Robot energy recovery system and cleaning robot

Abstract

According to the robot energy recovery system and the cleaning robot, an electric energy conversion device is arranged between a motor and a battery, in the normal operation state, electric energy output by the battery is supplied to the motor through a motor driving device, the motor is driven to rotate, then a moving part of the robot is driven to rotate, and operation control over the robot is achieved. And when the robot is braked and the like, the battery stops transmitting electric energy to the motor driving device, induced electromotive force is generated on the motor, and the induced electromotive force is recovered through the conversion circuit and transmitted to the battery for storage in a voltage or current form. According to the scheme, through the electric energy conversion device, the induced electromotive force generated by the robot at the position of the motor due to sudden braking and the like is converted into the electric energy to be recycled to the battery, and the cruising ability of the battery can be improved under the conditions that the size of a battery pack is not increased and a battery with higher energy density is not used, namely, the cost is limited and the space is limited.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot energy recovery system and a cleaning robot. BACKGROUND

[0002] With the development of science and technology, various robots are used more and more widely in daily production and life, bringing great convenience to people. Robots generally use batteries for power supply. There are two ways to prolong the endurance of robots, one is to increase the battery pack, and the other is to use higher energy density batteries. However, increasing the battery pack will increase the size of the robot, and the volume of the battery pack cannot be increased indefinitely, and higher energy density batteries will increase the cost.

[0003] Therefore, there is an urgent need for a solution to improve the endurance of robots within limited cost and space. CONTENT OF THE INVENTION

[0004] Therefore, it is necessary to provide a robot energy recovery system and a cleaning robot to improve the endurance of the robot within limited cost and space.

[0005] In a first aspect, the present application provides a robot energy recovery system, comprising a battery, a motor driving device, a motor and an electric energy conversion device, the motor driving device is connected to the battery, the motor is connected to the motor driving device, and the motor is used to connect the moving part of the robot; the electric energy conversion device is connected to the motor and the battery respectively, and is used to convert the induced electromotive force generated by the motor into electric energy and transmit it to the battery for storage when the battery stops transmitting electric energy to the motor driving device.

[0006] In a second aspect, the present application also provides a cleaning robot, comprising a moving part and the above-mentioned robot energy recovery system, and the moving part comprises at least one of a driving wheel, an edge brush, a roller brush and a mop.

[0007] The above-mentioned robot energy recovery system and robot are provided with an electric energy conversion device between the motor and the battery. In the normal operating state, the electric energy output by the battery is supplied to the motor through the motor driving device to drive the motor to rotate, and then drive the moving part of the robot to rotate to realize the operation control of the robot. When the battery stops transmitting electric energy to the motor driving device due to the brake and other reasons, an induced electromotive force is generated on the motor. At this time, the induced electromotive force is recovered through the conversion circuit and transmitted to the battery in the form of voltage or current for storage. The above-mentioned scheme converts the induced electromotive force generated at the motor due to sudden braking and other reasons of the robot into electric energy and recovers it to the battery through the electric energy conversion device, which can improve the endurance of the battery without increasing the volume of the battery pack and using higher energy density batteries, i.e. within limited cost and space. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0009] Figure 1 Structure diagram of a robot kinetic energy recovery system in an embodiment of the present application;

[0010] Figure 2 Structure diagram of a robot kinetic energy recovery system in another embodiment of the present application;

[0011] Figure 3 Structure diagram of a robot kinetic energy recovery system in still another embodiment of the present application;

[0012] Figure 4 Structure diagram of a robot kinetic energy recovery system in still another embodiment of the present application.

[0013] Explanation of reference signs:

[0014] 10 - battery, 20 - motor driving device, 30 - motor, 40 - electric energy conversion device, 50 - transmission device, 21 - controller, 22 - driver, 23 - electronic switching device. DETAILED DESCRIPTION

[0015] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0016] The robot energy recovery system provided by the present application is applied in a robot, specifically, in a robot driven by a motor. The specific type of the robot is not unique, which can be a cleaning robot such as a sweeper, or other types of robots such as a patrol security robot, etc., which is not specifically limited.

