Cleaning robot

Abstract

The embodiment of the utility model provides a cleaning robot which comprises a first storage box, a second storage box, a mechanical arm and a control part, the first storage box is used for storing dirty mop cloth, and the second storage box is used for storing clean mop cloth. A fixing device for fixing the mop is arranged at the tail end of the mechanical arm, the mechanical arm can move into the first storage box and the second storage box, and the control part is used for controlling the fixing device to be connected with the mop or separated from the mop. According to the cleaning robot, full-automatic mop replacing operation is achieved, dirty mop recycling and clean mop automatic loading can be achieved without human intervention in the next operation process, continuous operation of the robot is supported, the cleanliness of the mop is guaranteed, and the final cleaning effect can meet the requirement.

Description

Technical Field

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

[0002] At present, cleaning robots have begun to be widely used. These robots are favored by many users for their simple operation and ease of use.

[0003] Currently, only some commercial and household cleaning robots have mopping capabilities, and even fewer support automatic mop replacement. The mainstream solution uses a drum structure that allows for simultaneous mopping and washing, with the mop cleaning itself. However, the cleaning effect is less than ideal and fails to meet hygiene requirements. Furthermore, the mop needs to be manually replaced after a period of cleaning, increasing maintenance costs. Another solution is to use a base station for cleaning. When the robot reaches the mop cleaning requirement, it returns to the base station, where the internal structure of the base station cleans the mop. While this is slightly better than the robot's self-cleaning effect, it still cannot meet the requirements of some special occasions. Utility Model Content

[0004] The purpose of this application is to provide a cleaning robot to at least partially solve the above technical problems.

[0005] In a first aspect, embodiments of the present application provide a cleaning robot comprising a first storage bin, a second storage bin, a robotic arm, and a control unit. The first storage bin is used to store dirty mops, and the second storage bin is used to store clean mops. A securing device for securing mops is provided at the end of the robotic arm. The robotic arm is capable of moving into the first storage bin and the second storage bin. The control unit is configured to control the securing device to attach or detach mops.

[0006] In some embodiments, a mounting plate is provided at the end of the robotic arm, the mounting plate has a mounting surface for mounting a mop, and the fixing device is provided on the mounting surface.

[0007] In some embodiments, the fixing device includes an electromagnetic hook, and the electromagnetic hook is electrically connected to the control unit.

[0008] In some embodiments, the first storage box is provided with a first inlet, the second storage box is provided with a second inlet, and the mounting plate can be inserted into the first inlet and the second inlet.

[0009] In some embodiments, the first inlet is provided with an elastic buckle, and the elastic buckle is used to tear off the mop.

[0010] In some embodiments, the second storage box is provided with a sensor, which is electrically connected to the control unit and is used to detect the position of the mop in the second storage box. The control unit is used to determine the distance the robotic arm extends into the second storage box based on data collected by the sensor.

[0011] In some embodiments, the first inlet is disposed at the top of the first storage tank, and the second inlet is disposed at the top of the second storage tank.

[0012] In some embodiments, the sensor is a distance sensor, and the sensor is used to obtain the distance between the uppermost mop in the second storage box and the second entrance.

[0013] In some embodiments, the first storage tank and the second storage tank are positioned side by side.

[0014] In some embodiments, when the cleaning robot is in operation, the first storage box is located on a side of the second storage box close to the end of the robot arm.

[0015] In the cleaning robot provided by the present application, a mop is mounted on the end of a robotic arm. During the cleaning process, the robotic arm controls the mop to perform mopping operations. A first storage box for dirty mops and a second storage box for clean mops are also provided. When the mop needs to be replaced, the robotic arm controls the mop to enter the first storage box, where it is separated, and then enters the second storage box where a new clean mop is replaced. This entire process is automated, eliminating the need for manual user operation. Furthermore, a dedicated base station is not required, thus reducing space usage.

[0016] These and other aspects of the present application will become more readily apparent from the description of the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a schematic structural diagram of a cleaning robot proposed in an embodiment of the present application from a first perspective.

