Cleaning robot

Abstract

The cleaning robot comprises a machine shell, a rolling brush and a detection module, a cleaning air duct used for collecting garbage is arranged in the machine shell, the cleaning air duct comprises a dust collecting pipe and a rolling brush cavity, the dust collecting pipe communicates with the rolling brush cavity, the rolling brush is arranged in the rolling brush cavity, and the detection module is arranged in the rolling brush cavity. The detection module comprises an inductor, the inductor is arranged in the cleaning air duct and used for detecting the garbage suction state in the cleaning air duct, the inductor is provided with an induction face, the induction area of the induction face is S, and S is larger than or equal to 0.5 cm < 2 >. According to the cleaning robot, the cleaning effect is improved, the working energy consumption is reduced, and the cruising ability of the cleaning robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of household appliances, in particular, to a cleaning robot. BACKGROUND

[0002] The emergence of cleaning robots such as sweepers, scrubbers and sweep-and-mop all-in-one machines provides convenience for ground cleaning and reduces labor intensity. The cleaning robot can automatically travel in a room and simultaneously suck in surrounding dust or impurities, thereby completing ground cleaning. However, the cleaning mode of the cleaning robot in the prior art is single, and cannot automatically adjust according to the degree of dirt in the cleaning area, thereby having the problems of poor cleaning effect and high energy consumption. SUMMARY

[0003] The present application aims to at least partially solve one of the technical problems in the related art.

[0004] To this end, an embodiment of the present application provides a cleaning robot, which is beneficial to improve the cleaning effect, reduce the working energy consumption and improve the endurance of the cleaning robot.

[0005] The cleaning robot of the embodiment of the present application comprises: a shell, a cleaning air duct for collecting garbage is arranged in the shell, the cleaning air duct comprises a dust collecting pipe and a roller brush cavity, the dust collecting pipe is in communication with the roller brush cavity; a roller brush, the roller brush is arranged in the roller brush cavity; a detection module, the detection module comprises a sensor, the sensor is arranged in the cleaning air duct, the sensor is used for detecting a garbage suction state in the cleaning air duct, the sensor has a sensing surface, a sensing area of the sensing surface is S, S≥0.5cm 2 .

[0006] The cleaning robot according to the embodiment of the present application can detect the garbage suction state in the cleaning air duct by the sensor, so that the cleaning robot can adaptively adjust the rotating speed of the roller brush and / or the cleaning time according to the detected garbage suction state, thereby improving the cleaning effect of the cleaning robot, reducing the energy consumption of the cleaning robot and improving the endurance of the cleaning robot. In addition, the sensing area of the sensing surface adopts the above numerical range, which can ensure the detection accuracy of the sensor and has a good detection effect.

[0007] In some embodiments, the sensor is a piezoelectric sensor, the sensing surface is in contact with an outer wall surface of the roller brush cavity, and the detection pressure range of the piezoelectric sensor is P, 0≤P≤250KPa.

[0008] In some embodiments, the outer wall surface of the rolling brush cavity is provided with a first mounting seat, a first accommodating cavity is arranged in the first mounting seat, the inductor is a piezoelectric inductor, the piezoelectric inductor is arranged in the first accommodating cavity, the sensing surface is in contact with the outer wall surface of the rolling brush cavity, the detection module further comprises a wire, the first mounting seat is provided with a first wire hole, the wire is arranged in the first wire hole and is electrically connected with the piezoelectric inductor, and a sealing structure is arranged between the wire and the first wire hole.

[0009] In some embodiments, the detection module further comprises a cover plate, a movable support and an elastic member, an opening is arranged at one end of the first accommodating cavity away from the piezoelectric inductor, the cover plate covers the opening and is connected with the rolling brush cavity, the movable support and the elastic member are both arranged in the first accommodating cavity, and the elastic member presses the movable support towards the piezoelectric inductor.

[0010] In some embodiments, the inductor is a piezoelectric inductor, and the sensing surface is in contact with the outer wall surface of the dust collecting pipe.

