diagram of the driving principle of the traction unit 120 shown.

[0390] The preferred embodiments of the traction unit 120 provided above mainly describe the necessary implementation structures of the working principle of the 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 position design on the basis of the above implementation content to meet the design requirements of the specific product.

[0391] Particularly, in this embodiment, when the shielding member 110 is in the second position, the shielding member 110 acts on the closed surface forming the air flow path during the cleaning task execution of the cleaning robot 100. In order to maintain a relatively stable dust suction effect, the shielding member 110 is also set to be able to maintain the basic stable form of the closed surface through the limiting of one of its own deformation properties or the guiding structure and the supporting structure under the action of negative pressure during the cleaning task execution of the cleaning robot 100. For this, the implementation methods related to the material, shape of the shielding member 110 and the limiting, guiding, etc. for maintaining the stable form described in detail in the foregoing embodiments can be adopted, and will not be repeated in this embodiment.

[0392] Furthermore, in a preferred embodiment of the present disclosure, the roller brush mechanism is provided at the front end of the main body.

[0393] In another preferred embodiment, the roller brush mechanism is provided at the front part of the main body, and the main body is configured as a D shape.

[0394] Furthermore, in this embodiment, the dust raising 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. The specific setting can refer to any feasible implementation method of the dust raising ability described above, and will not be repeated in this embodiment.

[0395] Based on the above cleaning robot 100, the present disclosure further 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 combined and set to further improve the cleaning efficiency of the cleaning robot 100. In particular, in this embodiment, the position of the shielding member 110 can be switched to balance the cleaning performance on hard floors and soft floors. The specific description is as follows:

[0396] 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 floor 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 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 to further improve the cleaning efficiency.

[0397] 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: pet hair balls, piles of fine garbage, or large-sized granular garbage, etc.

[0398] 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 floor, 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 floor, 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.

[0399] The cleaning robot 100 of this embodiment has at least two 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 passage when the cleaning robot 100 performs a cleaning task on a hard ground, and improve the garbage gathering ability of the dust collection system 1. All the necessary technical information involved can be obtained from the foregoing embodiments, and will not be elaborated in this embodiment.

[0400] In one embodiment, the control device is configured to, in the fixed-point area cleaning mode, obtain the current position information of the cleaning robot 100, determine the position relationship of the cleaning robot 100 relative to the fixed-point cleaning area based on this position information, and automatically control the shielding member 110 to switch between the first position and the second position based on this relative position relationship. Preferably, when the cleaning robot 100 cleans outside the fixed-point cleaning area, 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 the cleaning robot 100 cleans outside the fixed-point cleaning area, 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.

[0401] In one embodiment, the control device is configured to receive a control instruction sent by a mobile user terminal and automatically control the shielding member 110 to switch between the first position and the second position based on this instruction. Specifically, when receiving a first control instruction indicating to switch the shielding member 110 to the second position, execute the control instruction and switch the shielding member 110 to the second position; when receiving a second control instruction indicating to switch the shielding member 110 to the first position, execute the control instruction and switch the shielding member 110 to the first position.

[0402] In one embodiment, the control device is further configured to determine the size of the opening of the shielding member 110 relative to the ground based on one of the ground material, the garbage size, or the user control instruction. In this embodiment, the size of the opening is characterized by the distance between the end of the shielding member 110 close to the ground and the ground. Taking the traction unit 120 of the foregoing embodiment as an example, the control system is configured to control the rotation amount of the electric drive rotating shaft through a control instruction to adjust the size of the opening of the shielding member 110 relative to the ground.

[0403] 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.

[0404] 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.

[0405] In a specific embodiment, the user instruction information received by the cleaning robot 100 includes control information on the opening size, and the cleaning robot 100 adjusts the size of the opening of the shielding member 110 relative to the ground accordingly based on the control information.

[0406] 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 direct operation on the host, or can also be one of other remote interaction methods.

[0407] Furthermore, the control system of the cleaning robot 100 is further configured to control the input power of the fan of the dust suction system 1. In a specific embodiment, the control system is configured to maintain the same input power throughout the cleaning task. In an exemplary application, when the control system identifies that the cleaning robot 100 is cleaning on a soft ground based on the information obtained by the sensing system, the input power of the fan is configured to be between 60W and 80W.

[0408] In another specific embodiment, the control system is configured to determine the input power of the fan according to the obtained type information of the surface to be cleaned. For example: maintain a first power range when cleaning a soft ground; maintain a second power range when cleaning a hard ground. Among them, the first power range is higher than the second power range. In an exemplary application, when the control system identifies that the cleaning robot 100 is cleaning on a soft ground based on the information obtained by the sensing system, the input power is configured to be between 60W and 150W; when the control system identifies that the cleaning robot 100 is cleaning on a hard ground based on the information obtained by the sensing system, the input power is configured to be between 15W and 35W.

[0409] In this embodiment, the dust raising 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. 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. The specific settings can refer to any feasible implementation manner of the dust raising ability described above, and will not be repeated in this embodiment.

[0410] In this embodiment, a control schematic diagram based on the above-described implementation manner of the cleaning robot 100 is further provided. As Figure 17As shown, when the cleaning robot 100 starts a cleaning task, the control system is configured to: obtain, through the sensing system, first information collected by the sensing system and representing the surface to be cleaned; determine, based on the first information, type information of the surface to be cleaned for the current cleaning task; when it is detected that the current surface to be cleaned is a soft floor, control the sealing adjustment mechanism 11 to place the shielding member 110 at the second position; and control the input power of the blower to be the second power; when it is detected that the current surface to be cleaned is a hard floor, control the sealing adjustment mechanism 11 to place the shielding member 110 at the first position; and control the input power of the blower to be the first power. Please refer to Figure 18 , during the execution of the cleaning task, the control system is further configured to obtain, based on the sensing system, second information representing the size of the garbage; determine, based on the second information, a control instruction for the sealing adjustment mechanism 11; when large particle garbage is detected, generate a first instruction, where the first instruction instructs the sealing adjustment mechanism 11 to place the shielding member 110 at the second position; when the large particle condition is not met, generate a second instruction, where the second instruction instructs the sealing adjustment mechanism 11 to place the shielding member 110 at the first position.

[0411] In a preferred embodiment, as Figure 19 shown, when it is detected that the cleaning robot 100 is cleaning on a soft floor, the control system is configured to: obtain the rotation speed of the current roller brush; determine whether the current rotation speed meets a preset rotation speed range; when the rotation speed exceeds the preset rotation speed range, control the input power of the roller brush motor to adjust the rotation speed to the preset range. It should be noted that when the roller brush assembly 220 includes at least two roller brushes, the control device can adjust the rotation speeds of different roller brushes to be the same or different. In other embodiments, the control of the roller brush assembly can further include the control of the rotation direction of the roller brush.

[0412] In an exemplary application, two roller brushes are provided in the roller brush assembly 220 of the cleaning robot 100, and the two roller brushes rotate relative to each other during the cleaning task.

[0413] In an exemplary application, when it is detected that the cleaning robot 100 is cleaning on a soft floor, maintain the rotation speed of the roller brush within the range of 1500 r / min to 1900 r / min. The cleaning efficiency of the cleaning robot 100 on the soft floor can be maintained at higher than 35%.

[0414] In an exemplary application, when it is detected that the cleaning robot 100 is cleaning on a soft floor, maintain the rotation speed of the roller brush at higher than 1200 r / min.

[0415] It can be understood that in this embodiment, the control of the input power of the fan of the cleaning robot 100 and the rotational speed of the roller brush are both within the better data ranges in the experiment. In practical applications, these numerical ranges may be affected by the structural differences of the dust suction system 1 of the cleaning robot 100, the differences in the surfaces to be cleaned, and different environments. To achieve the same cleaning effect, in this embodiment, the input power of the fan and the rotational speed of the roller brush can be broader. For example, the input power of the fan ranges between 40W and 100W, and the rotational speed of the roller brush ranges between 500r / min and 1600r / min.

[0416] Further, in a preferred embodiment of the present disclosure, the roller brush mechanism is provided at the front end of the main body.

[0417] 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.

[0418] Further, in this embodiment, the dust raising 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. 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. The specific settings can refer to any feasible implementation manner of the dust raising ability described above, and will not be repeated in this embodiment.

[0419] Based on the foregoing embodiments, the present disclosure further provides a cleaning robot. The difference is that in this embodiment, the roller brush mechanism of the cleaning robot can float relative to the main body.

[0420] 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.

[0421] The present disclosure provides another traction unit 120. The traction unit 120 realizes the switching of the position of the shielding member 110 by means of gear drive. Specifically, as Figures 25 to 34 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, by adjusting the driving directions of the first gear 127 and the second gear 128, the shielding member 110 is driven to move.

[0422] When the driving mechanism 129 rotates around the driving shaft in the first direction, the shielding member 110 is driven to switch from the first position to the second position through the first gear 127 and the second gear 128; when the driving mechanism 129 rotates around the driving shaft in the second direction, the shielding member 110 is driven to switch from the second position to the first position through the first gear 127 and the second gear 128; wherein the second direction is opposite to the first direction.

[0423] 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.

[0424] In one embodiment, the driving mechanism 129 includes a driving motor and a reduction gearbox. The driving motor is connected to the first gear through the reduction gearbox. 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 about 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 reduction gearbox.

[0425] 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.

[0426] Due to the relatively long axial dimension of the shielding member, in order to ensure the smoothness of transmission, in one embodiment, refer to Figure 33 and Figure 34 , 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 1271 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.

[0427] In order to identify the open and closed states of the shielding member, further, the vacuuming system further includes: a detection component, which is arranged on the sealing adjustment mechanism and is configured to detect the state of the shielding member.

[0428] In one embodiment, the detection component includes a position detection sensor 130, which is arranged on the shielding member 110 and is configured to perform position detection on the opening and closing of the shielding member.

[0429] In one embodiment, the position detection sensor 130 includes an open state position detection sensor 1301 and a closed state position detection sensor 1302, which are respectively used for performing position detection on the open state and the closed state of the shielding member 110.

[0430] Further, when the position detection sensor 130 detects the position signal of the shielding member 110 (including the open position signal and the closed position signal) and sends it to the control module, especially through instant communication technology, the control module cuts off the power of the driving mechanism 129 for driving the movement of the shielding member 110 to prevent the driving motor or the transmission system of the driving mechanism from being damaged due to overload.

[0431] In one embodiment, the position detection sensor 130 adopts a micro switch.

[0432] It should be noted that there can also be one in-place detection sensor to perform in-place detection on both the opening and closing of the shielding member. In addition, the in-place detection sensor can also adopt a transceiver integrated optical detector, or can include a pair of relatively arranged optical transmitters and optical receivers, and perform in-place detection according to the principle that the opening and closing affect the light. In this regard, this embodiment does not make any limitations.

[0433] 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.

[0434] For example, when the detection component, especially the in-place detection sensor 130 fails or malfunctions, the mechanical limiting portion is configured to limit the movement of the shielding member.

[0435] By setting the mechanical limiting portion 131, the opening and closing movements of the shielding member 110 can be forcibly restricted, preventing the driving motor and the transmission system of the driving mechanism 139 for driving the movement of the shielding member 110 from being damaged due to overload, and improving the reliability.

[0436] In one embodiment, the mechanical limiting portion includes an opening limiting portion 1311 and a closing limiting portion 1312, which are respectively used to limit the opening and closing movements of the shielding member.

[0437] In one embodiment, the control module also has an overload protection program for the shielding member motor. Among them, this motor overload protection program can cope with some emergencies. For example, in the case of the failure or malfunction of the in-place detection sensor 130, it can protect the driving motor and the transmission system of the driving mechanism for driving the movement of the shielding member 110.

[0438] Specifically, the control module monitors the electrical signal (such as current or voltage) of the driving motor of the shielding member through an electrical signal sensor (such as a current sensor or a voltage sensor); when the electrical signal of the driving motor exceeds the signal threshold, the motor overload protection program is triggered, and the control module controls the driving motor for driving the movement of the shielding member to close (that is, cut off the power of the motor), stopping the continuous movement of the shielding member, so as to protect the driving motor and the transmission system from overload.

[0439] Further, referring to Figures 25 to 28 , in this embodiment, the roller brush mechanism of the cleaning robot, especially the roller brush bracket 230, is configured to be able to float relative to the main body 10.

[0440] For example, when cleaning soft floors such as carpets, the carpet fluff or carpet fibers are relatively soft. In order to adapt to the cleaning of soft floors, the roller brush mechanism is configured to float relative to the main body.