[0017] Further, in an embodiment, the robot has a moving part driven by a motor, such as a driving wheel, that is, the robot referred to by the present application is a wheeled robot, which can be an industrial wheeled robot, a service wheeled robot, etc., which is also not specifically limited. In order to facilitate the understanding of the technical solutions of the present application, the following embodiments can be understood as a sweeper robot.

[0018] Please refer to Figure 1 The application provides a robot energy recovery system, which comprises a battery 10, a motor driving device 20, a motor 30 and an electric energy conversion device 40. The motor driving device 20 is connected to the battery 10, the motor 30 is connected to the motor driving device 20, and the motor 30 is used to connect the moving parts of the robot. The electric energy conversion device 40 is connected to the motor 30 and the battery 10 respectively, and the electric energy conversion device 40 is used to convert the induced electromotive force generated by the motor 30 into electric energy and transmit it to the battery 10 for storage when the battery 10 stops transmitting electric energy to the motor driving device 20.

[0019] Specifically, the battery 10 is an energy storage element in the robot, which is used to provide electric energy for various working components and control components. Specifically, the battery 10 can be a lithium battery, a nickel-hydrogen battery, a lead-acid battery, etc., and the specific type is not limited. Further, the battery 10 referred to in the application can be a battery 10 composed of a single cell, or a battery pack formed by connecting multiple cells or battery groups in series and / or parallel, and the specific type is not limited.

[0020] The motor driving device 20 is a device that transmits the electric energy of the battery 10 to the motor 30, thereby driving the motor 30 to rotate. The motor 30 is a device that rotates under the drive of the motor driving device 20, thereby driving the robot to work. The specific type is not unique and can be a direct current motor or an alternating current motor. For ease of understanding, the motor 30 is understood as a direct current motor in the following embodiments. The electric energy conversion device 40 is a device that converts the induced electromotive force into electric energy suitable for storage in the battery 10.

[0021] The moving part is a device that moves by the drive of the motor in the robot, and the type is not unique. According to the type of the robot, the moving part will also be different. For example, in an embodiment, the moving part includes at least one of a driving wheel, an edge brush, a rolling brush and a mop.

[0022] Taking the driving wheel as an example, in actual scenarios, in order to avoid obstacles or move along a specific working path, the robot will inevitably brake or decelerate during work, which will cause a large amount of kinetic energy loss.

[0023] Therefore, in one embodiment, the moving part comprises a driving wheel, and the electric energy conversion device 40 is configured to convert the induced electromotive force generated by the motor 30 into electric energy and transmit the electric energy to the battery 10 for storage when the robot brakes. The scheme of the embodiment of the application considers that the power supply to the motor 30 is cut off when the robot brakes, and the motor 30 can be equivalent to an inductor on the circuit. According to the self-induction effect of the inductor and the Faraday's law of electromagnetic induction, it is known that the current on the inductor cannot be suddenly changed, and the current on the motor 30 will continue to flow, that is, the so-called induced electromotive force is generated. Therefore, the application recovers the induced electromotive force to prolong the endurance time of the battery 10.

[0024] In another embodiment, the robot will suddenly stop running due to the limitation of the working environment during movement, for example, being stuck, and other moving parts such as side brushes, roller brushes, and mop cloth. At this time, the power supply to the motor 30 is also cut off, and therefore the induced electromotive force can be recovered according to the similar principle described above.

[0025] In one embodiment, the motor 30 is configured with an electrode arranged in the rotor coil of the motor 30 and connected with the electric energy conversion device 40 and the motor driving device 20. In this way, in the normal running state, the motor driving device 20 can transmit electric energy to the rotor coil of the motor 30 through the electrode to drive the rotor coil to rotate, and when the battery 10 stops transmitting electric energy to the motor driving device 20, the induced electromotive force generated by the rotor coil of the motor 30 can be transmitted to the electric energy conversion device 40 through the electrode to realize the recovery of the induced electromotive force.