[0011] In some embodiments, the outer wall surface of the dust collecting pipe is provided with a second mounting seat, a second accommodating cavity is arranged in the second mounting seat, the inductor is a piezoelectric inductor, the piezoelectric inductor is arranged in the second accommodating cavity, the detection module further comprises a wire, the second mounting seat is provided with a second wire hole, the wire is arranged in the second wire hole and is electrically connected with the piezoelectric inductor, and a sealing structure is arranged between the wire and the second wire hole.

[0012] In some embodiments, the detection module further comprises a cover plate, a movable support and an elastic member, an opening is arranged at one end of the second accommodating cavity away from the piezoelectric inductor, the cover plate covers the opening and is connected with the dust collecting pipe, the movable support and the elastic member are both arranged in the second accommodating cavity, and the elastic member presses the movable support towards the piezoelectric inductor.

[0013] In some embodiments, the inductor has a sensing surface, and the sensing surface constitutes at least part of the inner wall surface of the cleaning air duct.

[0014] In some embodiments, the inductor is one of a thin film inductor and a pressure sensitive inductor.

[0015] In some embodiments, the sensing surface constitutes at least part of the inner wall surface of the rolling brush cavity.

[0016] In some embodiments, the rolling brush cavity is provided with an opening, the inductor is arranged on the outer wall surface of the rolling brush cavity and covers the opening, and a sealing structure is arranged between the outer periphery of the inductor and the outer periphery of the opening.

[0017] In some embodiments, the cleaning robot further comprises a support frame, the inductor is covered on the support frame, the support frame is detachably installed on the opening, and the outer periphery of the inductor is clamped between the roller brush cavity and the support frame.

[0018] In some embodiments, the detection module further comprises a lead wire, the inductor has a lead wire part, the lead wire part and the lead wire are located on the side of the support frame away from the roller brush cavity, and one end of the lead wire is electrically connected with the lead wire part. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic view of a cleaning robot according to an embodiment of the present application.

[0020] Figure 2 is an installation schematic view of a cleaning air duct and a detection module of a cleaning robot according to an embodiment of the present application.

[0021] Figure 3 is Figure 2 is an enlarged view of A in FIG.

[0022] Figure 4 is an installation cross-sectional view of a cleaning air duct and a detection module of a cleaning robot according to an embodiment of the present application.

[0023] Figure 5 is Figure 4 is an enlarged view of B in FIG.

[0024] Figure 6 is a cross-sectional view of a detection module of a cleaning robot according to an embodiment of the present application.

[0025] Figure 7 is an installation schematic view of a cleaning air duct and a detection module of a cleaning robot according to another embodiment of the present application.

[0026] Figure 8 is an installation schematic view of a dust collecting pipe and a detection module of a cleaning robot according to another embodiment of the present application.

[0027] Figure 9 is a schematic view of a dust collecting pipe of a cleaning robot according to another embodiment of the present application.

[0028] Figure 10 is an installation schematic view of a roller brush cavity and a detection module of a cleaning robot according to yet another embodiment of the present application.

[0029] Figure 11 is Figure 10 is an enlarged view of C in FIG.

[0030] Figure 12 is a partial installation cross-sectional view of a roller brush cavity and a detection module of a cleaning robot according to yet another embodiment of the present application.

[0031] Figure 13 yes Figure 12 Enlarged view of D in the middle.

[0032] Figure 14 This is a schematic diagram of the roller brush cavity of a cleaning robot from another perspective according to another embodiment of the present application.

[0033] Reference numerals:

[0034] 1. Casing;

[0035] 2. Cleaning air duct; 21. Roller brush chamber; 212. Lower opening; 213. Open opening; 214. Dust collection port; 215. First mounting seat; 2151. First accommodating chamber; 2152. First threading hole; 216. First connecting post; 22. Dust collection tube; 222. Second mounting seat; 2221. Second accommodating chamber; 2222. Second threading hole; 223. Second connecting post;

[0036] 3. Roller brush;

[0037] 4. Detection module; 41. Sensor; 411. Sensing surface; 412. Lead portion; 42. Support frame; 43. Cover plate; 44. Movable bracket; 45. Elastic member; 46. Buffer pad; 47. Wire;

[0038] 5. Sealing structure;

[0039] 6. Drive motor. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present application, but should not be understood as limiting the present application.