[0441] Among them, the above-mentioned floating refers to floating under non-active adjustment or non-active control, that is, passive floating.

[0442] In order to ensure the sealing performance and improve the cleaning effect on complex and clean 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.

[0443] By setting the shielding member 110 to be floating relative to the main body 10, it can adapt to different surfaces to be cleaned, avoiding the change in the height of the shielding member from the ground caused by the undulation of the surface to be cleaned, which affects the sealing performance. This 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.

[0444] Furthermore, the sealing adjustment mechanism and the roller brush mechanism are configured to float together or simultaneously.

[0445] 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 follows the floating of the sealing adjustment mechanism.

[0446] Specifically, the shielding member 110 of the sealing adjustment mechanism is arranged on the roller brush bracket 230 of the roller brush mechanism. While ensuring the sealing effect, the structure is simple and the cost is low.

[0447] 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 to: achieve the synchronous floating of the shielding member 110 and the roller brush bracket 230 with the height of the surface to be cleaned through the simplest structure, so as to achieve a better and real-time sealing effect.

[0448] 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.

[0449] When the floating of the sealing adjustment mechanism and the roller brush mechanism is independent of each other, the floating amounts of the sealing adjustment structure and the roller brush mechanism may be different. To ensure the sealing effect, the difference in the floating amounts of the sealing 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 sealing adjustment mechanism and the roller brush mechanism can float relative to the main body, so that the difference in the floating amounts of the sealing 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.

[0450] 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.

[0451] To prevent the floating from affecting other mechanisms or components of the cleaning robot, in one embodiment of the present disclosure, refer to Figure 35 , the cleaning robot has a floating space 133.

[0452] By arranging inside the cleaning robot and reserving a floating space 133, the cleaning robot can adapt to complex surfaces to be cleaned without affecting the normal operation of other internal mechanisms or components.

[0453] 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.

[0454] 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 when the cleaning robot is in an obstacle-crossing state, the sealing adjustment mechanism 11 forms a closed surface of the air flow passage 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 passage. 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.

[0455] Further, refer to Figure 36 and Figure 37 , 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 a closed state, the guiding portion 111 forms a closed surface. The guiding portion 111 is arc-shaped, or the closed surface is an arc-shaped surface, and the arc or arc-shaped surface has an outer arc surface facing the front end of the cleaning robot body.

[0456] In one embodiment, the sealing and adjusting 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 that drives the shielding member to move through traction, thereby adjusting the state of the shielding member so that the shielding member can be switched between an open state and a closed state.

[0457] Specifically, when it is recognized that the cleaning robot is in an obstacle-crossing state, the traction unit 120 of the sealing and adjusting mechanism is controlled to close the shielding member to assist the roller brush assembly to lift.

[0458] 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.

[0459] For ease of understanding, with reference to Figure 38 , the following briefly describes the obstacle-crossing process when the cleaning robot encounters a step during cleaning of a hard floor (such as a floor, tile, cement floor, etc.):

[0460] When the cleaning robot is cleaning a hard floor, the sealing and adjusting mechanism, especially the shielding member 110, is in an open state. At this time, the cleaning robot can clean the garbage on the hard floor, especially large-size 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 part 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 when cleaning the surface to be cleaned (especially a hard floor) and can cross obstacles smaller than a preset value, such as a step.

[0461] Specifically, the cleaning robot determines the state of the current shielding member, judges whether the shielding member is normally open or whether the shielding member is in an open state. If so, the first sensor 101 (such as a depth camera) provided on the cleaning robot for detecting the height of the obstacle (step) is used to detect the step. The control module of the cleaning robot compares the height of the obstacle 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 and adjusting mechanism is controlled to switch the shielding member from the open state to the closed state, and the roller brush assembly is lifted by using the closed surface formed by the shielding member guiding part to assist the cleaning robot to pass through or climb over the step.

[0462] Further, it is judged whether the cleaning robot has passed through or climbed over the step. If so, the shielding member is opened, or the sealing and adjusting mechanism is controlled to switch the shielding member from the closed state to the open state;

[0463] Further, the in-place detection unit is used to detect whether the shielding member has been opened. If so, return to the above steps of determining the state of the shielding member.

[0464] In one embodiment, to improve the reliability of guiding, the shielding member 110 is an integral structure.

[0465] Considering the problem that the roller brush assembly 220 cannot clean to the edge, resulting in local areas such as the edges and corners (referred to as the corners) of the wall or carpet not being cleaned.

[0466] To achieve the cleaning of the edges and corners and reduce missed sweeping, further, referring to Figures 39 to 41 , the cleaning robot further includes a side brush assembly 250, which is configured to perform a cleaning operation when the cleaning robot is in an edge-following mode or edge-following cleaning, so as to clean areas such as the edges and corners; the side brush assembly is especially used to be turned on when the cleaning robot performs edge-following cleaning on a soft floor or a wall, and perform an edge-following cleaning operation to clean the garbage at the corners of the soft floor or the wall.

[0467] To ensure that the garbage cleaned by the side brush assembly 250 can be swept into the dust collection box by the roller brush mechanism, further, at least part of the cleaning range of the side brush assembly overlaps with the projection area of the roller brush mechanism on the surface to be cleaned. In the figure, the cleaning range of the side brush assembly is schematically shown as a circle, and its cleaning radius is R.

[0468] In one embodiment, there is a cleaning overlapping area W between the cleaning range of the side brush assembly 250 and the projection area of the roller brush assembly 220 on the surface to be cleaned; or there is a cleaning overlapping area W between the cleaning range of the side brush assembly 250 and the projection area of the shielding member 110 on the surface to be cleaned.

[0469] For example, along the traveling direction of the cleaning robot, the side brush assembly and the roller brush mechanism are arranged in sequence front and back. In other words, the side brush assembly is arranged in front of the roller brush mechanism. When the side brush assembly of the cleaning robot is turned on, the swept garbage can be swept to the front part of the roller brush mechanism, so as to facilitate the suction port to suck the garbage cleaned by the side brush assembly.

[0470] For example, the main body 10 has a front end 10A and a chassis 10B. The side brush assembly 250 is arranged on the chassis 10B of the main body 10, close to the front end 10A, while the roller brush assembly 220 is arranged on the chassis 10B of the main body 10, far from the front end 10A.

[0471] To avoid adverse effects of the sealing and adjusting mechanism on the cleaning of the side brush assembly, in one embodiment, when the side brush assembly of the cleaning robot starts to perform the cleaning work, the air flow passage on the front side of the sealing and adjusting mechanism 11 in the traveling direction of the cleaning robot is open; alternatively, the shielding member is in an open state, so that the air flow passage on the front side of the sealing and adjusting mechanism 11 in the traveling direction of the cleaning robot is open, which is conducive to the dust suction port sucking the garbage swept out by the side brush assembly 250.

[0472] In one embodiment, along the traveling direction of the cleaning robot, the side brush assembly 250 is arranged at the front side of the cleaning robot main body 10A and at least partially exposed outside the main body 10 of the cleaning robot, and is used to be turned on when the cleaning robot is cleaning along the edge or in the edge state, so as to be able to clean the edges, corners and other positions of the surface to be cleaned. When the side brush assembly 250 is turned on, the shielding member 110 is opened and cooperates with the side brush assembly 250, so that the garbage swept out by the side brush assembly enters the dust collection box through the dust suction port. Wherein, the side brush assembly 250 includes at least one side brush 2501.

[0473] For ease of understanding, with reference to Figure 42 , the following briefly describes the scenario where the cleaning robot needs to clean along the edge when cleaning a soft ground (such as a carpet, a doormat, etc.):

[0474] When the cleaning robot (abbreviation: host) is cleaning a soft ground, the sealing and adjusting mechanism, especially the shielding member 110, is in a closed state. At this time, the cleaning robot can clean the garbage in the fluff or fiber of the soft ground. When the cleaning robot with the shielding member in the closed state encounters a scenario of cleaning along the edge, since the roller brush assembly cannot clean to the edge, the current mode is switched to the edge mode. If it is in the edge mode, the cleaning robot has an edge mode when cleaning the soft ground and can clean the garbage at the corners.

[0475] Specifically, the cleaning robot determines the state of the current shielding member, judges whether the shielding member is always closed or judges whether the shielding member is in a closed state. If so, it detects whether it is in the edge mode. If so, it turns on the side brush and opens the shielding member (or controls the sealing and adjusting mechanism to switch the shielding member from the closed state to the open state).

[0476] Further, when the edge cleaning is over, the side brush is turned off and the shielding member is closed (or, controls the sealing and adjusting mechanism to switch the shielding member from the open state to the closed state);

[0477] Further, the in-place detection unit is used to detect whether the shielding member has been closed. If so, it returns to the step of determining the state of the shielding member.

[0478] It should be noted that the hard floor also has an edge-following mode. However, the shielding member is always open when following the edge. Therefore, when cleaning the hard floor, it is not necessary to determine the state of the shielding member, so no further description will be given.

[0479] In summary, when the cleaning robot is in the edge-following mode or performing an edge-following cleaning task on the surface to be cleaned (especially the soft floor), the side brush works, and the shielding member is in the open state. The shielding member and the side brush cooperate to suck in the garbage swept out by the side brush.

[0480] It should be pointed out that when the cleaning robot is in a non-edge-following mode or performing a non-edge-following cleaning task on the soft floor (such as performing a cleaning task on the soft floor surface), the side brush does not work, and the shielding member is in the closed state, so that the suction airflow of the blower can flow through the fluff or fibers inside the soft floor, taking away the garbage existing between the fluff or fibers, thereby improving the cleaning effect on the soft floor.

[0481] In one embodiment, when the cleaning robot is performing edge-following cleaning or in the edge-following state and recognizes the existence of large-sized garbage, the cleaning robot can control the side brush assembly to turn on, so as to clean the large-sized garbage.

[0482] Furthermore, when the cleaning robot recognizes large-sized garbage, the shielding member is configured to be in the open state, and the large-sized garbage swept by the side brush assembly passes through the shielding member and the dust suction port in sequence and is sucked into the dust collection box. Here, the large-sized garbage refers to, for example, particulate objects with a height less than the set threshold height, and this threshold height can be defined according to common particulate objects. The above common particulate objects include, but are not limited to, cat food, dog food, various beans (such as red beans, soybeans, mung beans, chocolate beans, etc.).

[0483] Considering that when the cleaning robot is performing normal cleaning work on the surface to be cleaned, especially on soft floors such as carpets, there may be a situation where the moving speed suddenly decreases or the cleaning robot slips and cannot move.

[0484] For example, when the cleaning robot is traveling on a carpet, the walking system 2 (also known as the moving component), the dust suction system 1 (especially the roller brush component), etc. of the cleaning robot will sink into the carpet. Since the carpet has different parameters, including the length and density of the carpet fibers (or carpet fluff), the supporting ability of carpets with different parameters for the cleaning robot is also different. In other words, when the cleaning robot travels on carpets with different parameters, the depth of sinking into the carpet is also different; Figure 43 and Figure 44 Schematically show the depths H3 and H4 of the cleaning robot sinking when on two different lengths of carpet fibers respectively, where H3 and H4 are not equal.

[0485] In order to improve the cleaning effect on carpets, when the cleaning robot performs cleaning work on the surface of soft floors such as carpets, the shielding member is configured to be in a closed state, so that a sealed area is formed below the roller brush mechanism. At this time, the flow path of the air flow will bypass the shielding member from the lower part of the shielding member, pass through the carpet fibers and then be sucked into the dust collection box through the air duct by the dust suction port. Therefore, the longer and denser the carpet fibers are, the more difficult it is for the air flow to pass through the carpet fibers, the better the sealing effect of the sealed area formed below the roller brush mechanism, the higher the negative pressure, and the greater the driving resistance of the host (i.e., the cleaning robot). When the resistance increases to a certain extent and exceeds the driving force of the traveling mechanism used to drive the cleaning robot to move, the cleaning robot will suddenly slow down in moving speed and slip, resulting in the inability to move.

[0486] Considering that the occurrence of the above situation may be caused by a relatively large negative pressure at the dust suction port and a relatively large friction force between the roller brush assembly and the ground. Therefore, in order to avoid the occurrence of the above situation from the perspective of reducing the negative pressure.