[0026] In another embodiment, the motor 30 is configured with at least two groups of electrodes, and the electric energy output by the motor driving device 20 can be transmitted to the rotor coil of the motor 30 through one group of electrodes, and the induced electromotive force of the motor 30 can be transmitted to the electric energy conversion device 40 through the other group of electrodes when the battery 10 stops transmitting electric energy to the motor driving device 20. In this way, the supply of electric energy and the recovery position of the induced electromotive force are separated, so that the supply of electric energy and the recovery of the induced electromotive force can be performed at appropriate positions, improving the operation reliability.

[0027] It can be understood that in the embodiment of the application, the battery 10 stops transmitting electric energy to the motor driving device 20, which can be that the battery 10 cuts off the power supply to the motor driving device 20 when the robot suddenly brakes, decelerates, or the like during movement. More specifically, in one embodiment, the battery 10 stopping transmitting electric energy to the motor driving device 20 means that the robot brakes.

[0028] The robot energy recovery system has the electric energy conversion device 40 arranged between the motor 30 and the battery 10. In a normal operation state, the electric energy output by the battery 10 is supplied to the motor 30 through the motor driving device 20, the motor 30 is driven to rotate, and then the moving part of the robot is driven to rotate, so that the operation control of the robot is realized. When the robot is braked due to a brake or the like, the battery 10 stops transmitting electric energy to the motor driving device 20, and an induced electromotive force is generated on the motor 30. At this time, the induced electromotive force is recovered through the conversion circuit and transmitted to the battery 10 in the form of voltage or current for storage. According to the above scheme, the induced electromotive force generated on the motor 30 due to sudden braking of the robot or the like is converted into electric energy by the electric energy conversion device 40 and recovered to the battery 10. The endurance of the battery 10 can be improved without increasing the volume of the battery 10 package and without using a higher energy density battery 10, that is, within limited cost and space.

[0029] Please refer to Figure 2 In one embodiment, the robot energy recovery system further comprises a transmission device 50, the motor 30 is connected to the moving part through the transmission device 50; the transmission device 50 is used to transmit the kinetic energy of the moving part to the motor 30 when the moving part is not driven to move, so that the motor 30 generates electricity; and the electric energy conversion device 40 is further used to convert and transmit the electric energy generated by the motor 30 to the battery 10 for storage.

[0030] Specifically, the transmission device 50, that is, the device for realizing kinetic energy transmission, can be divided into gear transmission device 50, chain transmission device 50, belt transmission device 50, etc. according to different transmission principles, and the specific type is not limited, as long as the kinetic energy of the moving part can be transmitted to the motor 30 to make the rotor coil of the motor 30 cut the magnetic force line movement of the internal permanent magnet. According to the above scheme, the mechanical energy generated when the moving part of the robot rotates can be recovered through the setting of the transmission device 50, that is, the kinetic energy of the robot is recovered, and the endurance of the battery 10 is further improved.

[0031] It should be pointed out that in one embodiment, considering that the rotor of the motor 30 rotates at high speed under the driving of the motor driving device 20, the driving of the robot does not require such high rotation speed, and the transmission device 50 needs to have a speed reduction function to reduce the high speed rotation of the rotor to low speed rotation, so as to increase the torque to make the moving part rotate. When the motor 30 is used as a generator 30, the rotor coil of the motor 30 needs to cut the magnetic force line movement at high speed, and the rotation speed of the moving part of the robot is relatively small. At this time, the transmission device 50 needs to have an acceleration kinetic energy to increase the low speed rotation of the moving part to high speed rotation, so as to realize high efficiency power generation.