[0041] Please refer to the following Figures 1 to 14 The cleaning robot according to the embodiment of the present application is described.

[0042] like Figures 1 to 5 As shown, the cleaning robot of the embodiment of the present application includes: a housing 1, a roller brush 3 and a detection module 4. A cleaning air duct 2 for collecting garbage is provided in the housing 1. The cleaning air duct 2 includes a dust collecting pipe 22 and a roller brush cavity 21. The dust collecting pipe 22 is connected to the roller brush cavity 21.

[0043] The roller brush 3 is arranged in the roller brush cavity 21. The detection module 4 includes a sensor 41. The sensor 41 is arranged in the clean air duct 2. The sensor 41 is used to detect the garbage suction state in the clean air duct 2. The sensor 41 has a sensing surface 411. The sensing area of ​​the sensing surface 411 is S, and S ≥ 0.5 cm 2 .

[0044] It should be noted that the degree of dirtiness of the area to be cleaned (e.g. the floor) can be represented by the "trash suction state" of the area to be cleaned. The "trash suction state" can be used to represent the "amount of trash", can be used to represent the "volume of trash", or can be used to represent the "mass of trash", which is not limited in the present application.

[0045] For example, the trash can be liquid trash (oil, mud) and solid trash (paper, hair, sand).

[0046] According to the cleaning robot of the embodiments of the present application, the sensor 41 can detect the trash suction state in the cleaning air duct 2, so that the cleaning robot can adjust the rotation speed of the roller brush 3 and / or the cleaning time according to the detected trash suction state, such as a large amount of suctioned trash, or a large volume of suctioned trash, or a large mass of suctioned trash, thereby improving the cleaning effect of the cleaning robot, reducing the energy consumption of the cleaning robot, and improving the endurance of the cleaning robot. In addition, since the sensing area of the sensing surface 411 adopts the above numerical range, the detection accuracy of the sensor 41 can be ensured, and the detection effect is better.

[0047] For example, the dust collection port 214 of the roller brush cavity 21 is located on the upper side of the roller brush cavity 21, and the dust collection pipe 22 is installed on the upper side of the roller brush cavity 21 and communicates with the dust collection port 214. In other examples, the dust collection port 214 can also be provided on the front side or the rear side of the roller brush cavity 21, which is not limited in the present application.

[0048] It can be understood that the rotation speed of the roller brush 3 and / or the cleaning time can be adjusted adaptively according to the trash suction state. When the amount, volume or mass of the suctioned trash increases, the rotation speed of the roller brush 3 also increases. Alternatively, when the amount, volume or mass of the suctioned trash increases, the cleaning time of the roller brush 3 (which can also be understood as the residence time of the roller brush 3 in the cleaning area) also increases. Similarly, when the amount, volume or mass of the suctioned trash decreases, the rotation speed of the roller brush 3 also decreases. Alternatively, when the amount, volume or mass of the suctioned trash decreases, the cleaning time of the roller brush 3 (which can also be understood as the residence time of the roller brush 3 in the cleaning area) also decreases.

[0049] For example, the sensing area S of the sensing surface 411 can be 0.5cm 2 , 1cm 2 , 1.5cm 2 , 2cm 2 , 2.5cm 2 , 3cm 2 , 3.5cm 2 , 4cm 2 .

[0050] The inventor of the present application found through experimental research that when the sensing area S of the sensing surface 411 is less than 0.5 cm 2 , the inductor 41 has the problems of low sensitivity, large detection error and low detection accuracy, which leads to the inductor 41 being unable to accurately identify and judge the garbage suction state. When the sensing area S of the sensing surface 411 is greater than or equal to 0.5 cm 2 , the detection accuracy and sensitivity of the inductor 41 can be greatly improved, and the cleaning effect of the cleaning robot is ensured.

[0051] In the examples of the present application, as shown in Figure 4 , the lower end of the roller brush cavity 21 has a lower opening 212, the roller brush 3 is arranged in the roller brush cavity 21 and protrudes out of the lower opening 212, and the garbage on the ground can be sucked into the roller brush cavity 21 through the lower opening 212 under the action of negative pressure and the rotation of the roller brush 3, and then enter the dust collection pipe 22 through the dust collection port 214.