[0487] In one embodiment, the control module of the cleaning robot detects the working parameters of the traveling system, such as the working current of the drive motor used to drive the movement of the traveling wheels, the rotation speed of the traveling wheels, the displacement of the cleaning robot, etc.; wherein the traveling system includes traveling wheels;

[0488] In one embodiment, the traveling wheels include drive wheels 21. Further, there are two drive wheels, namely the left drive wheel 211 and the right drive wheel 212. Of course, the traveling wheels may also include universal wheels 22.

[0489] Compare the detected working parameters with the corresponding set values to determine whether the cleaning robot is blocked; for example, compare the working current with the current threshold, or compare the current rotation speed (actual rotation speed) of the traveling wheels with the theoretical rotation speed at the theoretical traveling speed on the carpet, or compare the current displacement (actual displacement) of the cleaning robot per unit time with the theoretical displacement per unit time; when the working current is greater than the current threshold, or the current rotation speed (actual rotation speed) of the traveling wheels is less than the theoretical rotation speed at the theoretical traveling speed on the carpet, or the current displacement (actual displacement) of the cleaning robot per unit time is less than the theoretical displacement per unit time, it is determined that the cleaning robot is blocked during traveling;

[0490] When the cleaning robot is blocked during traveling, the control module controls the shielding member to open, for example, to open step by step according to the opening step height or to open gradually according to the gear until the working parameters of the traveling mechanism return to normal. Among them, when the working current is consistent with the current threshold, or when the current rotation speed (actual rotation speed) of the traveling wheels is consistent with the theoretical rotation speed at the theoretical traveling speed on the carpet, or when the current displacement (actual displacement) of the cleaning robot per unit time is consistent with the theoretical displacement of the cleaning robot per unit time, it is determined that the working parameters of the traveling mechanism return to normal.

[0491] In one embodiment, the step height of each opening of the shielding member is 0.2 mm.

[0492] In one embodiment, the maximum value of the opening height of the shielding member is not greater than 15 mm.

[0493] Furthermore, when the opening height of the shielding member reaches the maximum value or cannot be increased further, if the working parameters of the traveling mechanism still have not returned to normal, the control module controls the suction fan to turn off.

[0494] Of course, in other embodiments, when the cleaning robot is blocked during travel, the control module can also control the suction fan to turn off so that the working parameters of the traveling mechanism return to normal.

[0495] Since the negative pressure at the suction port is related to the sealing adjustment mechanism (especially the shielding member) and the suction force of the suction device (such as the fan).

[0496] Therefore, in order to reduce the negative pressure at the suction port, it can be achieved from at least one of the following two aspects:

[0497] The first aspect, considering from the perspective of the sealing adjustment mechanism:

[0498] For example, it can be achieved by controlling the closing state of the shielding member or controlling the size of the closed surface formed by the shielding member; where the size of the closed surface can be characterized by the distance from the end of the shielding member close to the surface to be cleaned to the surface to be cleaned (the distance from the ground, also known as the opening height).

[0499] In one embodiment, when the shielding member has only two states of opening and closing, the negative pressure can be adjusted by controlling the closing state of the shielding member at this time. Specifically, when the cleaning robot detects a sudden change in the moving speed, the sealing adjustment mechanism is controlled to keep the shielding member in the open state, so that the air flow passage on the front side of the cleaning robot in the traveling direction is opened, reducing the pressure difference of the negative pressure at the suction port and reducing the friction between the roller brush assembly and the surface to be cleaned, so that the cleaning robot can move normally. Among them, the above sudden change in the moving speed means, for example, that the cleaning robot drops from the normal traveling speed v1 to 0 or drops from v1 to a preset percentage of v1, and this preset percentage can be set according to actual needs. Here, the value range of the preset percentage is at least greater than or equal to 50%.

[0500] In another embodiment, when the size of the closed surface formed by the shielding member is adjustable, for example, when the shielding member has multiple levels, the negative pressure can be adjusted by controlling the opening height of the shielding member at this time.

[0501] It can be understood that for different levels, the size of the closed surface formed by the shielding member is different; or, for different levels, the opening height of the shielding member is different.

[0502] In one example, the sudden change amount of the moving speed corresponding to different gears, wherein the larger the sudden change amount of the moving speed, the higher the gear of the shielding member, and the larger the opening height of the shielding member.

[0503] For ease of understanding, here, taking the shielding member having a first gear and a second gear as an example for illustration:

[0504] The first gear corresponds to a partially open state of the shielding member, at this time the opening height of the shielding member is h1; the sudden change amount of the moving speed corresponding to the first gear is k1;

[0505] The second gear corresponds to a fully open state of the shielding member, at this time the opening height of the shielding member is h2; the sudden change amount of the moving speed corresponding to the second gear is k2;

[0506] Wherein, h1 is less than h2, and k1 is less than k2.

[0507] It should be noted that the sudden change amount k of the above moving speed is used to characterize the change amount of the moving speed. The moving speed before the change is V1, and the moving speed after the change is V2. Then the sudden change amount k of the moving speed = (V1 - V2) * 100% / V1; assuming that the cleaning robot travels at the normal moving speed V1 before the change, and suddenly the cleaning robot cannot move, that is, the moving speed V2 is 0. According to the above formula, the sudden change amount k of the moving speed at this time is 100%.

[0508] By setting the shielding member to have different gears, the cleaning robot can cope with different changes in moving speed when moving on the surface to be cleaned, assisting the cleaning robot to get out of trouble.

[0509] Since the moving speed of the walking wheel is related to parameters such as the current of the driving motor, the rotation speed of the walking wheel, and the displacement of the cleaning robot, the moving speed can be obtained by detecting the working current of the driving motor, the rotation speed of the walking wheel, and the displacement of the cleaning robot per unit time. Therefore, the change in the moving speed can be obtained by detecting the change in the working current of the driving motor, the difference between the theoretical rotation speed and the actual rotation speed of the walking wheel, and the difference between the theoretical displacement and the actual displacement of the cleaning robot per unit time. Among them, the working current can be detected by a current sensor, the rotation speed of the walking wheel can be detected by a Hall sensor, and the displacement can be detected by a speed sensor.

[0510] In addition, considering that carpets usually have different thicknesses (which can be characterized by the length of carpet fibers), in order to adapt to the sudden change in moving speed for cleaning carpets of different thicknesses, in one embodiment, the shielding member has different gears, and for different gears, the opening height of the shielding member is different;

[0511] Among them, different gears correspond to carpets of different thicknesses, or, for carpets of different thicknesses, the opening height of the shielding member is different;

[0512] The thickness of the above-mentioned carpet is inversely proportional to the opening height of the shielding member. That is to say, the smaller the thickness of the carpet, the larger the opening height of the shielding member.

[0513] Second aspect, considering from the perspective of the dust suction device:

[0514] For example, it can be achieved by adjusting the suction force of the fan. Since the suction force of the fan is related to the power of the fan, therefore, the power of the fan can be adjusted or the fan can be turned off to adjust the suction force of the fan.

[0515] When the cleaning robot encounters immobility or a sudden change in moving speed during normal cleaning of the cleaning ground, by opening the shielding member, lowering the power of the fan or turning off the fan, etc., the negative pressure at the dust suction port can be reduced, and the friction between the roller brush assembly and the ground can be reduced, so that the cleaning robot can normally perform the cleaning work.

[0516] Refer to Figure 46 , when the cleaning robot cleans on a soft ground, considering that there are large-sized garbage 01 (such as large particles) on soft grounds such as carpets, and the large-sized garbage usually does not sink into the carpet fibers or fluff. Since the shielding member is in a closed state when the cleaning robot cleans on soft grounds such as carpets, it may affect the cleaning effect of the large-sized garbage.

[0517] Therefore, in order to clean the large-sized garbage 01 existing 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 performs cleaning work on the carpet surface, if the cleaning robot identifies the large-sized garbage 01, the shielding member 110 is configured to be in an open state, or, the control module is configured to control the shielding member to switch from a closed state to an open state. Among them, the above-mentioned identification can be understood as detection or recognition.

[0518] When the cleaning robot cleans on the carpet and identifies large-sized garbage, by opening the shielding member, the cleaning robot can clean the large-sized garbage on the carpet, improving the cleaning effect of the carpet.

[0519] It should be noted that in order to prevent the cleaning of large-sized garbage on the carpet, it is necessary to satisfy: before the large particles reach the shielding member, the shielding member is in an open state.

[0520] For example, the time t1 for the cleaning robot to run a distance S is greater than or equal to the time t2 for the shielding member to open.

[0521] To achieve the above purpose, it can be from at least one of the following ways:

[0522] Method 1: The opening rate or opening time of the shielding member can be controlled; the opening time refers to the time taken for the shielding member to switch from the closed state to the open state.

[0523] Method 2: The moving speed of the cleaning robot can be controlled.

[0524] Therefore, in one embodiment, when the cleaning robot does not decelerate, it is achieved by controlling the opening rate or opening time of the shielding member. In one embodiment, the opening time of the shielding member is about 0.5 s.

[0525] In one embodiment, the cleaning robot can be controlled to first decelerate and then accelerate from the normal cleaning speed. Before the cleaning robot reaches the normal cleaning speed, the shielding member can be in the open state.

[0526] After identifying large particles, regarding the problem of the opening timing of the shielding member, in one embodiment, after the cleaning robot identifies large particles, the control module controls the shielding member to open.

[0527] Considering that there is a certain distance between the recognition of large particles and the cleaning of large particles, in order to avoid the problem of the decline in the cleaning effect of the carpet during this distance, in one embodiment, after the cleaning robot identifies large particles, it detects the distance between the large particles and the front end of the host (for example, visual detection can be performed by the first sensor 101 using a depth camera) or detects the distance S between the large particles and the sealing adjustment mechanism (that is, the sum of the distance from the shielding member to the front end of the main body and the distance from the large particles to the front end of the main body). Among them, the distance from the shielding member to the front end of the main body is a known distance after installation; therefore, the distance S between the large particles and the sealing adjustment mechanism can be obtained by adding the distance from the large particles to the front end of the main body detected by the first sensor 101 using a depth camera and this known distance. When this distance reaches the threshold distance, the control module controls the shielding member to open; among them, the value range of the threshold distance is 60 mm - 300 mm.

[0528] In one embodiment, when the cleaning robot identifies large particles, the range of the distance between the large particles and the fuselage is 15 - 25 mm.

[0529] Regarding how to detect large-sized garbage, in one embodiment of the present disclosure, the size (such as height) of the obstacle is detected by the first sensor 101, and the size of the obstacle is compared with the preset size. If the preset size requirement for large-sized garbage is met, it is determined as large-sized garbage.

[0530] After identifying large particles and before cleaning the large particles, the shielding member 110 remains in the closed state, thereby continuing to clean the stains attached to the carpet fibers, improving the cleaning effect of the carpet during the distance between the recognition of large particles and the cleaning of large particles.

[0531] Further, in order to improve the cleaning effect of the carpet between the recognition of large particles and the cleaning of large particles, in one embodiment, referring to Figure 47 , after the cleaning robot recognizes large particles on the carpet, it detects the distance between the large particles and the front end of the main body. 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 continuing to run for a preset distance or a preset time at this preset speed, the control module controls the shielding member to open. The preset distance or preset time can be determined according to the preset speed and the distance between the roller brush assembly and the front end of the main body.

[0532] Since the cleaning robot decelerates after recognizing large particles and travels at a low speed for a certain time or distance, the number of times the roller brush mechanism pats the carpet fibers per unit time increases, the dust-raising effect is better, and it is beneficial to gather large particles in front of the roller brush mechanism, thereby further improving the cleaning effect of the carpet in the distance from the recognition of large particles to the cleaning.

[0533] In addition, considering that the switching of the shielding member also takes time, after the cleaning robot recognizes large particles, by controlling the cleaning robot to decelerate, the distance / area traveled by the cleaning robot during the switching process of the shielding member (for example, from the closed state to the open state) can also be reduced, maximizing the overall cleaning effect of the carpet.

[0534] Of course, reducing the distance / area traveled by the cleaning robot during the switching process of the shielding member (for example, from the closed state to the open state) can be achieved on the one hand by the above-mentioned method of reducing the moving speed of the cleaning robot; on the other hand, it can also be achieved by increasing the opening speed of the shielding member, that is, by quickly opening the shielding member.

[0535] In one embodiment, the control module controls the seal adjustment mechanism to open the shielding member at a first rate.

[0536] According to the different types of the seal adjustment mechanism, the implementation method of the first rate is also different. For example, if the seal adjustment mechanism is a gear structure, the first rate is achieved by controlling the rotational angular velocity of the gear.