[0032] It can be understood that in the embodiment, the moving part is not driven to move, which can be that the motor driving device 20 stops driving the motor 30, the robot is in a deceleration state, the moving part moves due to inertia, or the robot moves due to other external forces, for example, a user pushes, and the like, which are not limited in particular. In order to facilitate understanding of the technical scheme of the present application, the following embodiments can be understood as that the moving part is a driving wheel, the moving part is not driven to rotate, which is caused by deceleration of the robot.

[0033] In one embodiment, when the robot decelerates, the battery 10 stops transmitting electric energy to the motor driving device 20, and the motor 30 also stops running, but at this time, considering the arrangement of the transmission device 50, the motor 30 mainly generates electricity according to the rotation of the driving wheel in the deceleration state to realize kinetic energy recovery. In the robot brake state, the driving wheel no longer rotates, so at this time, induction electromotive force recovery is mainly performed.

[0034] In one embodiment, the transmission device 50 includes a first transmission structure, the first transmission structure is connected to the motor 30 and the moving part respectively, and the first transmission structure is used to transmit the movement of the motor 30 to the moving part to drive the robot to move, and is used to transmit the kinetic energy of the moving part to the motor 30 when the moving part is not driven to move, so that the motor 30 generates electricity.

[0035] Specifically, the scheme of the embodiment simultaneously realizes the following two functions by using the first transmission structure: first, in a normal running state, the driving deceleration of the motor 30 is transmitted to the moving part to make the moving part rotate; second, in a deceleration state, the rotation of the moving part is transmitted to the motor 30 to increase the speed. By this scheme, the speed increasing and speed decreasing transmission functions are realized by one transmission structure, which can not only reduce the equipment size, but also reduce the equipment cost.

[0036] It should be pointed out that the specific type of the first transmission structure is not unique, for example, in a more detailed embodiment, taking a gear transmission device 50 as an example, the first transmission device 50 can include a large gear connected to the rotor (the rotating shaft of the rotor) of the motor 30, and a small gear meshing with the large gear and connected to the moving part, wherein the radius of the large gear is greater than the radius of the small gear.

[0037] In one embodiment, the transmission device 50 includes a second transmission structure and a third transmission structure, the second transmission structure is connected to the motor 30 and the moving part respectively, and the third transmission structure is connected to the motor 30 and the moving part respectively, the second transmission structure is used to transmit the movement of the motor 30 to the moving part to drive the robot to move, and the third transmission structure is used to transmit the kinetic energy of the moving part to the motor 30 when the moving part is not driven to move, so that the motor 30 generates electricity.

[0038] Specifically, unlike the above embodiment in which the transmission device 50 is configured as one transmission structure, the scheme of the present embodiment configures the transmission device 50 to include two transmission structures, namely a second transmission structure and a third transmission structure. The two transmission structures can be of the same type or different types, but the transmission capabilities of the two transmission structures are different. In this way, different transmission structures are used to respectively realize the speed reduction transmission of the motor 30 to the moving part and the speed increase transmission of the moving part to the motor 30.

[0039] Through the above scheme, the transmission capabilities of the speed reduction transmission and the speed increase transmission are respectively provided by the design of the two transmission structures, effectively improving the transmission reliability.

[0040] In one of the embodiments, the motor 30 includes a first rotor coil, which is used to output kinetic energy to move the moving part when the motor driving device 20 supplies power to the motor 30, and is used to cut the magnetic line of motion to generate electricity for the motor 30 when the moving part moves without being driven.

[0041] Specifically, the rotor coil used to output kinetic energy and generate electricity in the scheme of the present embodiment is the same coil, which can be realized on the original motor 30 structure. In this way, the motor 30 structure does not need to be improved, reducing the hardware cost and time cost.

[0042] It can be understood that on the basis of the above embodiments, a set of electrodes can also be configured in the motor 30 to simultaneously realize the power transmission of the motor driving device 20 to the first rotor coil, and the power transmission of the first rotor coil to the battery 10 after the motor 30 generates electricity. Or two sets of electrodes are configured to respectively transmit power to the first rotor coil and draw power from the first rotor coil, which is not limited.