[0052] In some embodiments, as shown in Figure 5 , the inductor 41 is a piezoelectric inductor 41, the sensing surface 411 is in contact with the outer wall surface of the roller brush cavity 21, and the detection pressure range of the piezoelectric inductor 41 is P, 0≤P≤250KPa. Since the sensing surface 411 is in contact with the outer wall surface of the roller brush cavity 21, the piezoelectric inductor 41 detects the vibration of the shell wall of the roller brush cavity 21 and converts the vibration change into a detection signal of the garbage suction state. When the suctioned garbage is large or heavy, it will cause a larger vibration; or when there is a large amount of garbage, it will cause more frequent vibration, and the cleaning robot will adjust the rotation speed and / or cleaning time of the roller brush 3 according to the detection signal.

[0053] The inventor of the present application found through experimental research that when the detection pressure range P of the piezoelectric inductor 41 is within the above range, it can meet the detection of most garbage types and the cleaning scene of most cleaning robots, and the detection effect is good. It can be understood that when the maximum detection pressure of the piezoelectric inductor 41 exceeds 250KPa, the production cost of the piezoelectric inductor 41 will be additionally increased, and the detection accuracy of the inductor 41 will be reduced. Therefore, the detection pressure range P is preferably 0-250KPa.

[0054] When the garbage is sucked into the rolling brush cavity 21, the vibration generated by the rolling brush cavity 21 when sucking the garbage can be transmitted to the piezoelectric sensor 41. The piezoelectric sensor 41 converts the mechanical vibration generated by the garbage into an electrical signal, i.e. a voltage change. Then, the controller analyzes the voltage change, and then analyzes the amplitude and frequency change of the voltage signal, so as to accurately identify the size and quantity of the garbage. After data analysis, the controller actively changes the cleaning mode of the cleaning robot, so as to more scientifically, economically and effectively complete the ground cleaning, shorten the single cleaning time, improve the endurance of the robot, prolong the service life of the whole machine, and improve the intelligent degree of the cleaning robot.

[0055] In the examples of the present application, as shown in Figure 3 and Figure 4 , the sensor 41 is located on the upper side of the rolling brush 3 and is arranged adjacent to the dust collecting port 214. It can be understood that when the rolling brush 3 sweeps the garbage, the garbage can move upward along the tangential direction of the rolling brush 3. Therefore, arranging the sensor 41 on the upper side of the rolling brush 3 can further improve the detection accuracy of the sensor 41.

[0056] Optionally, as shown in Figures 3 to 5 , the outer wall surface of the rolling brush cavity 21 has a first mounting seat 215, the first mounting seat 215 is provided with a first accommodating cavity 2151, the sensor 41 is a piezoelectric sensor 41, the piezoelectric sensor 41 is arranged in the first accommodating cavity 2151, the sensing surface 411 is in contact with the outer wall surface of the rolling brush cavity 21, and the detection module 4 further comprises a wire (not shown). The first mounting seat 215 is provided with a first wire hole 2152, the wire is arranged in the first wire hole 2152 and is electrically connected with the piezoelectric sensor 41, and the wire and the first wire hole 2152 have a sealing structure (not shown).

[0057] It can be understood that the wire and the first wire hole 2152 are connected through the sealing structure, so as to reduce the probability of dust entering the connection position, thereby improving the detection accuracy of the piezoelectric sensor 41 and prolonging the service life of the piezoelectric sensor 41.

[0058] For example, the sealing structure 5 can be a sealing glue, a sealing soft plug or a sealing gasket.

[0059] Specifically, as shown in Figure 5 and Figure 6 , the detection module 4 further comprises a cover plate 43, a movable support 44 and an elastic member 45. One end of the first accommodating cavity 2151 away from the piezoelectric sensor 41 has an opening, the cover plate 43 covers the opening and is connected with the rolling brush cavity 21, the movable support 44 and the elastic member 45 are both installed in the first accommodating cavity 2151, and the elastic member 45 presses the movable support 44 in the direction towards the piezoelectric sensor 41.