[0537] In order not to affect the cleaning effect of the carpet after cleaning large particles, further, when the cleaning robot completes the cleaning of large-sized garbage on the carpet, the shielding member is in the closed state, or the control module controls the shielding member to switch from the open state back to the closed state to continue cleaning the garbage between the carpet fluff.

[0538] It should be noted that during the process of the shielding member switching from the open state to the closed state, it closes at a second rate which is greater than or equal to the first rate, so as to reduce the opening time of the shielding member. Preferably, the second rate is equal to the first rate, in order to increase the service life of the airtight adjustment mechanism and simplify the control program.

[0539] Considering that large particles are usually relatively concentrated or not very large in area, in order to reduce the impact on the carpet cleaning effect during the opening time of the shielding member, in one embodiment, after the shielding member of the cleaning robot is opened, the shielding member maintains the open state for a set time, and the control module controls the sealing adjustment mechanism to close the shielding member;

[0540] By controlling the opening time of the shielding member, the distance or area traveled when the shielding member is opened is minimized as much as possible, so that the overall cleaning effect of the carpet is maintained in the best state.

[0541] Furthermore, after the large particles are cleaned up, the control module controls the shielding member to close. When the cleaning robot detects that the shielding member is in the closed state, the control module controls the cleaning robot to resume the normal driving speed, such as the initial moving speed of the cleaning robot on the carpet. The recovery rate is P2, where the recovery rate P2 is greater than or equal to the deceleration rate P1, so as to enable the cleaning robot to quickly resume the carpet treatment state before the large particle treatment and ensure the uniformity and consistency of the carpet cleaning effect.

[0542] It should be noted that in other embodiments, after the large particles are cleaned up, the control module controls the shielding member to close. When the cleaning robot detects that the shielding member starts to close, the control module controls the cleaning robot to resume the normal cleaning speed, such as the initial moving speed V of the cleaning robot on the carpet. The recovery rate is P2, where the recovery rate P2 is greater than or equal to the deceleration rate P1, with the aim of reducing the distance or area traveled by the cleaning robot on the carpet when the shielding member is opened and reducing the impact on the carpet cleaning effect.

[0543] 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.

[0544] In one embodiment, referring to Figure 48 , 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.

[0545] 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.

[0546] 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.

[0547] In order to ensure that fringes 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, it is also possible to prevent fringes from being sucked in by turning off the fan without controlling the closing of the shielding member. The present disclosure does not limit this.

[0548] It should be noted that the first sensor 101 may also include a large-sized garbage recognition sensor for recognizing large-sized garbage.

[0549] For the sake of easy understanding, the following Figure 49 describes the operation process of the cleaning robot in the scenario of climbing from a hard floor such as a floor onto a soft floor such as a carpet to clean the carpet:

[0550] 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 includes at least the power of the dust suction fan and the power of the roller brush. The shielding member is in an open state;

[0551] 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, so that the cleaning robot climbs from the floor onto the carpet; on the other hand, it can avoid the problem of fringes of the carpet with fringes being sucked in.

[0552] After the cleaning robot climbs onto the carpet, it switches from the floor cleaning mode to the carpet cleaning mode;

[0553] When the cleaning robot is in the carpet cleaning mode, the cleaning robot travels at a second moving speed and operates at a second power. The second power includes at least the power of the dust suction fan and the power of the roller brush. The shielding member is in a closed state; where 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.

[0554] Further, during the carpet cleaning process, when the large-size garbage recognition sensor is turned on and 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.

[0555] It should be noted that the large-size garbage recognition sensor can be turned on before switching to the carpet cleaning mode (such as Figure 49 ), or it can be turned on after switching to the carpet cleaning mode, or it can be turned on simultaneously with switching to the carpet cleaning mode. The present disclosure does not make any limitations in this regard.

[0556] The following briefly describes the relevant detection logics involved in the present disclosure as follows:

[0557] Detection of area A (long-distance detection):

[0558] Cleaning devices such as cleaning robots and handheld vacuum cleaners use the first sensor 101 provided to identify whether the front area is a carpet area. The first sensor 101 is, for example, arranged above the front part of the main body of the cleaning robot, handheld vacuum cleaner, etc.; the detection direction of the first sensor 101 is obliquely downward.

[0559] Referring to FIG.

[0560] Detection of large-size garbage (such as large particles):

[0561] Regardless of whether the cleaning devices such as cleaning robots and handheld vacuum cleaners are in the edge-following mode or other modes, the cleaning robots, handheld vacuum cleaners, etc. use the first sensor 101 to identify large particles on the carpet.

[0562] Specifically, objects with a height less than the empirical threshold are identified as large particles (empirical thresholds obtained for chocolate beans, dog food, etc., and the empirical threshold is usually a few millimeters).

[0563] Recognition of obstacle-crossing scenarios

[0564] Cleaning devices such as cleaning robots and handheld vacuum cleaners use the first sensor 101 arranged at a position above the front part to identify obstacle-crossing scenarios.

[0565] Specifically, by detecting the height of the object in front, it is identified whether it is an obstacle that needs to be avoided (such as greater than 2 cm), or an obstacle that is low and can be crossed and needs to be circumvented (less than or equal to 2 cm);

[0566] In one embodiment, to distinguish whether a front object is an obstacle that can be crossed or large-sized garbage, the width information of the object can be combined for confirmation.

[0567] D Floor and carpet detection logic (proximity detection):

[0568] Cleaning devices such as cleaning robots and handheld vacuum cleaners use the second sensor 102 to detect whether the surface is a hard floor or a soft floor, with the detection direction downward; among them, the number of the second sensors 102 can be one or multiple; the second sensors 102 can be arranged below the front part of the main body; they can also be arranged at other positions, such as near the roller brush assembly. Further, along the advancing direction of cleaning devices such as cleaning robots and handheld vacuum cleaners, the second sensors 102 are arranged in front of the roller brush assembly.

[0569] It should be noted that the first sensor 101 can be, for example, a 3D (three-dimensional) time of flight (TOF) camera or a 3D depth camera.

[0570] The second sensor 102 can be, for example, a floor material sensor, and the floor material sensor can use an ultrasonic sensor.

[0571] E General logic for opening and closing the shielding member:

[0572] When cleaning devices such as cleaning robots and handheld vacuum cleaners are on a hard floor (such as a floor), the shielding member is in the open state, and further, the opening height of the shielding member is the largest;

[0573] When cleaning devices such as cleaning robots and handheld vacuum cleaners are on a soft floor (such as a carpet), the shielding member is in the closed state or the opening height of the shielding member becomes smaller; further, the shielding member is in the fully closed state, and the opening height of the shielding member is the smallest.

[0574] F Logic between carpet thickness (carpet fiber length) and the opening height of the shielding member:

[0575] For carpets with a carpet fiber length greater than or equal to the length threshold, cleaning devices such as cleaning robots and handheld vacuum cleaners do not go up, and can, for example, bypass the carpet;

[0576] For carpets with a carpet fiber length less than the length threshold, cleaning devices such as cleaning robots and handheld vacuum cleaners can go up; further, the greater the carpet thickness (i.e., the carpet fiber length), the smaller the opening height of the shielding member.

[0577] G Logic for controlling the timing of opening and closing the shielding member

[0578] When cleaning devices such as cleaning robots and handheld vacuum cleaners detect large particles, they immediately control the door to open; among them, the shielding member is always open on the floor, so there is no switching action when large particles are detected on the floor;

[0579] For carpets, since the shielding member is closed on the carpet, when large particles are detected, the shielding member switches from the closed state to the open state. Of course, due to factors such as recognition time, there is usually a certain delay; in addition, the opening can also be triggered actively with a delay. At least it is necessary to satisfy that the shielding member is in the open state before the large particles reach the shielding member.

[0580] The opening state of the shielding member before the cleaner climbs onto the carpet

[0581] Before cleaning devices such as cleaning robots and handheld vacuum cleaners climb onto the carpet, in order to avoid sucking in carpet fringes, the shielding member is closed or the blower (suction motor) used for vacuuming is turned off;

[0582] It should be noted that since the roller brush is set at the rear, considering that the suction blower or the shielding member is immediately closed when the edge of the carpet is recognized, the ground from the front end of the main body of the cleaning device such as the cleaning robot and the handheld vacuum cleaner to the roller brush is not cleaned, so a delay in closing can be set; of course, the closing rate of the shielding member can also be controlled to avoid sucking in carpet fringes and clean as much floor as possible.

[0583] I The change logic of the walking speed when large particles are recognized

[0584] When cleaning devices such as cleaning robots and handheld vacuum cleaners detect large particles on the floor, the traveling speed of the cleaning devices remains unchanged.

[0585] When cleaning devices such as cleaning robots and handheld vacuum cleaners detect large particles on the carpet, the traveling speed of the cleaning devices can be reduced.

[0586] It should be noted that the traveling speed of cleaning devices such as cleaning robots and handheld vacuum cleaners on the floor is greater than that on the carpet; for example, the traveling speed of cleaning devices such as cleaning robots and handheld vacuum cleaners on the floor is 0.3 m / s; in order to improve the cleaning effect of the carpet, the traveling speed is reduced to 0.2 m / s on the carpet.

[0587] Such as Figure 50As shown, in the case of a single roller brush, due to only one beating action, the dust-raising effect is poor; and at the rear side wall 2310, the rotation direction of the roller brush is the same as the flow direction of the air flow (rearward air flow), and the flow path of the air flow (rearward air flow) along the rear side wall 2310 is short, and the air flow is relatively smooth, resulting in the inability of the air flow (rearward air flow) to effectively clean the interior of the carpet deeply. Therefore, the energy loss for effective cleaning is large; thus, the improvement in the dust suction effect is small. In addition, it should be noted that due to the gap between the rear side wall and the cleaning surface, a part of the forward air flow (i.e., the front air flow) escapes from the gap between the rear side wall and the cleaning surface, which also causes energy loss for effective cleaning. As Figure 52 As shown, in the case of a double roller brush, due to two beating actions, compared with the single roller brush, the number of beating actions is increased, and the dust-raising effect is improved; and at the rear side wall 2310, the rotation direction of the rear roller brush 2202 is opposite to the flow direction of the air flow, blocking the flow of the rearward air flow along the rear side wall 2310, forcing the rearward air flow to pass through the fluff inside the carpet and enter the dust box through the channel between the two roller brushes. In this way, both the forward air flow and the rearward air flow will flow through the interior of the carpet for deep cleaning, with high energy utilization efficiency and small energy loss for effective cleaning; the improvement in the dust suction effect is very obvious. Among them, the air flow rate C is approximately equal to the sum of the flow rate C1 of the forward air flow and the flow rate C2 of the rearward air flow. Further, through the setting of the shielding member 110, especially when the outermost end of the shielding member 110 extends to a position close to the ground where the roller brush contacts the ground, C1 is basically equal to C2.

[0588] It should be noted that as Figure 52 , in the case of a double roller brush, along the forward direction of the cleaning robot, the double roller brush includes a first roller brush and a second roller brush arranged in sequence, and the first roller brush and the second roller brush rotate in opposite directions.

[0589] Further, the first roller brush is a pure rubber brush (i.e., only includes rubber strips), and the second roller brush is a roller brush with hair (such as a rubber strip and brush hair mixed brush or a soft hair and hard hair mixed brush or a pure brush). Among them, the rubber strip has a good beating effect on the carpet, but it will generate noise due to friction; therefore, in the double roller brush structure, when cleaning the carpet, the interference fit degree of the first roller brush is less than that of the second roller brush, where the interference fit degree is used to characterize the degree to which the roller brush penetrates into the carpet and is away from the carpet surface; for example, when cleaning the carpet, the interference fit degree L3 of the first roller brush is less than the interference fit degree L4 of the second roller brush, as Figure 52As shown in the figure; in the double-rotating brush structure, when cleaning the floor, the distance between the first rotating brush and the floor is greater than the distance between the second rotating brush and the floor; if the second rotating brush contains rubber strips and bristles, the bristles in the second rotating brush are in contact with the ground, while the rubber strips in the second rotating brush are not in contact with the ground. For example, the first rotating brush does not touch the floor, the bristles in the second rotating brush touch the floor, and the rubber strips in the second rotating brush are not in contact with the ground. For example, the length of the bristles in the second rotating brush in the direction perpendicular to the ground is greater than the length of the rubber strips in the direction perpendicular to the ground. In this way, the bristles can achieve a good cleaning effect on the floor, while the rubber strips can improve the beating ability on the carpet, which is beneficial to improving the cleaning effect on the carpet. At the same time, since the rubber strips are not in contact with the ground during floor cleaning, it effectively reduces the noise generated by the friction between the rubber strips and the ground, improving the user experience.