[0019] Figure 2 This is a structural block diagram of a cleaning robot proposed in an embodiment of the present application.

[0020] Figure 3 This is a schematic diagram of the state of a cleaning robot proposed in an embodiment of the present application when it is in working state.

[0021] Figure 4 This is a schematic diagram of the state of a cleaning robot proposed in an embodiment of the present application when separating a dirty mop.

[0022] Figure 5This is a schematic diagram of the state of a cleaning robot proposed in an embodiment of the present application when replacing a new mop. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] At present, cleaning robots have begun to be widely used. These robots are favored by many users for their simple operation and ease of use.

[0025] Currently, only some commercial and household cleaning robots have mopping capabilities, and even fewer support automatic mop replacement. The mainstream solution uses a drum structure that allows for simultaneous mopping and washing, with the mop cleaning itself. However, the cleaning effect is less than ideal and fails to meet hygiene requirements. Furthermore, the mop needs to be manually replaced after a period of cleaning, increasing maintenance costs. Another solution is to use a base station for cleaning. When the robot reaches the mop cleaning requirement, it returns to the base station, where the internal structure of the base station cleans the mop. While this is slightly better than the robot's self-cleaning effect, it still cannot meet the requirements of some special occasions.

[0026] Based on this, the inventor of the present application has proposed a cleaning robot in order to automatically replace the mop. The present application will be described in detail below with reference to specific embodiments.

[0027] See Figure 1 This embodiment provides a cleaning robot 10, including a frame 100. The frame 100 constitutes the main structure of the cleaning robot 10. The main body is provided with rollers 110, a brush 120, a motor, and other structures. The motor is used to drive the rollers 110 and thus drive the cleaning robot 10 to move. The brush 120 is used to clean the floor, walls, etc. during the movement of the cleaning robot 10.

[0028] In this embodiment, please combine Figure 1 and Figure 2 The cleaning robot 10 also includes a first storage box 400, a second storage box 500, a robotic arm 200 and a control unit 600, wherein the first storage box 400 and the second storage box 500 are both arranged on the frame 100, the robotic arm 200 is arranged on the frame 100 and is used to install the mop 300, and the control unit 600 is electrically connected to the robotic arm 200 and is used to control the robotic arm 200 to perform predetermined actions.

[0029] The robotic arm 200 can be configured as any structure. For example, the robotic arm 200 can have one or more joints, or one or more degrees of freedom. In this embodiment, the robotic arm 200 has four rotational joints, which provide the robotic arm 200 with four degrees of freedom, allowing the robotic arm 200 to move in multiple directions. The end of the robotic arm 200 is provided with a fixing device 220 for fixing the mop 300. The mop 300 can be fixed to the fixing device 220, and the robotic arm 200 can then drive the mop 300 to perform mopping operations. In some embodiments, when the cleaning robot 10 is operating, the robotic arm 200 drives the mop 300 in front of the cleaning robot 10 in the direction of travel. In other embodiments, when the cleaning robot 10 is operating, the robotic arm 200 drives the mop 300 in the direction of travel of the cleaning robot 10. This embodiment is not limited to this. In addition, the robotic arm 200 can also be used to perform other actions or functions. For example, the robotic arm 200 can also be used to adjust the angle to clean the floor, walls, and the surfaces of various household appliances.

[0030] The control unit 600 is used to control the movement of the robotic arm 200. The control unit 600 can also be used to control the fixing device 220 on the robotic arm 200 to connect or detach the mop 300. The control unit 600 may include a processor and memory, and the processor may include one or more processing cores. The processor uses various interfaces and circuits to connect the various parts of the entire cleaning robot 10. By running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory, it performs various functions of the electronic device 10 and processes data. Optionally, the processor can be implemented in the form of at least one hardware of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. It is understood that the above-mentioned modem may not be integrated into the processor and may be implemented separately through a communication chip.

[0031] The memory may include a random access memory (RAM) or a read-only memory (ROM). The memory may be used to store instructions, programs, codes, code sets, or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the cleaning robot 10 during use (such as a phone book, audio and video data, chat history data), etc.