[0060] It can be understood that when a small amount of movement occurs when the piezoelectric sensor 41 is working, the elastic member 45 can push the movable support 44 to move, so that the movable support 44 presses the piezoelectric sensor 41 towards the direction of the roller brush cavity 21, thereby keeping the piezoelectric sensor 41 in abutment with the outer wall surface of the roller brush cavity 21, and improving the detection accuracy of the piezoelectric sensor 41.

[0061] For example, the movable support 44 is adhesively fixed with the piezoelectric sensor 41.

[0062] Optionally, as shown in Figure 3 , the outer wall surface of the roller brush cavity 21 is provided with a first connecting column 216, and the two sides of the cover plate 43 are installed on the first connecting column 216 through threaded members, so that the cover plate 43 can be fixed and disassembled conveniently.

[0063] Optionally, as shown in Figure 6 , the detection module 4 further comprises a buffer pad 46, which is installed between the cover plate 43 and the first mounting seat 215. On the one hand, it can prevent dust from entering the first containing cavity 2151, and on the other hand, it can reduce the influence of the vibration of the dust collecting pipe 22 on the cover plate 43 and the movable support 44.

[0064] In other embodiments, as shown in Figures 7 to 9 , the sensor 41 is a piezoelectric sensor 41, and the sensing surface 411 is in contact with the outer wall surface of the dust collecting pipe 22. It can be understood that the piezoelectric sensor 41 can be indirectly contacted with the garbage sucked in the dust collecting pipe 22, that is, the vibration generated when the dust collecting pipe 22 sucks the garbage can be transmitted to the piezoelectric sensor 41, so that the garbage suction state of the cleaning air duct 2 can be indirectly detected.

[0065] Optionally, as shown in Figure 6 , Figure 8 and Figure 9 , the outer wall surface of the dust collecting pipe 22 has a second mounting seat 222, the second mounting seat 222 is provided with a second containing cavity 2221, the piezoelectric sensor 41 is arranged in the second containing cavity 2221, the detection module 4 further comprises a wire (not shown), the second mounting seat 222 is provided with a second wire hole 2222, the wire is arranged in the second wire hole 2222 and is electrically connected with the piezoelectric sensor 41, and the wire 47 and the second wire hole 2222 have a sealing structure (not shown).

[0066] It can be understood that the wire 47 and the second wire hole 2222 are connected through the sealing structure, so as to reduce the probability of dust entering the connection position, thereby improving the detection accuracy of the piezoelectric sensor 41 and prolonging the service life of the piezoelectric sensor 41.

[0067] For example, the sealing structure can be a sealing glue, a sealing soft plug or a sealing pad.

[0068] Specifically, as shown in Figure 6 and Figure 9 The detection module 4 further comprises a cover plate 43, a movable support 44 and an elastic member 45. The second accommodating cavity 2221 has an opening at one end away from the piezoelectric sensor 41. The cover plate 43 covers the opening and is connected to the dust collecting pipe 22. The movable support 44 and the elastic member 45 are both installed in the second accommodating cavity 2221. The elastic member 45 presses the movable support 44 in the direction of the piezoelectric sensor 41. It can be understood that when the piezoelectric sensor 41 moves slightly when working, the elastic member 45 can push the movable support 44 to move, so that the movable support 44 presses the piezoelectric sensor 41 in the direction of the dust collecting pipe 22, thereby keeping the piezoelectric sensor 41 in abutment with the outer wall surface of the dust collecting pipe 22, and improving the detection accuracy of the piezoelectric sensor 41.

[0069] For example, the movable support 44 is adhesively fixed to the piezoelectric sensor 41.

[0070] As shown in Figure 6 and Figure 8 The detection module 4 further comprises a buffer pad 46 installed between the cover plate 43 and the second mounting seat 222. On the one hand, the buffer pad 46 can prevent dust from entering the second accommodating cavity 2221. On the other hand, the buffer pad 46 can reduce the impact of the vibration of the dust collecting pipe 22 on the cover plate 43 and the movable support 44.

[0071] As shown in Figure 9 The dust collecting pipe 22 is provided with a second connecting column 223. The two sides of the cover plate 43 are installed on the second connecting column 223 by means of threaded members. In this way, the cover plate 43 can be fixed and is convenient to disassemble and assemble.