[0590] As Figure 51 shown, the air flow rate C is approximately equal to the sum of the flow rate C1’ of the forward air flow and the flow rate C2’ of the backward air flow. Since the flow path of the forward air flow is shorter and the flow is smoother, the flow rate C1’ of the forward air flow is greater than the flow rate C2’ of the backward air flow. That is, the energy of C2’ is small, but the structure at the rear rotating brush remains unchanged, so the energy utilization rate remains the same. Therefore, the effective dust suction energy D2’ corresponding to C2’ becomes smaller. And when the suction force is the same, Figure 51 the flow rate C1’ of the forward air flow in Figure 52 is greater than the flow rate C1 of the forward air flow in Figure 52 . Although the energy of C1’ is large, due to the change in the forward structure (no obstruction) relative to Figure 51 , the energy utilization rate of the air flow becomes smaller. Since the flow path of the forward air flow through the carpet interior becomes shorter, that is, the flow rate C1’ of the forward air flow passes near the carpet surface and fails to penetrate deep into the carpet interior, so the effective dust suction energy D1’ corresponding to C1’ becomes smaller. Among them, the effective dust suction energy is used to characterize the energy for deep cleaning, which is related to the energy and the energy utilization rate. For example, in one embodiment, the effective dust suction energy is approximately equal to the product of the energy of the air flow and the energy utilization rate. In summary, compared with Figure 52 , Figure 51 in, the total dust suction energy D = D1’ + D2’ becomes smaller, and the cleaning effect is not good.

[0591] In addition, in Figure 51 , since the front opening is large and the resistance is small, and the interference fit of the front rotating brush is less than that of the rear rotating brush, the air flow at the rear may escape from the front opening, thereby reducing the effective cleaning energy; especially when cleaning the floor, since the ground clearance of the front rotating brush is higher than that of the rear rotating brush, more air flow at the rear exits through the gap between the front rotating brush and the floor through the opening, resulting in more air flow energy loss.

[0592] In one embodiment, referring to Figure 52, during carpet cleaning, the interference amount L3 of the front roller brush 2201 (close to the shielding member 110) is less than the interference amount L4 of the rear roller brush (far from the shielding member); where the front roller brush refers to the roller brush close to the shielding member, and the rear roller brush is the roller brush far from the shielding member.

[0593] Refer to Figures 53 to 56 , 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:

[0594] The roller brush assembly is floatable;

[0595] In order to improve the adaptability to uneven ground, in one embodiment, the roller brush bracket or the roller brush assembly is floatable; further, the shielding member can also be floatable. In order to achieve real-time following of the floating, the shielding member 110 should be installed on the roller brush bracket 230.

[0596] B Along the length direction of the roller brush, there is a space reserved on at least one side of the shielding member corresponding to the corresponding side of the roller brush bracket 230. Among them, this space can be used to set the connecting part of the roller brush cover 260 and the roller brush bracket 230.

[0597] In one embodiment, there is a space reserved between both sides of the shielding member and both sides of the roller brush bracket 230 respectively. These two spaces can be used to set the connecting parts of the roller brush cover 260 and the roller brush bracket 230 respectively. 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.

[0598] C The entire roller brush mechanism is floatable;

[0599] Among them, the roller brush mechanism at least includes the roller brush bracket 230 and the shielding member and the roller brush assembly arranged on the roller brush bracket 230; in addition, the roller brush mechanism can also include a roller brush motor for driving the movement of the roller brush assembly, a shielding member driving motor for driving the movement of the shielding member, and 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 can be, for example, a gear-rack structure, and the position detection sensor includes, for example, an open shielding member position detection sensor and a closed shielding member position detection sensor.

[0600] In order to improve the cleaning effect on soft floors such as carpets, it can be achieved by improving the sealing effect of the roller brush assembly. In order to improve the sealing effect of the roller brush assembly, on the one hand, it can be achieved by:

[0601] A: Adjust the closing degree of the sealing adjustment mechanism (especially the shielding member) to improve the sealing effect of the roller brush assembly. By adjusting the closing degree, for example, controlling the free end of the shielding member to extend to a position close to where the roller brush contacts the ground, the sealing degree of the roller brush assembly can be adjusted, as well as the air flow rate flowing through the interior of the carpet. In one embodiment, referring to Figure 53 , the distance between the free end of the shielding member (in the vertical direction, the end close to the cleaning ground) and the hard ground ranges from M, where the value range of M is less than or equal to 3 mm. When the cleaning robot cleans soft ground such as a carpet, since the carpet is soft, the roller brush can sink into the carpet to a certain height. At this time, the distance between the free end of the shielding member and the carpet is closer than that from the hard ground, thereby reducing the air flow rate flowing through the outside of the carpet (such as the gap between the free end of the shielding member and the carpet), ensuring that more air flow can flow in from the interior of the carpet, realizing the cleaning of the garbage in the fluff of the soft ground or the soft ground fibers, and improving the cleaning effect on the carpet.

[0602] On the other hand, it can be achieved by:

[0603] B: Design at least one of the position, thickness, or shape of the shielding member such that when the shielding member is closed, the inner side edge 1100 of the shielding member is as close as possible to the roller brush to improve the sealing effect and reduce the air flow rate flowing through the external path of the carpet on the non-vacuum suction port side (the side where the roller brush is far from the vacuum suction port, such as both ends of the roller brush bracket 230). For example, when the shielding member is closed, the inner side edge of the shielding member extends to a position close to the side of the roller brush far from the vacuum suction port. In one embodiment, referring to Figure 53 and Figure 58 , the distance between the outermost end T of the inner side edge 1100 of the shielding member (in the horizontal direction, the surface facing the roller brush) away from the body main body (or rather, the closest end of the inner side edge 1100 close to the ground) and the projection point T 0 projected onto the side of the roller brush far from the vacuum suction port is N, where the value range of N is less than or equal to 5 mm; further, in another embodiment, the projection Ay of the outermost end of the shielding member in the vertical direction is located between the projection Ry of the outer contour of the roller brush in the same direction and the projection Yo of the roller brush center A2 in the same direction; the projection Ax of the outermost end of the shielding member in the horizontal direction is located between the projection Rx of the outer contour of the roller brush in the same direction and the projection Xo of the roller brush center A2 in the same direction. That is, the distance from the outermost end of the shielding member to the roller brush axis in the vertical direction (passing through the roller brush center A2), and the distance from the outermost end of the shielding member to the roller brush axis in the horizontal direction (passing through the roller brush center) are both less than the radius R of the roller brush.

[0604] Among them, Ax is related to the radius R of the roller brush. Therefore, Ax can be obtained according to the radius R of the roller brush. In one embodiment, when the radius of the roller brush increases, Ax will also increase accordingly. For example, when the shielding member is closed, the value range of Ax / R is between 0.5 and 1 (including the end values). Similarly, the value range of Ay / R is between 0.5 and 1 (including the end values).

[0605] In another embodiment, R 2 is less than or equal to Ax 2 + Ay 2 is less than or equal to 1.1R 2 .

[0606] In order to make the free end (or the farthest end of the inner side) of the shielding member as close as possible to the position where the roller brush contacts the ground when the shielding member is in the closed state, or in order to make the free end (or the farthest end of the inner side) of the shielding member as close as possible to the roller brush when the shielding member is in the closed state. In one embodiment, referring to Figure 58 , the rotation axis of the shielding member 110 (passing through the rotation center A1 and perpendicular to the paper surface direction) is offset from the rotation axis of the roller brush (passing through the rotation center A2 and perpendicular to the paper surface direction), 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 roller brush.

[0607] 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 roller brush, or in other words, the height of the rotation center A1 of the shielding member is greater than the height of the rotation center A2 of the roller brush. In this way, when the shielding member is closed, the shielding member can be as close as possible to the position where the roller brush contacts the ground, and at the same time, the spatial structure of the roller brush assembly is more compact.

[0608] In one embodiment, the value range of RA / R is between 1.1 and 1.3.

[0609] Considering how to maintain the balance of the roller brush mechanism, in one embodiment, referring to Figure 59 , the roller brush drive assembly (for example, including the roller brush motor 1401 and the roller brush reduction box 1402) and the drive mechanism 129 of the shielding member 110 (for example, including the drive motor 1291 and the reduction box 1292) are respectively arranged on both sides of the roller brush (in the length direction), or in other words, the roller brush drive assembly and the drive mechanism of the shielding member are respectively arranged on both sides of the central plane P of the roller brush mechanism.

[0610] In one embodiment, the projections of the roller brush motor and the drive motor in the axial direction may not overlap. For example, the projections of the roller brush motor and the drive motor on the central plane do not overlap.

[0611] 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 one embodiment, to ensure the stability of the roller brush mechanism, 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.

[0612] 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 disposed on the roller brush bracket 230 to limit the floating of the roller brush bracket 230.

[0613] 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.

[0614] 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.

[0615] Considering that the cleaning robot usually generates collisions during operation, for example, 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.

[0616] Refer to Figures 60 to 62 , to prevent the impact force of the collision from affecting the transmission system, the applicant has set at least one of the following anti-collision measures during the design:

[0617] Measure 1: The cooperation between the output shaft of the reduction gearbox of the drive motor for driving the shielding member and the gear set of the transmission system is a loose fit. The loose fit can be understood as follows: there is a gap or a margin space between the two, allowing relative movement between the two, for example, generating a buffer angle a, and the buffer angle a can play a buffering role.

[0618] Since there is a gap between the output shaft of the driving motor or the reduction box and the gear set, when the cleaning robot or the shielding member is hit, the shielding member can be slightly rotated around the output shaft 1241 through the gear set (for example, a buffer angle a) to buffer the force of the impact.

[0619] That is, when the output shaft 1241 of the reduction gear box drives the gear 1240, the driving gear 1240 will first rotate a small buffer angle to eliminate the gap between the gear and the output shaft, thereby achieving the purpose of buffering the impact force.

[0620] Measure 2: 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 protruding from the shielding member 110, so that when encountering a collision, the anti-collision portion 2302 is subjected to force, while the shielding member is less subjected to force or is free from force.

[0621] In one embodiment, the two side edges of the roller brush bracket 230 along the axial direction of the roller brush have anti-collision parts 2302 protruding from the outer surface of the shielding member 110. When the collision plate of the cleaning robot collides and moves backward, the anti-collision part 2302 bears the impact force, thereby preventing the shielding member from being directly subjected to force.

[0622] In view of the relatively long shielding member, in order to improve the stability of the 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, wherein the rack 124 can be integrally provided with the shielding member 110 or provided on the shielding member; in one embodiment, referring to 61 and Figure 62 The transmission system includes a gear shaft 1203, a first gear set 1201 and a second gear set 1202, wherein 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 to realize the opening and closing of the shielding member.

[0623] Furthermore, 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 asymmetrical relative to the center plane of the roller brush holder.

[0624] It should be noted that each gear set may include a gear 1240 and a rack 124. The gear 1240 and the rack 124 are in transmission connection.

[0625] Of course, in other embodiments, each gear set may also include two gears (eg, a first gear and a second gear), which is not limited in this embodiment.

[0626] To prevent the shielding member from hitting dead when it is opened and closed in place, the shielding member motor from stalling, or the shielding member motor from closing in advance during the opening and closing process, in one embodiment, referring to 63 and Figure 63 , the cleaning robot includes a detection component, and the detection component includes a position detection sensor for detecting the opening and closing of the shielding member in place. Among them, the position detection sensor 130 includes an open-state position detection sensor 1301 and a closed-state position detection sensor 1302, which are respectively used to detect the opening state and the closing state of the shielding member 110 in place.

[0627] In one embodiment, the position detection sensor 130 (including the open-state position detection sensor 1301 and the closed-state position detection sensor 1302) adopts a micro switch; the shielding member is provided with an open-door in-place contact 1303 and a closed-door in-place contact 1304; when these in-place contacts (including the open-door in-place contact and the closed-door in-place contact) trigger the corresponding position detection sensors (including the open-state position detection sensor 1301 and the closed-state position detection sensor 1302) to act to generate corresponding in-place signals, the controller can control the shielding member drive motor to stop immediately according to the in-place signals.

