Cleaning cloth dirt detection structure and cleaning robot

Abstract

The utility model belongs to the technical field of cleaning robots, and provides a cleaning cloth smudginess detection structure and a cleaning robot, the cleaning cloth smudginess detection structure comprises a smudginess sensing module, the smudginess sensing module is installed on a body of the cleaning robot, the smudginess sensing module comprises a sensing shell, a transmitting terminal and a first receiving terminal, the sensing shell is provided with a containing cavity, and the transmitting terminal is arranged in the containing cavity; the transmitting terminal and the first receiving terminal are both arranged in the containing cavity, the side, close to the cleaning cloth, of the sensing shell is a light-transmitting side wall, and when the cleaning cloth is in a contraction state, the transmitting terminal and the first receiving terminal are aligned with the peripheral side face or the working end face of the cleaning cloth to conduct dirt detection. In the working process of the cleaning robot, the cleaning cloth can retract to the contraction state, the dirt sensing module is aligned with the peripheral side face or the working end face of the cleaning cloth to conduct dirt detection, and if the dirt degree exceeds a preset threshold value, the cleaning cloth is cleaned or replaced, so that the situation that the dirty cleaning cloth continues to work and pollutes a relatively clean area is avoided, and the cleaning efficiency is improved. Therefore, the cleaning effect can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning robots, and more particularly relates to a cleaning cloth dirt detection structure and a cleaning robot. BACKGROUND

[0002] Cleaning robots, such as sweeping robots, are increasingly common in daily life.

[0003] Patent document CN117462044A discloses a sweeping robot, which is provided with two cleaning cloth trays. A power output shaft can drive the cleaning cloth trays to make lifting movements at the bottom of the robot body and can also drive the cleaning cloth trays to rotate, so that the cleaning cloth trays clean the surface to be cleaned. When the cleaning cloth tray is lowered to the lowest position, the cleaning device can adjust the rotation direction of the power output shaft to be forward rotation, so as to drive the cleaning cloth tray to clean the ground.

[0004] However, the existing sweeping robot has the problem that the system cannot identify the dirt degree of the cleaning cloth. After the cleaning cloth completes the cleaning action in a relatively dirty area, the cleaning cloth itself is already relatively dirty. If it still works in a relatively clean area, it will pollute the relatively clean area and reduce the overall cleaning effect. CONTENT OF THE UTILITY MODEL

[0005] The application aims to provide a cleaning cloth dirt detection structure and a cleaning robot to solve the technical problem that the existing cleaning robot cannot identify the dirt degree of the cleaning cloth.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the application is to provide a cleaning cloth dirt detection structure for detecting the dirt degree of a disc-shaped cleaning cloth of a cleaning robot. The cleaning cloth is installed on the body of the cleaning robot and realizes the cleaning function by rotating. The cleaning cloth can be lifted relative to the body of the cleaning robot to have a retracted state and an extended state. The cleaning cloth has a peripheral side and a working end surface that contacts the cleaning target. The cleaning cloth dirt detection structure comprises:

[0007] A dirt sensing module is installed on the body of the cleaning robot. The dirt sensing module comprises a sensing shell, a transmitting terminal and a first receiving terminal. The sensing shell has a cavity. The transmitting terminal and the first receiving terminal are both arranged in the cavity. The side of the sensing shell close to the cleaning cloth is a light-transmitting side wall. When the cleaning cloth is in the retracted state, the transmitting terminal and the first receiving terminal are aligned with the peripheral side or the working end surface of the cleaning cloth to perform dirt detection.

[0008] Optionally, when the cleaning cloth is in the retracted state, the peripheral side of the cleaning cloth contacts the light-transmitting side wall, and the cleaning cloth cleans the light-transmitting side wall during rotation.

[0009] Optionally, the light-transmitting side wall is in the shape of a circular arc matching the peripheral side surface of the cleaning cloth.

[0010] Optionally, the dirt sensing module further comprises a second receiving terminal, the second receiving terminal is arranged in the cavity, when the cleaning cloth is in the contracted state, the transmitting terminal and the first receiving terminal are aligned with the peripheral side surface of the cleaning cloth for dirt detection, and the transmitting terminal and the second receiving terminal are aligned with the working end surface of the cleaning cloth for dirt detection.

[0011] Optionally, the cleaning robot is provided with two cleaning cloths, the dirt sensing module is provided with two groups of first sensing groups, the first sensing group comprises the transmitting terminal and the first receiving terminal, and the first sensing group is configured in one-to-one correspondence with the cleaning cloth.