[0072] In other embodiments, as shown in Figures 10 to 13 The sensor 41 has a sensing surface 411 constituting at least part of the inner wall surface of the cleaning air duct 2. It can be understood that the sensing surface 411 can directly contact the garbage in the cleaning air duct 2 to detect the garbage suction state of the cleaning air duct 2, so that the detection accuracy of the detection module 4 is higher. Since the sensing surface 411 constitutes at least part of the inner wall surface of the cleaning air duct 2, the sensor 41 does not interfere with the air flow when the cleaning air duct 2 is suctioning dust, that is, the sensor 41 does not affect the normal dust suction of the cleaning air duct 2.

[0073] In an example, the sensor 41 is a thin film sensor 41, and the sensing surface 411 of the thin film sensor 41 constitutes part of the inner wall surface of the cleaning air duct 2. When the garbage is sucked into the cleaning air duct 2, the garbage will directly hit the sensing surface 411 of the thin film sensor 41, and the thin film sensor 41 converts the mechanical vibration generated by the garbage hitting the sensing surface 411 into an electrical signal, i.e. a voltage change, and then the controller analyzes and processes the amplitude and frequency change of the voltage signal to accurately identify the size and quantity of the garbage. After data analysis, the controller actively changes the cleaning mode of the cleaning robot, so that the ground cleaning can be more scientific, economical and effective, the single cleaning time is shortened, the endurance of the robot is improved, the service life of the robot is prolonged, and the intelligence of the cleaning robot is improved.

[0074] In another example, the sensor 41 is a pressure-sensitive sensor 41, and the sensing surface 411 of the pressure-sensitive sensor 41 constitutes part of the inner wall surface of the cleaning air duct 2. When the garbage is sucked into the cleaning air duct 2, the garbage will directly hit the pressure-sensitive conductive rubber of the pressure-sensitive sensor 41, and the pressure-sensitive conductive rubber converts the mechanical vibration generated by the garbage hitting the sensing surface 411 into a resistance signal, i.e. a resistance change, and then the controller analyzes and processes the change of the resistance value to accurately identify the size and quantity of the garbage. After data analysis, the controller actively changes the cleaning mode of the cleaning robot, so that the ground cleaning can be more scientific, economical and effective, the single cleaning time is shortened, the endurance of the robot is improved, the service life of the robot is prolonged, and the intelligence of the cleaning robot is improved.

[0075] Optionally, as shown in Figure 12 and Figure 13 , the sensing surface 411 constitutes at least part of the inner wall surface of the rolling brush cavity 21. In other words, the sensor 41 is installed on the wall surface of the rolling brush cavity 21, compared with placing the sensor 41 at other positions of the cleaning air duct 2, the space around the rolling brush cavity 21 can be fully utilized, the arrangement of the components in the machine shell 1 can be facilitated, and the structure is compact and the layout is reasonable.

[0076] Optionally, as shown in Figure 12 and Figure 13 , the sensing surface 411 is an arc surface protruding away from the rolling brush 3, and the arc surface extends along the axial direction of the rolling brush 3. It can be understood that the inner wall surface of the rolling brush cavity 21 is generally an arc surface, the sensing surface 411 constitutes part of the inner wall surface of the rolling brush cavity 21, and the curvature of the two is generally consistent to improve the flow guiding effect of the garbage.

[0077] In addition, since the arc surface extends along the axial direction of the rolling brush 3, the sensor 41 can detect the garbage swept by the rolling brush 3 at each position in the axial direction, which is beneficial to improve the detection accuracy of the sensor 41 and improve the cleaning effect of the cleaning robot.

[0078] Optionally, as shown in Figure 13 and Figure 14 , the roll brush cavity 21 is provided with an opening 213, the inductor 41 is arranged on the outer wall surface of the roll brush cavity 21 and covers the opening 213, and the outer peripheral edge of the inductor 41 and the outer peripheral edge of the opening 213 are provided with a sealing structure 5. In this way, the connection position of the inductor 41 and the opening 213 can be sealed to prevent garbage or dust from entering the shell 1 through the gap between the inductor 41 and the opening 213. On the other hand, since the corners of the inductor 41 are sealingly connected with the edges of the opening 213, the problem of the corners of the inductor 41 being raised can be prevented, which is beneficial to prolong the service life of the inductor 41 and can ensure the detection accuracy of the inductor 41 after long-term use.