[0628] For example, when the shielding member is in the open (or closed) position, the open-door in-place contact 1303 (or the closed-door in-place contact 1304) will trigger the micro switch for open-state position detection (or the micro switch for closed-state position detection) to act, generating an open-in-place signal (or a closed-in-place signal), and the controller controls the shielding member drive motor to stop immediately.

[0629] Since the roller brush assembly needs to be cleaned and replaced and other maintenance work after use, therefore, in one embodiment, referring to 64 and Figure 65 , the roller brush mechanism further includes a roller brush cover 260, which is arranged on the roller brush bracket 230, and the roller brush cover 260 can be opened to facilitate the user to clean and replace the roller brush;

[0630] In one embodiment, the roller brush assembly 220 includes at least two roller brushes. For example, along the forward direction of the fuselage, the roller brush assembly 220 includes a front roller brush 2201 and a rear roller brush 2202 arranged in sequence, where the front roller brush 2201 is close to the front end of the fuselage and the rear roller brush 2202 is far from the front end of the fuselage.

[0631] In order to adapt to the shape of the installation part of the roller brush (such as the roller brush bearing), in one embodiment, the roller brush cover 260 is provided with a semi-bearing socket 2601.

[0632] By providing the openable roller brush cover 260, after it is opened, the roller brush can be easily taken out for maintenance.

[0633] Taking into account that a shielding member is provided in front of the roller brush holder 230 (the side away from the air duct 240 in the radial direction of the roller brush), in order to avoid the installation of the roller brush cover 260 from affecting the shielding member, in one embodiment, the connecting part between the roller brush cover 260 and the roller brush holder 230 is located on both sides of the shielding member (along the direction parallel to the axial direction of the roller brush).

[0634] In order to make room for the shielding member, in one embodiment, the roller brush cover 260 is hinged to the roller brush bracket 230 , for example, a hinge is used at the connection portion, so that the roller brush cover 260 rotates around the roller brush bracket 230 to open and close.

[0635] In order to improve the reliability of the opening and closing of the roller brush cover 260 and prevent the roller brush cover 260 from being accidentally triggered and opened when it is not necessary to open the roller brush cover 260, in one embodiment, the roller brush mechanism further includes a lock 2603 for locking the roller brush cover 260; wherein the lock can be set on the roller brush cover 260 or on the roller brush bracket 230, and the user can open the roller brush cover 260 only when the lock 2603 is opened, thereby avoiding the accidental triggering of the roller brush cover 260. In one embodiment, there are two locks 2603.

[0636] Furthermore, the roller brush cover 260 is configured to have an inverted U-shaped structure, and the two ends of the roller brush cover 260 are provided with hinges 2602 connected to the roller brush bracket, and an unlockable lock 2603 is provided on the bottom edge of the roller brush cover 260 (the side opposite to the hinge). For the sake of safety, two locks 2603 are provided, and the user needs to unlock them at the same time to open the roller brush cover 260.

[0637] In order to reduce the shaking amount of the shielding member during movement and ensure the sealing performance, the gap between the shielding member and the roller brush bracket 230 should not be too large.

[0638] Considering that the shielding member is relatively long, if the same gap is set throughout the entire length, floating dust and other garbage raised during cleaning will enter the gap and cause the shielding member to get stuck.

[0639] In order to prevent the dust and other garbage brought up by the roller brush from affecting the shielding member, such as affecting the movement of the shielding member, being stuck by the dust, and thus affecting the sealing performance, at least one of the following methods can be used:

[0640] Method 1: There is a gap between the shielding member 110 and the roller brush bracket 230, and the gap is provided with a dust containing space 232, and the dust containing space 232 can be realized by ribs 233, for example; it should be pointed out that the ribs can also play a role in sealing the gap in the axial direction of the roller brush.

[0641] In addition, considering that in order to minimize the entry of dust into the dust-containing space through the gap, in one embodiment, a sealing strip 236 is provided between the shielding member and the roller brush bracket. The sealing strip 236 is arranged along the length direction of the shielding member or the roller brush, and can seal the gap in the length direction of the roller brush, improving the sealing performance. On the one hand, it prevents dust from entering the dust-containing space, and on the other hand, it prevents air flow from escaping through the gap, which is beneficial to improving the cleaning effect.

[0642] Therefore, in one embodiment, referring to Figure 66 and Figure 67 , a dust-containing space 232 is provided on the mating surface 234 of the shielding member 110 and the roller brush bracket 230.

[0643] Method 2: The contact part between the shielding member and the roller brush bracket 230 has a sealing structure to prevent dust from entering.

[0644] Therefore, in one embodiment, referring to Figure 68 , in order to improve the sealing effect of the shielding member, sealing structures are provided at both ends of the shielding member in contact with the roller brush bracket 230. The sealing structure includes a roller brush guiding and supporting portion 235 and / or a dust-containing space 232.

[0645] In order to improve the cleaning effect, prevent air leakage, and improve the sealing effect; in one embodiment, referring to Figure 66 , there is a sealing member between the shielding member and the roller brush bracket 230. The sealing member can be, for example, a sealing strip 236. Along the length direction of the roller brush or the shielding member, the sealing strip is arranged at the bottom end of the roller brush bracket and is perpendicular to the rib 233 or the dust-containing space 232; preferably, the sealing strip is in contact with one end of the rib to improve the sealing effect and reduce the air flow passing through the gap between the shielding member and the roller brush bracket, thereby improving the cleaning effect, especially for cleaning soft floors such as carpets (for example, it can be characterized by the cleaning efficiency CE value).

[0646] In the cleaning scenario, there are often clusters of pet hair or large-sized solid wastes, such as large-sized foods like popcorn and peanuts. The distance between the outer surface of the chassis of traditional cleaning robots and the ground is relatively low, for example, 10 mm, and its bottom surface is usually a whole plane. On the one hand, this is not conducive to the cleaning robot to clean these large-sized wastes; on the other hand, the chassis with too low ground clearance is also not conducive to the cleaning robot to pass through obstacles.

[0647] Considering that to solve the above problems, the ground clearance of the outer surface of the chassis can be simply increased; however, the drawback of this solution is that if the ground clearance of the outer surface of the high chassis is simply increased, although the above problems can be solved, due to the height limitation of the cleaning robot, if the chassis height increases and the body height of the cleaning robot remains unchanged, the overall height of the cleaning robot will still increase. Since the bottom height of furniture is usually determined, the excessive height of the cleaning robot will affect the ability of the cleaning robot to reach the bottom of the furniture, and even unable to reach the bottom of the furniture for cleaning; and if the overall height of the cleaning robot remains unchanged, due to the increase in the chassis height, then the internal space of the cleaning robot will inevitably be compressed, and the functional components placed in the internal space will surely be affected, thus affecting the performance of the cleaning robot.

[0648] When the applicant designs the chassis, it is considered that large particle garbage will be swept into the air duct 240 of the cleaning robot by the roller brush and sucked into the dust box by negative pressure when it runs to the roller brush; the chassis behind the driving wheel will move up and down along the ground following the driving wheel when the cleaning robot climbs over obstacles.

[0649] Refer to Figures 53 to 55 , Figures 69 to 71 , in an embodiment of the present disclosure, the ground clearance of the outer surface of the chassis is set to be multi-stage or stepped (the chassis has at least two heights), and along the forward direction of the body, the front and rear heights of the chassis are different, and a roller brush assembly is arranged at the front of the chassis; for example, the ground clearance of the front of the chassis is higher than the ground clearance of the rear of the chassis, so that it does not affect the cleaning of large particles and can effectively achieve obstacle climbing at the same time.

[0650] For example, in an embodiment, the chassis may have three heights, namely the first bottom surface 301 (ground clearance H11), the second bottom surface 302 (ground clearance H22), and the third bottom surface 303 (ground clearance H33); where H11 is greater than H22, and H22 is greater than H33.

[0651] Among them, a first bottom surface 301 with a ground clearance of H11 is arranged in front of the roller brush of the chassis to facilitate large particles and hair, etc. to enter the roller brush; the length of the first bottom surface 301 in the width direction of the cleaning robot is approximately equal to the length of the roller brush, but less than the width of the cleaning robot;

[0652] In an embodiment, the value range of H11 is 18 - 22 mm.

[0653] In the width direction of the cleaning robot, the first bottom surface 301 is connected to the second bottom surface 302 through an inclined surface, and the second bottom surface 302 is connected to the third bottom surface 303 through an inclined surface. Looking from the front to the back (front view) of the cleaning robot, the first bottom surface 301 forms an inverted U-shaped opening to facilitate the collection of large particle garbage.

[0654] In one embodiment, the second bottom surface 302 extends near the drive wheel axis 2111 and communicates with the waste sealing door 304 below the dust box; wherein the drive wheel axis 2111 represents the rotation axis of the drive wheel. In the figure, the drive wheel axis 2111 is perpendicular to the plane of the paper.

[0655] In one embodiment, the height of the second bottom surface 302 from the ground is H22, where the value range of H22 is 13 - 17 mm. Such a setting is beneficial to the obstacle avoidance of the cleaning robot.

[0656] In one embodiment, the part of the chassis of the cleaning robot behind the drive wheel axis 2111 has a third bottom surface 303 with a height H33 from the ground, so as to increase the internal space of the cleaning robot as much as possible. The battery pack 31 and the blower 24 can be placed in this space.

[0657] In one embodiment, the value range of H33 is 8 - 12 mm.

[0658] When the cleaning robot docks at the base station and the base station performs dust collection and maintenance operations on the dust box of the cleaning robot, considering the height difference between the surface of the base station (such as the plane of the base of the base station) and the chassis of the cleaning robot, in one embodiment, with reference to Figure 71 and Figure 72 , the dust collection port 2011 of the base station has a stepped portion 20111 protruding from the surface of the base station.

[0659] In order to avoid the problem of air leakage during the dust collection and maintenance process and ensure the sealing performance during dust collection and maintenance, in one embodiment, the stepped portion 20111 of the dust collection port of the base station has a seal, and the seal is made of an elastic material. In one embodiment, the seal can be made of rubber.

[0660] Wherein, the second bottom surface 302 of the chassis of the cleaning robot is close to the top surface of the stepped portion 20111 (especially the seal) of the dust collection port 2011 of the base station for dust collection and maintenance.

[0661] Considering that the cleaning robot moves relative to the base station when entering and leaving the base station, resulting in abrasion of the top surface of the stepped portion 20111 (especially the seal) and the part of the chassis of the cleaning robot in contact with the stepped portion 20111, therefore, in order to reduce the abrasion caused by the relative movement between the cleaning robot and the base station when entering and leaving the base station, and reduce the service life of the stepped portion 20111 (especially the seal), affecting the sealing effect, there is a protective gap between the second bottom surface 302 of the chassis of the cleaning robot and the top surface of the stepped portion 20111 (or the seal) of the dust collection port of the base station, and the value range of the height of this protective gap is 0.1 - 0.2 mm.

[0662] Since the tread of the driving wheel 21 is a rubber part, it will wear after long-term operation, which will cause a slight change in the ground clearance of the bottom surface of the cleaning robot, and the change amount may exceed the above-mentioned protection gap. Although the height of the protection gap can be increased, this will affect the sealing performance. Therefore, in order to avoid affecting the dust collection sealing performance, it is considered here that the driving wheel cannot be used as the supporting surface of the cleaning robot when the cleaning robot enters the base station. Therefore, in order to ensure the dust collection sealing performance and prevent the change amount of the tread wear from exceeding the gap, in one embodiment, the base station includes a wheel groove 2013, which is arranged on the base 201 of the base station. For example, when the cleaning robot is in the docking position on the base of the base station, the wheel groove 2013 is arranged below the driving wheel of the cleaning robot. The distance between the bottom of the wheel groove 2013 and the third bottom surface 303 of the chassis of the cleaning robot is H44, where H44 = H33 + L11. Here, H33 is used to represent the distance between the third bottom surface 303 and the base station plane when the cleaning robot docks on the base of the base station; L11 is used to represent the distance between the bottom of the wheel groove 2013 and the base station surface when the cleaning robot docks on the base of the base station. In one embodiment, the value range of L11 is 1-3 mm. It should be noted that the wheel groove 2013 can also play a role in roughly positioning the driving wheel.

[0663] Meanwhile, the base station includes a base support 2014 arranged on the base 201 of the base station, which is used to support the first bottom surface 301 of the chassis of the cleaning robot.