[0012] Optionally, the light-transmitting side wall is in the shape of a circular arc matching the peripheral side surface of the cleaning cloth.

[0013] Optionally, the dirt sensing module is provided with two groups of second sensing groups, the second sensing group comprises the transmitting terminal and the second receiving terminal, and the second sensing group is configured in one-to-one correspondence with the cleaning cloth.

[0014] Optionally, the dirt sensing module further comprises a circuit board, the circuit board is arranged in the cavity, one side of the circuit board facing the cleaning target is a first side, and the other side is a second side, the transmitting terminal and the second receiving terminal are located on the first side of the circuit board, and the first receiving terminal is located on the second side of the circuit board, when the cleaning cloth is in the contracted state, the transmitting terminal and the second receiving terminal are located on the side of the working end surface of the cleaning cloth facing the cleaning target.

[0015] Optionally, the dirt sensing module further comprises a first light-blocking member, the first light-blocking member is arranged in the cavity and located between the transmitting terminal and the second receiving terminal.

[0016] Optionally, the dirt sensing module further comprises a second light-blocking member, the second light-blocking member is arranged in the cavity and located between the two first receiving terminals.

[0017] Optionally, the sensing shell comprises an upper shell and a lower shell, the upper shell and the lower shell surround to form the cavity.

[0018] The lower shell is provided with at least two first light-blocking members, the first light-blocking member is configured in one-to-one correspondence with the second sensing group, and / or,

[0019] The upper shell is provided with at least two second light barriers, the second light barriers are arranged in one-to-one correspondence with the first sensing groups, and the second light barriers are close to the first receiving terminals corresponding thereto.

[0020] The application also provides a cleaning robot comprising any one of the cloth dirt detection structures.

[0021] The cloth dirt detection structure provided by the application has the beneficial effect that, compared with the prior art, when the cleaning robot of the application is performing a cleaning task, the cloth is retracted to a retracted state when a timing or preset condition is triggered, the emitting terminal and the first receiving terminal of the dirt sensing module are aligned with the peripheral side surface or the working end surface of the cloth to perform dirt detection, and if the dirt degree exceeds a preset threshold, the cloth is cleaned or replaced, so as to avoid the dirty cloth from continuing to work and polluting a relatively clean area, thereby improving the cleaning effect and cleaning efficiency of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the application, 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 application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Figure 1 The structural schematic diagram of the cleaning robot provided by the embodiment of the application is shown in the figure.

[0024] Figure 2 The bottom view of the cleaning robot provided by the embodiment of the application is shown in the figure.

[0025] Figure 3 The structural schematic diagram of the cleaning robot provided by the embodiment of the application is shown in the figure.

[0026] Figure 4 The exploded view of the cleaning robot provided by the embodiment of the application is shown in the figure.

[0027] Figure 5 The installation structural schematic diagram of the cloth provided by the embodiment of the application is shown in the figure.

[0028] Figure 6 The structural schematic diagram of the cleaning robot provided by the embodiment of the application is shown in the figure.

[0029] Figure 7 The structural schematic diagram of the cleaning robot provided by the embodiment of the application is shown in the figure.

[0030] Figure 8A structural schematic diagram of the dirt sensing module provided by the embodiment of the present application is shown in the figure.

[0031] Figure 9 An exploded view of the dirt sensing module provided by the embodiment of the present application is shown in the figure.

[0032] Figure 10 Another perspective exploded view of the dirt sensing module provided by the embodiment of the present application is shown in the figure.

[0033] Figure 11 A principle schematic diagram of the detection of the peripheral side surface of the cleaning cloth by the transmitting terminal and the first receiving terminal provided by the embodiment of the present application is shown in the figure.

[0034] Figure 12 A principle schematic diagram of the detection of the working end surface of the cleaning cloth by the transmitting terminal and the second receiving terminal provided by the embodiment of the present application is shown in the figure.

[0035] Figure 13 A schematic diagram of the included angle of the light emitting directions of the two transmitting terminals provided by the embodiment of the present application is shown in the figure.

[0036] In the figure, various reference signs are as follows:

[0037] 100 - cleaning robot, 10 - dirt sensing module, 11 - sensing shell, 111 - upper shell, 112 - lower shell, 113 - light-transmitting side wall, 114 - first light-blocking member, 115 - second light-blocking member, 12 - transmitting terminal, 13 - first receiving terminal, 14 - second receiving terminal, 15 - circuit board, 20 - cleaning cloth, 21 - peripheral side surface, 22 - working end surface, 30 - tray. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects of the present application more clearly understood, the present application will be further described in detail below in combination with the figures and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate directions or positions based on the directions or positions shown in the drawings, and are used only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element 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.