[0079] For example, the sealing structure 5 can be a sealing glue, double-sided tape, sealing foam, sealing gasket, etc., which is not limited in the present application.

[0080] Optionally, as shown in Figure 13 , the cleaning robot further comprises a support frame 42, the inductor 41 is covered on the support frame 42, the support frame 42 is detachably mounted on the opening 213, and the outer peripheral edge of the inductor 41 is clamped between the roll brush cavity 21 and the support frame 42. Since the support frame 42 is detachably connected with the roll brush cavity 21 and the inductor 41 is covered on the support frame 42, when the cleaning robot is assembled, the inductor 41 can be covered on the support frame 42 first, and then assembled together on the roll brush cavity 21, so that the installation process of the inductor 41 is simple and convenient for later disassembly and replacement. On the other hand, since the outer peripheral edge of the inductor 41 is clamped between the roll brush cavity 21 and the support frame 42, the outer edge of the inductor 41 can be further constrained and limited by the support frame 42 to prevent the corners of the inductor 41 from being raised or the connection position of the corners of the inductor 41 and the opening 213 from entering dust.

[0081] Optionally, as shown in Figure 11 , the detection module 4 further comprises a wire 47, the inductor 41 has a lead portion 412, the lead portion 412 and the wire 47 are located on the side of the support frame 42 away from the roll brush cavity 21, and one end of the wire 47 is electrically connected with the lead portion 412. Since the lead portion 412 and the wire 47 are located on the side of the support frame 42 away from the roll brush cavity 21 (i.e. the outer side of the support frame 42), direct contact of the lead portion 412 and the wire 47 with garbage can be avoided, so as to improve the electrical safety of the detection module 4 and prolong the service life.

[0082] In the specific examples of the present application, the cleaning robot comprises a controller (not shown) which is electrically connected with the sensor 41, and the controller can adjust the rotating speed of the roller brush 3 and / or the cleaning time according to the detection signal of the sensor 41, and the amount, volume or mass of the garbage suction is positively correlated with the rotating speed of the roller brush 3 and / or the cleaning time.

[0083] It should be noted that the amount, volume or mass of the garbage suction is positively correlated with the rotating speed of the roller brush 3 and / or the cleaning time, that is, the amount, volume or mass of the garbage suction and the rotating speed of the roller brush 3 (or the cleaning time of the roller brush 3) change in the same direction.

[0084] In other words, when the amount, volume or mass of the garbage suction increases, the rotating speed of the roller brush 3 also increases. Alternatively, when the amount, volume or mass of the garbage suction increases, the cleaning time of the roller brush 3 (which can also be understood as the residence time of the roller brush 3 in the cleaning area) also increases. Similarly, when the amount, volume or mass of the garbage suction decreases, the rotating speed of the roller brush 3 also decreases. Alternatively, when the amount, volume or mass of the garbage suction decreases, the cleaning time of the roller brush 3 (which can also be understood as the residence time of the roller brush 3 in the cleaning area) also decreases.

[0085] Specifically, the cleaning robot further comprises a driving motor 6 which is connected with the roller brush 3 to drive the roller brush 3 to rotate. The controller is electrically connected with the driving motor 6, so that the rotating speed of the roller brush 3 can be controlled by the controller.

[0086] When the detection module 4 of the cleaning robot detects that the amount, volume or mass of the garbage suction of the cleaning air duct 2 increases, the rotating speed of the roller brush 3 can be increased, or the cleaning time of the roller brush 3 can be prolonged, so that the cleaning effect of the cleaning robot on the ground can be improved. When the detection module 4 of the cleaning robot detects that the amount, volume or mass of the garbage suction of the cleaning air duct 2 decreases, the rotating speed of the roller brush 3 can be reduced, or the cleaning time of the roller brush 3 can be shortened, so that the energy consumption of the cleaning robot can be reduced under the premise of ensuring the cleaning effect, and the endurance of the cleaning robot can be improved.