[0664] For example, when the cleaning robot enters the station and docks at the docking position on the base of the base station, the base support 2014 supports the first bottom surface 301 of the chassis of the cleaning robot. Here, the support is matched with the first bottom surface 301. For example, the shape of the support 2014 is adapted to the shape of the first bottom surface 301, so that the upper surface of the support 2014 and the first bottom surface 301 of the chassis can be fitted without gaps, playing a role in stable support.

[0665] In one embodiment, the cleaning robot is provided with a universal wheel 22 at the rear of the chassis, so that the cleaning robot can be supported on the base station surface by the universal wheel 22 at the rear of the chassis, so as to ensure stable support of the cleaning robot and ensure the existence of the aforementioned gap.

[0666] In order to limit the universal wheel 22, in one embodiment, the base station further includes a universal wheel docking part 2015. On the one hand, the universal wheel docking part 2015 can support the universal wheel 22; on the other hand, it can also position the docking position of the universal wheel 22, playing a role in limiting.

[0667] In order to improve the cleaning efficiency, in one embodiment, the fan 24 adopts a fan with a relatively large power. For example, the power of the fan 24 is greater than or equal to 65 W.

[0668] Considering that the high-power fan 24 also generates relatively large noise, in order to reduce or eliminate the noise of the fan 24, a series of noise reduction measures are taken in the design. One of them is to increase the length of the discharge air duct 2401 during design, that is, to adopt a long-distance channel. By adopting a long-distance channel, the discharge air flow of the fan 24 can reduce its movement energy in the discharge air duct 2401, so that the noise of the discharged air is reduced.

[0669] In one embodiment, referring to Figure 73 , the discharge air duct 2401 is arranged horizontally along the tail of the cleaning robot. The cleaning robot has a central plane parallel to the forward direction. The discharge air duct 2401 extends from one side (such as the right side) of the central plane of the cleaning robot through the central plane of the cleaning robot to one side (such as the left side) of the central plane of the cleaning robot. Further, the range of the ratio of the air outlet distance to the diameter of the fan of the fan 24 is 1-2. In one embodiment, the ratio of the air outlet distance to the diameter of the fan of the fan 24 is 1.3-1.7. For example, the ratio of the air outlet distance to the diameter of the fan of the fan 24 is equal to 1.5. Among them, the air outlet distance refers to the length of the path from the central plane Q of the fan of the fan 24 to the air outlet 2402 of the discharge air duct 2401.

[0670] In one embodiment, referring to Figure 73 , the power supply system includes a battery pack 31, and the battery pack 31 is detachable.

[0671] In the cleaning robot, the conventional layout is that the battery pack 31 is arranged in front of (or behind) the driving wheels of the chassis. The advantage of such a layout is that the dust box has a large volume, and the disadvantage is that the center of gravity of the whole machine is forward (or backward), resulting in a smaller ground pressure acting on the driving wheels and insufficient driving force, which is easy to slip. To avoid this problem, in one embodiment, a counterweight can be arranged at a position symmetrical to the axis 2111 of the driving wheels, so that the center of gravity is as close as possible to the center of the whole machine or the center of gravity overlaps with the center of the whole machine.

[0672] Considering that this cleaning robot system is equipped with a dust collection base station, the dust collection box 103 of the cleaning robot can be emptied in time. Therefore, in one embodiment, referring to Figures 53 to 56 , the battery pack 31 is set to have a rectangular profile. The long side of the rectangle is perpendicular to the axis 2111 of the driving wheels and at least partially overlaps with the axis 2111 of the driving wheels in space, that is, the outer contour of the driving wheels and the side surface of the battery pack 31 at least partially overlap in the projection direction perpendicular to the central plane of the cleaning robot.

[0673] In order to improve space utilization rate, in one embodiment, the battery pack 31 and the dust collection box 103 of the cleaning robot are arranged side by side between two driving wheels. Taking the forward direction of the cleaning robot as the front, when looking from the front to the back (refer to the B-B cross-sectional view), the left driving wheel 211 is on the left side of the battery pack 31, the dust collection box 103 is on the right side of the battery pack 31, and the right driving wheel 212 is on the right side of the dust collection box 103.

[0674] In order to minimize the encroachment on the volume of the dust collection box 103 (also known as the dust box), in one embodiment, the battery is designed to be arranged in a rectangle, the long side of the rectangle is parallel to the central plane of the cleaning robot, and the short side of the dust collection box 103 is perpendicular to the central plane of the cleaning robot. Further, the power supply system further includes a battery protection board 32 for protecting the battery pack 31. The battery protection board 32 is arranged in front of the battery pack 31, and the size of the battery protection board 31 is equivalent to the short side of the battery pack 31.

[0675] In one embodiment, the length of the roller brush of the cleaning robot is 0.19 meters, the traveling speed V is 0.15 m / s, the total power P of the cleaning robot is 150 W. After investigation, the average cleaning area of users is 75 m2, and the time T for the cleaning robot to complete cleaning after one charge is 0.75 hours. The requirement of the robot for the capacity M of the battery pack 31 is P*T / 0.9 = 125 WH. Therefore, in one embodiment, the battery pack 31 uses 15 lithium battery cells 311 of the 18650 type with a single cell capacity of not less than 2 AH.

[0676] In order to reduce the area occupied by the battery in the chassis, in one embodiment, referring to Figures 53 to 56 , the battery cells 311 are placed vertically; wherein, the axis of the cell is 3111.

[0677] The battery pack 31 is composed of battery cells 311. The battery cells 311 of the battery pack 31 are arranged in 3 staggered columns, and each column includes 5 battery cells 311 arranged at equal intervals; and in order to compress the size of the short side of the battery pack 31, the center distance between the battery cells 311 in each column is not equal to the center distance between columns, and the center distance L2 between columns is less than the center distance L1 within the column.

[0678] Considering that the cleaning robot cleans the working area according to a preset cleaning path, and the cleaning path usually changes direction. In order to meet the cleaning requirements of the cleaning robot in the commutation scenario, for example, to avoid the cleaning robot pushing away large particles, hair balls, etc. that have not been cleared during commutation, in one embodiment, before the cleaning robot changes direction (abbreviation: commutation), the suction force is increased; wherein, commutation includes turning, U-turn, etc.

[0679] When the cleaning robot is cleaning on a hard floor (such as a floor), the shielding member is in an open state to clean large particles, hair balls, etc. Considering that there may be large particles or hair balls that have not been timely sucked into the dust box or there are some large particles and hair balls moving with the cleaning robot, in order to avoid the problem that the cleaning robot pushes or scatters the large particles, hair balls, etc. that have not been timely removed in a commutation scenario such as turning or reversing. Therefore, in one embodiment, when the cleaning robot is cleaning on a hard floor (such as a floor) with the shielding member open, the suction force should be increased before turning or reversing to suck in large particles, hair balls, etc.

[0680] Among them, the increase in suction force can be achieved, for example, by increasing the power of the blower 24. Therefore, in one embodiment, when the cleaning robot is in a commutation scenario such as turning or reversing, the controller is configured to: control the power of the blower 24 to increase, so that the cleaning robot sucks large particles, hair balls, etc. into the dust box.

[0681] When the cleaning robot is cleaning on a soft floor (such as a carpet), the shielding member is in a closed state to perform deep cleaning on the carpet, where the deep cleaning can be understood as cleaning the interior of the carpet (such as the garbage between the fluff, etc.). Considering that when the shielding member is in a closed state, large particles, hair balls, etc. are blocked outside by the shielding member and will be pushed away, that is, large particles, hair balls, etc. will move together with the cleaning robot. In order to avoid the problem that the cleaning robot pushes or even scatters these large particles, hair balls, etc. in a commutation scenario such as turning or reversing. In one embodiment, when the cleaning robot is cleaning on a soft floor (such as a carpet) with the shielding member closed, before turning or reversing, the shielding member should be switched from the closed state to the open state to suck in large particles, hair balls, etc. It should be understood that after the cleaning robot completes the commutation, the shielding member is switched from the open state to the closed state again to perform deep cleaning on the carpet. Among them, the opening time of the shielding member (such as the time from the shielding member being in the open state to being switched to the closed state again) can be preset according to requirements or experimental data; this embodiment does not make a limitation on this.

[0682] It should be noted that when the cleaning robot is cleaning on a soft floor (such as a carpet) with the shielding member closed, before turning or reversing, by switching the shielding member from the closed state to the open state, it is possible to avoid the cleaning robot pushing or scattering large particles, hair balls, etc. when turning or reversing. Considering that some large particles and hair balls may not be removed in time, in order to avoid the problem that some large particles and hair balls may not be removed in time, further, when the cleaning robot is cleaning on a soft floor (such as a carpet), before turning or reversing, the suction force is increased to suck in large particles, hair balls, etc.;

[0683] Therefore, in one embodiment, when the cleaning robot is cleaning on a soft floor or in the soft floor cleaning mode, the controller is configured to: when the cleaning robot turns or makes a U-turn, switch the shielding member from the closed state to the open state. Of course, in another embodiment, when the cleaning robot is cleaning on a soft floor or in the soft floor cleaning mode, the controller is configured to: when the cleaning robot turns or makes a U-turn, switch the shielding member from the closed state to the open state and increase the suction force, so as to better remove large particles, hair balls, etc., and improve the cleaning effect; wherein, the increase in suction force can be achieved, for example, by increasing the power of the blower 24.

[0684] It should be noted that the state switching of the shielding member and the change in suction force (such as the power of the blower 24) can be carried out simultaneously or successively; for example, in one embodiment, the state of the shielding member can be switched first, and then the power of the blower 24 can be increased; of course, in other embodiments, the power of the blower 24 can also be increased first, and then the state of the shielding member can be switched; this embodiment does not make any limitation in this regard.

[0685] Among them, the situation where the cleaning robot turns or makes a U-turn should be understood as a condition. When this commutation condition is met, the controller makes a response, such as controlling the increase in the power of the blower 24 or controlling the shielding member to be switched from the closed state to the open state; therefore, the situation where the cleaning robot turns or makes a U-turn can be understood as a certain moment before the cleaning robot turns or makes a U-turn, or can also be understood as the moment when the state of the cleaning robot changes, such as the moment when it switches from the state before turning or making a U-turn (such as straight running) to the state of turning or making a U-turn (non-straight running). This embodiment does not make any limitation in this regard.

[0686] In order to prevent large particles, hair balls, etc. that have been pushed to the wall or corner during the cleaning process (such as zigzag cleaning) from being pushed away or scattered again when the cleaning robot commutes (such as turning, making a U-turn, etc.), in other embodiments, when the cleaning robot needs to turn, make a U-turn or perform other commutations, the controller is configured to control the cleaning robot to retreat a preset distance, and then turn, make a U-turn, etc.

[0687] In one embodiment, when the cleaning robot is cleaning on a soft floor (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, and then close the shielding member after the shielding member has been open for a period of time or when no large particles are detected, so as to clean the inside of the carpet.

[0688] Considering that when the cleaning robot is cleaning on a soft floor, the method of real-time detecting large particles and controlling the state of the shielding member has relatively high requirements for the software and hardware of the controller (for example, the sensitivity requirements for AI are relatively high).

[0689] In order to reduce the requirements for the software and hardware of the controller, especially the requirements for the sensitivity of AI, in one embodiment, the cleaning robot has a normal cleaning mode and a deep cleaning mode, and the normal cleaning mode and the deep cleaning mode are executed alternately. The normal cleaning mode and the deep cleaning mode are distinguished by the state of the shielding member. For example, the normal cleaning mode may be a cleaning mode in which the shielding member is in an open state; the deep cleaning mode may be a cleaning mode in which the shielding member is in a closed state;

[0690] It should be noted that in addition to the above-mentioned states of the shielding member, the normal cleaning mode and the deep cleaning mode may further include at least one of the moving speed of the cleaning robot and the suction force of the cleaning robot (such as the power of the fan 24).

[0691] Therefore, in one embodiment, the normal cleaning mode includes a cleaning mode in which the shielding member is in an open state and the moving speed is high speed (such as the first speed); the deep cleaning mode includes a cleaning mode in which the shielding member is in a closed state and the moving speed is low speed (such as the second speed), where the first speed is greater than the second speed.

[0692] In another embodiment, the normal cleaning mode includes a cleaning mode in which the shielding member is in an open state and the suction force is small suction (such as the power of the first fan 24); the deep cleaning mode includes a cleaning mode in which the shielding member is in a closed state and the suction force is large suction (such as the power of the second fan 24), where the power of the first fan 24 is les...