[0032] The securing device 220 can take various forms. For example, in some embodiments, the securing device 220 can be a Velcro attachment, which attaches the mop 300. In a more specific embodiment, in this embodiment, the securing device 220 includes an electromagnetic hook, which is electrically connected to the control unit 600. The control unit 600 can control the electromagnetic hook to be powered on or off, thereby changing its state to connect or detach the mop 300. For example, when the electromagnetic hook is powered off, it is in a first state, locking the mop 300 and connecting the securing device 220 to the mop 300. When powered on, the electromagnetic hook switches from the first state to a second state, separating the electromagnetic hook from the mop 300 and detaching the securing device 220 from the mop 300. When the mop cloth 300 needs to be replaced, the control unit 600 can first control the fixing device 220 to be energized. At this time, the electromagnetic hook switches from the first state to the second state, separating the electromagnetic hook from the mop cloth 300 and achieving separation of the fixing device 220 from the mop cloth 300. Then, after the new mop cloth 300 is placed in place, the fixing device 220 is controlled to be deenergized. At this time, the electromagnetic hook switches from the second state to the first state, connecting and locking the electromagnetic hook with the mop cloth 300, and achieving connection between the fixing device 220 and the mop cloth 300. It is understood that in some other embodiments, when the electromagnetic hook is deenergized, it can be in the second state, and when the electromagnetic hook is energized, it can be in the first state. This embodiment is not limited to this.

[0033] The first storage box 400 is used to store dirty mops 300, and the second storage box 500 is used to store clean mops 300. The structures of the first storage box 400 and the second storage box 500 are not limited in this embodiment. In one embodiment, the first storage box 400 and the second storage box 500 are configured to match the structure of the mops 300. In this embodiment, the mops 300 are rectangular in structure. The cross-sections of the first storage box 400 and the second storage box 500 can both be configured to be rectangular to accommodate the storage of the mops 300. It is understood that the mops 300 can be laid flat in the first storage box 400 and the second storage box 500, so that the robotic arm 200 can quickly install or replace the mops 300.

[0034] As an implementation method, in this embodiment, the first storage box 400 and the second storage box 500 are arranged side by side, and the length direction of the first storage box 400 and the length direction of the second storage box 500 can be arranged in the same direction, so that the robotic arm 200 can quickly replace the dirty mop 300 with a new clean mop 300 during the process of replacing the mop 300.

[0035] The robot arm 200 can move into the first storage box 400, and then separate the used dirty mop 300 in the first storage box 400. At the same time, the robot arm 200 can also move into the second storage box 500, and then connect a new clean mop 300 to the second storage box 500. In order to prevent the dirty mop 300 installed and used on the robot arm 200 from contaminating the clean mop 300 in the second storage box 500, in this embodiment, please combine Figure 3 , Figure 3 The figure shows the cleaning robot 10 in operation, with the second storage box 500 located on the side of the first storage box 400 away from the end of the robotic arm 200. That is, when the cleaning robot 10 is in operation, the first storage box 400 is located on the side of the second storage box 500 close to the end of the robotic arm 200. This arrangement has the advantage that when the mop 300 needs to be replaced, the robotic arm 200 first drives the fixing device 220 and the mop 300 into the first storage box 400 to separate the dirty mop 300. During this process, the robotic arm 200 does not need to pass through the second storage box 500 when driving the mop 300. Therefore, no stains or dirty water will fall into the second storage box 500, thereby preventing contamination of the clean mop 300 in the second storage box 500.