[0087] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0088] In addition, the terms "first", "second", etc. are used only to describe the purpose and should not be understood as indicating or implying relative importance or implying a number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0089] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0091] Although the above embodiments have been shown and described, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and the changes, modifications, replacements and variations of the above embodiments made by those skilled in the art are within the scope of protection of the present application.

Claims

1. A cleaning robot, characterized in that, The application relates to a cleaning robot. The shell is internally provided with a cleaning air duct for collecting garbage, the cleaning air duct comprises a dust collecting pipe and a rolling brush cavity, the dust collecting pipe is communicated with the rolling brush cavity; The inductor is a piezoelectric inductor, the sensing surface is in contact with the outer wall surface of the rolling brush cavity, and the detection pressure range of the piezoelectric inductor is P, 0<=P<=250KPa. The detection module comprises a sensor arranged in the cleaning air duct, the sensor being used to detect the garbage suction state in the cleaning air duct, the sensor having a sensing surface, the sensing area of the sensing surface being S, S≥0.5 cm 2 .

2. The cleaning robot according to claim 1, wherein, The outer wall surface of the rolling brush cavity is provided with a first mounting base, the first mounting base is internally provided with a first accommodating cavity, the inductor is a piezoelectric inductor, the piezoelectric inductor is arranged in the first accommodating cavity, the sensing surface is in contact with the outer wall surface of the rolling brush cavity, the detection module further comprises a wire, the first mounting base is provided with a first wire hole, the wire is arranged in the first wire hole and is electrically connected with the piezoelectric inductor, and a sealing structure is arranged between the wire and the first wire hole.

3. The cleaning robot according to claim 1, wherein, The detection module further comprises a cover plate, a movable support and an elastic element, one end of the first accommodating cavity away from the piezoelectric inductor is provided with an opening, the cover plate covers the opening and is connected with the rolling brush cavity, the movable support and the elastic element are both arranged in the first accommodating cavity, and the elastic element presses the movable support in the direction of the piezoelectric inductor.

4. The cleaning robot according to claim 3, wherein, The inductor is a piezoelectric inductor, the sensing surface is in contact with the outer wall surface of the dust collecting pipe.

5. The cleaning robot according to claim 1, wherein, The outer wall surface of the dust collecting pipe is provided with a second mounting base, the second mounting base is internally provided with a second accommodating cavity, the inductor is a piezoelectric inductor, the piezoelectric inductor is arranged in the second accommodating cavity, the detection module further comprises a wire, the second mounting base is provided with a second wire hole, the wire is arranged in the second wire hole and is electrically connected with the piezoelectric inductor, and a sealing structure is arranged between the wire and the second wire hole.

6. The cleaning robot according to claim 5, wherein, The detection module further comprises a cover plate, a movable support and an elastic element, one end of the second accommodating cavity away from the piezoelectric inductor is provided with an opening, the cover plate covers the opening and is connected with the dust collecting pipe, the movable support and the elastic element are both arranged in the second accommodating cavity, and the elastic element presses the movable support in the direction of the piezoelectric inductor.

7. The cleaning robot according to claim 6, wherein, The inductor has a sensing surface, and the sensing surface constitutes at least part of the inner wall surface of the cleaning air duct.

8. The cleaning robot of claim 1, wherein, The inductor is one of a thin film inductor and a pressure sensitive inductor. 9.The cleaning robot according to claim 8, wherein, The sensing surface constitutes at least part of the inner wall surface of the rolling brush cavity.

10. The cleaning robot according to claim 8, wherein, The rolling brush cavity is provided with an opening, the inductor is arranged on the outer wall surface of the rolling brush cavity and covers the opening, and a sealing structure is arranged between the outer peripheral edge of the inductor and the outer peripheral edge of the opening. 11.The cleaning robot according to claim 10, wherein, The cleaning robot further comprises a support frame, the inductor is arranged on the support frame, the support frame is detachably arranged on the opening, and the outer peripheral edge of the inductor is clamped between the rolling brush cavity and the support frame.

12. The cleaning robot according to claim 11, wherein, The detection module further comprises a wire, the inductor has a lead part, the lead part and the wire are both arranged on the side of the support frame away from the rolling brush cavity, and one end of the wire is electrically connected with the lead part.

13. The cleaning robot according to claim 12, wherein, ​

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