Claims

1. A cleaning robot, characterized in that, the cleaning robot comprises: 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein the dust suction component includes a rotary brush component, a cavity for accommodating the rotary brush component, a first shielding member located on the front side of the rotary brush component, and a second shielding member located on the rear side of the rotary brush component; the rotary brush component includes a first rotary brush and a second rotary brush, the first rotary brush and the second rotary brush are arranged front and rear, and the first rotary brush is close to the front end of the main body; both the first shielding member and the second shielding member have free ends close to the environmental surface; when the cleaning robot is on a hard floor, the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the height difference between the first distance and the second distance is within 3 mm, so that when the first rotary brush and the second rotary brush rotate in opposite directions, a first air flow flows from outside the cavity, through the bottom of the first rotary brush, into the space between the first rotary brush and the second rotary brush, and a second air flow flows from outside the cavity, through the bottom of the second rotary brush, into the space between the first rotary brush and the second rotary brush.

2. The cleaning robot according to claim 1, characterized in that, when the cleaning robot is on a carpet and the free ends of the first shielding member and the second shielding member are in contact with the carpet, the first air flow and the second air flow can concentrate and flow through the interior of the carpet, and the cleaning robot includes a dust suction fan for generating negative pressure; when the cleaning robot is on a carpet and the free ends of the first shielding member and the second shielding member are in contact with the carpet, the flow rate of the air flow flowing through the interior of the carpet accounts for 70% or more of the flow rate of the air flow flowing out of the dust inlet of the cavity.

3. The cleaning robot according to claim 1, characterized in that, the first distance is greater than or equal to the second distance, and the difference between the first distance and the second distance is within 2 mm.

4. The cleaning robot according to claim 1, characterized in that, the minimum distance between the free end of the first shielding member and the lowest position point of the first rotary brush is a third distance, wherein the third distance is less than 15 mm, and the first air flow is guided to the bottom of the first rotary brush; the minimum distance between the free end of the second shielding member and the lowest position point of the second rotary brush is a fourth distance, wherein the fourth distance is less than 15 mm, and the second air flow is guided to the bottom of the second rotary brush; Alternatively, the free end of the first shielding member is spaced from the lowest position point of the first roller brush by a third distance, where the third distance is less than or equal to 12 mm, and the first air flow is directed to the first flapping area of the first roller brush; The free end of the second shielding member is spaced from the lowest position point of the second roller brush by a fourth distance, where the fourth distance is less than or equal to 12 mm, and the second air flow is directed to the second flapping area of the second roller brush.

5. The cleaning robot according to claim 1, wherein, the length of the line connecting the free end of the first shielding member and the lowest position point of the first roller brush is less than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush, or the first distance is less than the distance between the lowest position point of the first roller brush and the lowest position point of the second roller brush.

6. The cleaning robot according to claim 1, wherein, the free end of the first shielding member is spaced from the outer contour of the first roller brush by a first horizontal distance, and the first horizontal distance is less than or equal to 5 mm; the free end of the second shielding member is spaced from the second roller brush by a second horizontal distance, and the second horizontal distance is less than or equal to 5 mm; alternatively, the minimum distance between the free end of the first shielding member and the outer contour of the first roller brush is less than or equal to 4 mm; the minimum distance between the free end of the second shielding member and the outer contour of the second roller brush is less than or equal to 4 mm.

7. The cleaning robot according to claim 1, wherein, the cavity has a dust inlet connected to a dust suction fan; the first roller brush rotates in a first direction, and the second roller brush rotates in a second direction, and the second direction is opposite to and facing the first direction; the free end of the first shielding member is spaced from the first roller brush by a first horizontal distance to form a first inlet for air flow to enter, and the first direction obstructs the air flow flowing from the first inlet along the space between the outer contour of the first roller brush and the first shielding member towards the dust inlet of the cavity; the free end of the second shielding member is spaced from the second roller brush by a second horizontal distance to form a second opening for air flow to enter, and the second direction obstructs the air flow flowing from the second opening along the space between the outer contour of the second roller brush and the first shielding member towards the dust inlet.

8. The cleaning robot according to claim 1, wherein, the hardness of the materials of the first shielding member and the second shielding member is greater than or equal to 80 HA.

9. The cleaning robot according to claim 1, wherein, the first shielding member is movable to adjust the distance between the free end of the first shielding member and the hard floor, 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 spaced from the hard floor by the first distance; when the first shielding member is in the open state, the distance between the free end of the first shielding member and the hard floor is greater than the first distance.

10. The cleaning robot according to claim 9, wherein, The dust collection assembly includes a housing, the housing includes a first roller brush support portion that at least partially covers the first roller brush, and the first shielding member is movably disposed on the first roller brush support portion to shield the first roller brush; The housing further includes a second roller brush support portion that at least partially covers the second roller brush, and the second shielding member is a part of the second roller brush support portion to shield the second roller brush; the first roller brush support portion and the second roller brush support portion enclose a cavity for accommodating the roller brush assembly.

11. The cleaning robot according to claim 10, wherein, When the first shielding member is in the open state, the difference between the first air flow and the second air flow is Δ1; when the first shielding member is in the closed state, the difference between the first air flow and the second air flow is Δ2; wherein Δ2 is less than Δ1; Alternatively, when the first shielding member is in the closed state, the air flow at the beating area where the first roller brush beats the environmental surface has a first flow rate; when the first shielding member is in the open state, the air flow at the beating area has a second flow rate, and the first flow rate is greater than the second flow rate.

12. The cleaning robot according to claim 10, wherein, When the first shielding member is in the closed state, the vacuum degree at a certain position of the cavity is greater than the vacuum degree at the same position of the cavity when the first shielding member is in the open state.

13. The cleaning robot according to claim 1, wherein, The dust collection assembly includes a housing, the housing includes a roller brush support for at least partially covering and supporting the roller brush assembly, and the roller brush support is configured to be able to float up and down relative to the horizontal plane; The roller brush assembly is disposed on the roller brush support, and the roller brush assembly floats as the roller brush support floats.

14. The cleaning robot according to claim 13, wherein, The first shielding member is configured to be able to float in the up and down direction, and the first shielding member is configured to float synchronously with the roller brush support.

15. The cleaning robot according to claim 14, wherein, The first shielding member is disposed on the roller brush support.

16. The cleaning robot according to claim 9 or 10, wherein, The cleaning robot has a deep cleaning mode and a conventional cleaning mode. Among them, in the deep cleaning mode, the cleaning robot has a first cleaning parameter, and in the conventional cleaning mode, the cleaning robot has a second cleaning parameter. The first cleaning parameter is different from the second cleaning parameter. Among them, the cleaning parameter at least includes: the state of the first shielding member; In the deep cleaning mode, the first shielding member is in the closed state; in the conventional cleaning mode, the first shielding member is in the open state.

17. The cleaning robot according to claim 1, wherein, The cleaning robot includes a blower, and the power of the blower is greater than or equal to 60W.

18. A cleaning robot, wherein, The cleaning robot includes: A main body having a front end; A moving component, disposed on the main body, supporting and driving the cleaning robot to move on the environmental surface of the area to be cleaned; A dust suction component, disposed on the main body, performing cleaning work on the environmental surface; A controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; Wherein, the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; The roller brush component 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; Both the first shielding member and the second shielding member have free ends close to the environmental surface; When the cleaning robot is on a hard floor, the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm, the second distance is less than 5 mm, and the difference between the first distance and the second distance is within 3 mm, so that when the first roller brush beats the environmental surface to form a first beating area and the second roller brush beats the environmental surface to form a second beating area, a first air flow flows from outside the cavity through the first beating area to the dust inlet of the cavity, and a second air flow flows from outside the cavity through the second beating area to the dust inlet; the dust inlet can be communicated with a suction fan generating negative pressure.

19. A cleaning robot, Characterized in that, The cleaning robot includes: A main body, which has a front end; A moving component, disposed on the main body, supporting and driving the cleaning robot to move on the environmental surface of the area to be cleaned; A dust suction component, disposed on the main body, performing cleaning work on the environmental surface; A controller, controlling the cleaning robot to automatically perform cleaning work on the environmental surface; Wherein, the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; The roller brush component 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; Both the first shielding member and the second shielding member have free ends close to the environmental surface; When the cleaning robot is on a hard floor, the first opening formed by the first shielding member and the hard floor has a first area, and the second opening formed by the second shielding member and the hard floor has a second area, where the ratio of the first area to the second area is in the range of 0.7 - 1.3; the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; where the first distance is less than 5 mm and the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate in opposite and facing directions, a first air flow flows from outside the cavity, through the bottom of the first roller brush, into the space between the first roller brush and the second roller brush, and a second air flow flows from outside the cavity, through the bottom of the second roller brush, into the space between the first roller brush and the second roller brush.

20. A cleaning robot, characterized in that the cleaning robot comprises: 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; a controller to control the cleaning robot to automatically perform cleaning work on the environmental surface; wherein the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; the roller brush component 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; both the first shielding member and the second shielding member have free ends close to the environmental surface; When the cleaning robot is on a hard floor, the first opening formed by the first shielding member and the hard floor has a first area, and the second opening formed by the second shielding member and the hard floor has a second area, where the ratio of the first area to the second area is in the range of 0.7 - 1.3; the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; where the first distance is less than 5 mm and the second distance is less than 5 mm, so that 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, a first air flow flows from outside the cavity through the first patting area to the dust inlet of the cavity, and a second air flow flows from outside the cavity through the second patting area to the dust inlet; the dust inlet can be connected to a dust suction fan that generates negative pressure.

21. A cleaning robot, characterized in that the cleaning robot comprises: 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 dust suction component disposed on the main body to perform cleaning work on the environmental surface; A controller that controls the cleaning robot to automatically perform cleaning work on the environmental surface; Wherein, the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; The roller brush component includes a first roller brush and a second roller brush, and 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; Both the first shielding member and the second shielding member have free ends close to the environmental surface; When the cleaning robot is on a hard floor, the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm.

22. The cleaning robot according to claim 21, Characterized in that, The area of the air leakage holes of at least one of the first shielding member and the second shielding member accounts for within 30% of the area of the corresponding shielding member.

23. A cleaning robot, Characterized in that, The cleaning robot includes: A main body having a front end; A moving component provided on the main body to support and drive the cleaning robot to move on the environmental surface of the area to be cleaned; A dust suction component provided on the main body to perform cleaning work on the environmental surface; A controller that controls the cleaning robot to automatically perform cleaning work on the environmental surface; Wherein, the dust suction component includes a roller brush component, a cavity for accommodating the roller brush component, a first shielding member located in front of the roller brush component, and a second shielding member located behind the roller brush component; The roller brush component includes a first roller brush and a second roller brush, and 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; Both the first shielding member and the second shielding member have free ends close to the environmental surface; When the cleaning robot is on a hard floor, the area of the air leakage holes of at least one of the first shielding member and the second shielding member accounts for within 30% of the area of the corresponding shielding member; the minimum distance between the first shielding member and the hard floor is a first distance, and the minimum distance between the second shielding member and the hard floor is a second distance; wherein the first distance is less than 5 mm and the second distance is less than 5 mm, so that when the first roller brush and the second roller brush rotate in opposite and facing directions, a first air flow flows from outside the cavity, through the bottom of the first roller brush, to the space between the first roller brush and the second roller brush, and a second air flow flows from outside the cavity, through the bottom of the second roller brush, to the space between the first roller brush and the second roller brush.

24. A cleaning robot, Characterized in that, The cleaning robot includes: A main body having a front end; A moving component provided on the main body to support and drive the cleaning robot to move on the environmental surface of the area to be cleaned; A dust suction component provided on the main body to perform cleaning work on the environmental surface; A controller that controls the cleaning robot to automatically perform cleaning work on the environmental surface; Wherein, the dust suction assembly includes a roller brush assembly, a cavity for accommodating the roller brush assembly, a first shielding member located in front of the roller brush assembly, and a second shielding member located behind the roller brush assembly; The roller brush assembly includes a first roller brush and a second roller brush, and 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; Both the first shielding member and the second shielding member have free ends close to the environmental surface; When the cleaning robot is on a carpet and the free ends of the first baffle and the second baffle are in contact with the carpet, the flow rate of the air flowing through the inside of the carpet accounts for 70% or more of the flow rate flowing out from the dust inlet; the dust inlet can be communicated with a suction fan that generates negative pressure.

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