[0043] In one of the embodiments, the motor 30 includes a second rotor coil and a third rotor coil, the second rotor coil is used to output kinetic energy to move the moving part when the motor driving device 20 supplies power to the motor 30, and the third rotor coil is used to cut the magnetic line of motion to generate electricity for the motor 30 when the moving part moves without being driven.

[0044] Specifically, the scheme of the present embodiment improves the original motor 30 structure and configures two coils, namely a second rotor coil and a third rotor coil, in the rotor. In normal operation, the motor driving device 20 transmits power to the second rotor coil, thereby rotating the rotor; when kinetic energy is recovered, the transmission device 50 transmits the rotation of the moving part to the third rotor coil, which cuts the magnetic line of motion to realize the function of generating electricity.

[0045] Through the scheme, different types of rotor coils can be matched for kinetic energy output and motor 30 power generation according to actual scenes, so as to ensure kinetic energy output efficiency and power generation efficiency, and has high operation reliability.

[0046] Please refer to Figure 3 In one embodiment, the motor driving device 20 includes a controller 21 and a driver 22, and the controller 21, the battery 10 and the motor 30 are respectively connected to the driver 22.

[0047] Specifically, the structure of the motor driving device 20 is not unique, as long as it can effectively convert the electric energy of the battery 10 into electric energy suitable for the operation of the motor 30 and transmit it to the motor 30. In this embodiment, the motor driving device 20 includes a control part and a driving part, the control part is a controller 21, and the driving part is a driver 22. The driver 22 is respectively connected to the battery 10 and the motor 30, that is, it is arranged between the battery 10 and the motor 30, and the controller 21 is connected to the driver 22. In this way, in actual scenes, the electric energy of the battery 10 can be converted into electric energy suitable for the motor 30 by controlling the driver 22 to act through the controller 21. Through this scheme, the controller 21 and the driver 22 realize the operation control of the motor 30, effectively improving the operation reliability of the motor 30.

[0048] It should be pointed out that the type of controller 21 is not unique, which can be MCU (Microcontroller Unit), CPU (Central Processing Unit) or single-chip microcomputer, etc., and the specific limitation is not made.

[0049] Similarly, the type of driver 22 is not unique, and in one embodiment, it can be a driving bridge, such as a T-type bridge driving circuit, an H-type bridge driving circuit, etc., and the specific limitation is not made.

[0050] It can be understood that in one embodiment, during the normal operation, braking and deceleration of the robot, the power supply and power-off operation of the motor 30 can be realized by the controller 21 controlling the on-off of the power switch device in the driving bridge.

[0051] Please refer to Figure 4 In another embodiment, the motor driving device 20 can also include an electronic switch device 23, the battery 10 is connected to the driver 22 through the electronic switch device 23, and the electronic switch device 23 is connected to the controller 21.

[0052] Specifically, by setting the electronic switching device 23 between the motor driving device 20 and the battery 10, the robot power-on and power-off control can be realized by controlling the on-off of the electronic switching device 23, which has strong controllability and safety. It should be pointed out that the type of switching device is not unique, which can be a transistor, a field effect transistor, a relay, a photoelectric switch, etc., and the specific type is not limited.

[0053] In one embodiment, the electric energy conversion device 40 includes a boost circuit and / or a buck circuit.

[0054] Specifically, the electric energy conversion circuit mainly converts the electric energy generated by the induced electromotive force or the electric energy generated by the motor 30 into electric energy suitable for storage in the battery 10. Therefore, in actual scenarios, the boost circuit or the buck circuit can be selected for electric energy processing according to the size of the electric energy generated by the motor 30 and the size of the electric energy generated by the induced electromotive force. In more detail, in one embodiment, considering the different sizes of the electric energy generated by the induced electromotive force recovery and kinetic energy recovery, a boost circuit and a buck circuit can be configured at the same time to convert the electric energy. In this way, the generated electric energy is converted into electric energy suitable for storage in the battery 10 for recovery, ensuring the electric energy recovery efficiency and reliability.