[0036] For more details, please refer to Figure 1The end of the robotic arm 200 is provided with a mounting plate 210. The mounting plate 210 has a mounting surface for mounting the mop cloth 300. The fixing device 220 is disposed on the mounting surface, and the mop cloth 300 is fixed to the mounting surface. It is understood that the mop cloth 300 fixed to the mounting surface can be one or more layers, and this embodiment is not limited to this. The first storage box 400 is provided with a first entrance 410, and the second storage box 500 is provided with a second entrance 420. The mounting plate 210 can be inserted into the first entrance 410 and the second entrance 420. This allows the mounting plate 210 to enter the first storage box 400 and the second storage box 500 to complete the mop cloth 300 replacement operation. In a more specific embodiment, the first entrance 410 can be located at the top of the first storage box 400, and the second entrance 420 can be located at the top of the second storage box 500. This arrangement facilitates the movement of the robotic arm 200, preventing it from being restricted when driving the mounting plate 210 into the first and second storage boxes 400 and 500, thereby increasing the freedom of movement of the cleaning robot 10. Furthermore, the first and second storage boxes 400 and 500 do not require additional fixing structures to secure the mops 300.

[0037] When the robotic arm 200 drives the mounting plate 210 into the first storage box 400, the control unit 600 can control the electromagnetic hook to separate the mop 300. However, due to static electricity, the mop 300 may still adhere to the mounting surface, resulting in the mop 300 not being completely separated. In this embodiment, the first entrance 410 is provided with an elastic undercut (not shown) for tearing off the mop 300. Figure 4 When the mounting plate 210 is inserted into the first inlet 410, the mounting plate 210 can compress the elastic undercut (not shown in the figure). At the same time, when the mounting plate 210 is outwardly separated from the first inlet 410, the elastic undercut rebounds and can clamp the mop 300 adhered to the mounting plate 210, thereby tearing the mop 300 off the mounting surface, ensuring that the mop 300 can be completely detached from the mounting surface. The detached mop 300 can fall into the first storage box 400 for storage.

[0038] After separating the dirty mop 300, see Figure 5The robotic arm 200 drives the mounting plate 210 into the second inlet 420 and contacts the stored clean mop 300. The control unit 600 then switches the electromagnetic hook state, securing the new mop 300 for installation. During the installation process, the control unit 600 must control the distance the robotic arm 200 extends into the second inlet 420, ensuring that the mounting plate 210 contacts the stacked clean mops 300 while preventing the mounting plate 210 from directly pressing against the stacked clean mops 300, which would restrict the movement of the electromagnetic hook. To improve the accuracy of the connection and installation of the mop 300, in this embodiment, the second storage bin 500 is equipped with a sensor 520. The sensor 520 is electrically connected to the control unit 600 and is used to detect the position of the mop 300 within the second storage bin 500. The control unit 600 determines the distance the robotic arm 200 extends into the second storage bin 500 based on the data collected by the sensor 520. By accurately determining the position of the mop cloth 300, the control unit 600 can more precisely control the distance the robotic arm 200 extends into the second storage bin 500. In some embodiments, the sensor 520 is a distance sensor 520, which is used to detect the distance between the topmost mop cloth 300 in the second storage bin 500 and the second entrance 420. In a more specific embodiment, the sensor 520 may be an infrared sensor 520, which determines the position of the stacked mop cloths 300 by measuring the time difference between the emission and return of infrared light. In another more specific embodiment, the sensor 520 may be a weight sensor 520, which can detect the weight of the mop cloths 300 in the second storage bin 500 and thereby determine the current number of clean mop cloths 300. Based on the number of clean mop cloths 300, the current stacking height of the stacked mop cloths 300 is determined. Based on the current stacking height of the stacked mop cloths 300, the distance between the topmost mop cloth 300 in the second storage bin 500 and the second entrance 420 is determined.

[0039] After the new mop 300 is installed and connected, the robot arm 200 drives the mounting plate 210 to move out of the second entrance 420 and the cleaning operation can be performed again.