[0055] In order to facilitate understanding of the technical solutions of the present application, the present application will be explained and described in detail below in combination with more detailed embodiments.

[0056] The robot energy recovery system includes a battery 10, a motor driving device 20, a motor 30, an electric energy conversion device 40, and a transmission device 50. The electric energy conversion device 40 includes a switching device, a controller 21, and a driver 22, and the driver 22 is specifically a driving bridge.

[0057] (1) During the robot's travel, the battery 10 supplies power to the driving bridge, and the driver 22 bridge regularly sends electric energy to the motor 30 to drive the motor 30 to rotate, converts the electric energy into mechanical energy, and makes the driving wheel of the robot rotate, thereby pushing the robot forward or backward.

[0058] (2) When the robot suddenly brakes during travel, the battery 10 stops supplying power to the driving bridge at this time. According to the basic principle that the current on the inductor cannot change abruptly, the current on the motor 30 will continue to flow, i.e. the so-called induced electromotive force. The induced electromotive force is converted into a voltage or current form convenient for storage in the battery 10 by the electric energy conversion device 40, and is stored in the battery 10.

[0059] (3) When the robot decelerates during the movement, the battery 10 stops supplying power to the drive axle, and the robot body pushes the drive wheel to continue sliding due to inertia. At this time, the drive wheel pushes the rotor coil of the motor 30 to rotate at high speed through the transmission device 50, and the motor 30 changes from a power output component to a generator 30. The electric energy generated by the motor 30 is recovered into the battery 10 through the electric energy conversion device 40.

[0060] The electric energy conversion device 40 can be a voltage boosting circuit and / or a voltage reducing circuit, which is used to process the electric energy generated by the motor 30 during braking or deceleration and return the processed electric energy to the battery 10 in a suitable manner to recover the energy. The transmission device 50 has two functions. When the motor 30 is a power output component, the transmission device 50 reduces the high-speed rotation of the motor 30 to low-speed rotation to increase the torque to drive the robot. When the motor 30 is a power generation device, the transmission device 50 increases the low-speed rotation of the drive wheel to high-speed rotation to efficiently generate power by cutting the magnetic force lines of the internal permanent magnet of the motor 30.

[0061] The motor 30 can be a DC motor 30, which includes at least two groups of specially designed electrodes. One group of electrodes can transmit the electric energy output by the drive axle to the rotor coil, and the other group of electrodes can transmit the electric energy generated by the motor 30 to the electric energy conversion device 40. In addition, the motor 30 can include two groups of coils, one group of which is used to output kinetic energy to the transmission device 50, and the other group of which is used to generate power.

[0062] It has been verified that the robot using the above-mentioned embodiment to recover the induced electromotive force and kinetic energy can complete a regular 90 square meter household cleaning task, and the robot experiences about 900 times of braking and deceleration, and about 3% of energy is recovered. Therefore, the endurance of the battery 10 can be increased to a certain extent.

[0063] In a second aspect, the application also provides a cleaning robot, which includes a moving part and the robot energy recovery system described above. The moving part includes at least one of a drive wheel, an edge brush, a roller brush, and a mop.

[0064] Specifically, the robot energy recovery system is as described above and shown in the accompanying drawings, and will not be described here again. The robot can be a sweeper or the like, and is not specifically limited.

[0065] The robot has an electric energy conversion device 40 arranged between the motor 30 and the battery 10. In a normal operation state, the electric energy output by the battery 10 is supplied to the motor 30 through the motor driving device 20 to drive the motor 30 to rotate, and further drive the moving part of the robot to rotate, thereby realizing the operation control of the robot. When the robot stops transmitting electric energy to the motor driving device 20 due to braking or other reasons, an induced electromotive force is generated on the motor 30. At this time, the induced electromotive force is recovered through the conversion circuit and transmitted to the battery 10 in the form of voltage or current for storage. In the above scheme, the induced electromotive force generated on the motor 30 due to sudden braking or other reasons of the robot is converted into electric energy by the electric energy conversion device 40 and recovered to the battery 10. The endurance of the battery 10 can be improved without increasing the volume of the battery 10 package and without using a higher energy density battery 10, that is, within limited cost and space.

[0066] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but it should be considered that any combination of the technical features is within the scope of the present disclosure as long as the combination does not result in contradictions.

[0067] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A robotic energy recovery system, characterized by, The application is applied to a cleaning robot, comprising: a battery; a motor driving device connected to the battery; a motor comprising a rotor coil and an electrode arranged on the rotor coil, the electrode being connected to the motor driving device, the motor being used for connecting a moving part of the robot; an electric energy conversion device connected to the electrode and the battery respectively, the electric energy conversion device being used for converting induced electromotive force generated by the motor into electric energy and transmitting the electric energy to the battery for storage when the battery stops transmitting electric energy to the motor driving device.

2. The robotic energy recovery system of claim 1, wherein, The moving part comprises a driving wheel, and the electric energy conversion device is used for converting induced electromotive force generated by the motor into electric energy and transmitting the electric energy to the battery for storage when the robot brakes.

3. The robotic energy recovery system of claim 1, wherein, The robot energy recovery system further comprises a transmission device, the motor being connected to the moving part through the transmission device; the transmission device is used for transmitting kinetic energy of the moving part to the motor to make the motor generate electricity when the moving part moves without being driven; and the electric energy conversion device is further used for converting and transmitting electric energy generated by the motor into the battery for storage.

4. The robotic energy recovery system of claim 3, wherein, The transmission device comprises a first transmission structure connected to the motor and the moving part respectively, the first transmission structure being used for transmitting rotation of the motor to the moving part to drive the robot to work, and transmitting kinetic energy of the moving part to the motor to make the motor generate electricity when the moving part moves without being driven.

5. The robotic energy recovery system of claim 3, wherein, The transmission device comprises a second transmission structure and a third transmission structure, the second transmission structure being connected to the motor and the moving part respectively, the third transmission structure being connected to the motor and the moving part respectively, the second transmission structure being used for transmitting rotation of the motor to the moving part to drive the robot to work, and the third transmission structure being used for transmitting kinetic energy of the moving part to the motor to make the motor generate electricity when the moving part moves without being driven.

6. The robotic energy recovery system of any one of claims 1-5, wherein, The motor comprises a first rotor coil, the first rotor coil being used for outputting kinetic energy to make the moving part move when the motor driving device supplies power to the motor, and being used for cutting magnetic line motion to make the motor generate electricity when the moving part moves without being driven.

7. The robotic energy recovery system of any one of claims 1-5, wherein, The motor comprises a second rotor coil and a third rotor coil, the second rotor coil being used for outputting kinetic energy to make the moving part move when the motor driving device supplies power to the motor, and the third rotor coil being used for cutting magnetic line motion to make the motor generate electricity when the moving part moves without being driven.

8. The robotic energy recovery system of any one of claims 1-5, wherein, The motor driving device comprises a controller and a driver, the controller, the battery and the motor being connected to the driver respectively.

9. The robotic energy recovery system of claim 8, wherein, The motor driving device further comprises an electronic switching device, the battery being connected to the driver through the electronic switching device, and the electronic switching device being connected to the controller.

10. The robotic energy recovery system of any one of claims 1-5, wherein, The electric energy conversion device comprises a voltage boosting circuit and / or a voltage reducing circuit.

11. A cleaning robot, characterized in that, The robot energy recovery system of any one of claims 1-10, wherein the moving part comprises at least one of a drive wheel, a side brush, a rolling brush, and a mop.

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