[0040] The working principle of the cleaning robot 10 provided in this embodiment is as follows:

[0041] When the cleaning robot 10 receives the instruction to replace the mop 300, the cleaning robot 10 can pause in place, detect the current state of the mop 300, and determine that the current mop 300 is in the installation state, such as Figure 4As shown, the robot arm 200 moves the mop 300 to the first entrance 410 and extends it into the first storage box 400. After the fixing device 220 separates the mop 300, it moves out of the first entrance 410. The mop 300 is torn off by the elastic buckle, and the dirty mop 300 falls into the first storage box 400. The robot arm 200 continues to move to the second entrance 420. Figure 5 As shown, the sensor 520 collects the position of the mop 300 in the second storage box 500, and the control unit 600 is used to determine the distance that the robot arm 200 extends into the second storage box 500 based on the data collected by the sensor 520. The control unit 600 controls the robot arm 200 to extend into the second storage box and reach the position of the mop 300 on the top layer. At the same time, the control unit 600 controls the electromagnetic hook to connect the mop 300 on the top layer, and then detects whether the current mop 300 is connected in place. If it is detected that the mop 300 is installed in place, the control unit 600 controls the robot arm 200 to move out of the second storage box 500 from the second entrance 420, and the cleaning robot 10 can resume the cleaning operation.

[0042] The command to replace the mop cloth 300 can be issued by the user. In one embodiment, the command to replace the mop cloth 300 can be issued by the user through the human-machine interface of the cleaning robot 10. In another embodiment, the command to replace the mop cloth 300 can be issued by the user through a mobile terminal that is in communication with the cleaning robot 10. The mobile terminal can be, for example, a mobile phone, a tablet computer, or a computer, and this embodiment is not limited to this. In some embodiments, the command to replace the mop cloth 300 can also be preset by the user based on usage needs. For example, the user can preset in advance that the mop cloth 300 should be replaced every time interval t, where t can be, for example, one week, one month, etc.

[0043] After completing the operation of replacing the mop 300 , the cleaning robot 10 may further issue a reminder to prompt the user to clean the dirty mop 300 in the first storage box 400 in time.

[0044] The cleaning robot 10 provided in this embodiment realizes a fully automated mop replacement operation. During another operation, the dirty mop can be recycled without human intervention, and the clean mop can be automatically loaded. This not only supports the continuous operation of the robot, but also ensures the cleanliness of the mop, so that the final cleaning effect can meet the requirements.

[0045] It should also be noted that, in this embodiment, expressions such as "first", "second", "third", and "fourth" are only used for distinction and do not represent limitations on specific structures.

[0046] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that: include: a first storage box, wherein the first storage box is used to store dirty mops; a second storage box, wherein the second storage box is used to store clean mops; A robotic arm, wherein a fixing device for fixing a mop is provided at the end of the robotic arm, and the robotic arm is capable of moving into the first storage box and the second storage box; as well as A control unit is used to control the fixing device to connect to or separate from the mop.

2. The cleaning robot according to claim 1, characterized in that: A mounting plate is provided at the end of the robotic arm. The mounting plate has a mounting surface for mounting the mop, and the fixing device is provided on the mounting surface.

3. The cleaning robot according to claim 2, characterized in that: The fixing device includes an electromagnetic hook, and the electromagnetic hook is electrically connected to the control part.

4. The cleaning robot according to claim 2 or 3, characterized in that: The first storage box is provided with a first inlet, the second storage box is provided with a second inlet, and the mounting plate can be inserted into the first inlet and the second inlet.

5. The cleaning robot according to claim 4, characterized in that: The first inlet is provided with an elastic undercut, and the elastic undercut is used to tear off the mop.

6. The cleaning robot according to claim 4, characterized in that: The second storage box is provided with a sensor, which is electrically connected to the control unit and is used to detect the position of the mop in the second storage box. The control unit is used to determine the distance that the robotic arm extends into the second storage box based on data collected by the sensor.

7. The cleaning robot according to claim 6, characterized in that: The first inlet is disposed at the top of the first storage tank, and the second inlet is disposed at the top of the second storage tank.

8. The cleaning robot according to claim 7, characterized in that: The sensor is a distance sensor, and the sensor is used to obtain the distance between the uppermost mop in the second storage box and the second entrance.

9. The cleaning robot according to claim 1, characterized in that: The first storage tank and the second storage tank are arranged side by side.

10. The cleaning robot according to claim 9, characterized in that: When the cleaning robot is in a working state, the first storage box is located on a side of the second storage box close to the end of the robot arm.

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