[0041] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0042] Please refer to Figures 1 to 13 , now the cleaning robot 100 provided by the wiping cloth dirty detection structure and the embodiment of the present application will be described.

[0043] The wiping cloth dirty detection structure is used to detect the dirty degree of the disc-shaped wiping cloth 20 of the cleaning robot 100, the wiping cloth 20 is installed on the body of the cleaning robot 100 and realizes the cleaning function by rotating, the wiping cloth 20 can be lifted relative to the body of the cleaning robot 100 to have a retracted state (please refer to Figure 6 ) and an extended state (please refer to Figure 7 ), the wiping cloth 20 has a circumferential side 21 and a working end surface 22 that contacts the cleaning target.

[0044] The cleaning robot 100 can be a sweeping robot, and the cleaning target can be a floor. In the working process, the wiping cloth 20 is extended and in the extended state, the working end surface 22 of the wiping cloth 20 contacts the floor, and the wiping cloth 20 cleans the dirt on the floor in the process of rotating.

[0045] The wiping cloth dirty detection structure includes a dirty sensing module 10, the dirty sensing module 10 is installed on the body of the cleaning robot 100, the dirty sensing module 10 includes a sensing shell 11, a transmitting terminal 12 and a first receiving terminal 13, the sensing shell 11 has a containing cavity, the transmitting terminal 12 and the first receiving terminal 13 are both arranged in the containing cavity, and the side of the sensing shell 11 close to the wiping cloth 20 is a light-transmitting side wall 113. When the wiping cloth 20 is in the retracted state, the transmitting terminal 12 and the first receiving terminal 13 are aligned with the circumferential side 21 or the working end surface 22 of the wiping cloth 20 to detect the dirt.

[0046] The cleaning robot 100 provided by the application has the beneficial effects that, compared with the prior art, when the cleaning robot 100 is working, the cleaning cloth 20 is retracted to the retracted state when the timing or preset condition is triggered, the emitting terminal 12 and the first receiving terminal 13 of the dirt sensing module 10 are aligned with the circumferential side 21 or the working end surface 22 of the cleaning cloth 20 to perform dirt detection, if the dirt degree exceeds the preset threshold, the cleaning cloth 20 is cleaned or the cleaning cloth 20 is replaced, so as to avoid that the dirty cleaning cloth 20 continues to work to pollute the relatively clean area, thereby the cleaning effect and the cleaning efficiency of the cleaning robot 100 can be improved.

[0047] The detection method adopted by the dirt sensing module 10 to detect the dirt degree of the cleaning cloth 20 can adopt the prior art. For example, the patent document CN117770706A discloses a floor cleaning method and cleaning device based on sewage detection, which is provided with a turbidity meter for acquiring the turbidity value of the cleaning cloth in real time to judge the current cleaning effect, the turbidity meter includes a turbidity sensor, which can adopt the existing ME2100 sewage sensor of Shenzhen Letian Optoelectronics. The patent document CN112294204B discloses a robot cleaner and a robot system with the robot cleaner, which is provided with a turbidity sensor, the turbidity sensor includes an emitter (such as a light emitting unit) and a receiver (such as a light receiving unit), the receiver detects the turbidity of the water in the water tank according to the receiving or scattering value of the ultrasonic signal from the emitter.

[0048] Specifically, in the application, the emitting terminal 12 (such as an LED) of the dirt sensing module 10 emits detection light in a specific wavelength range, the light irradiates the circumferential side 21 or the working end surface 22 of the cleaning cloth 20 and is reflected (which can be diffuse reflection), the first receiving terminal 13 or the second receiving terminal 14 receives the reflected light, and the dirt degree of the cleaning cloth 20 can be obtained through calculation.

[0049] In addition to the dirt sensing module 10, the cleaning cloth dirt detection structure can also include a microprocessor, which controls the work of the emitting terminal 12 and the first receiving terminal 13 and the second receiving terminal 14. The first receiving terminal 13 or the second receiving terminal 14 feeds back the signal to the microprocessor, and the dirt degree of the cleaning cloth 20 can be obtained through calculation by the microprocessor. The microprocessor can adopt the controller of the cleaning robot 100 itself, and the controller controls the lifting and rotation of the cleaning cloth 20, the water spraying device and the movement of the cleaning robot 100 according to the detection signal of the dirt sensing module 10. For example, when the dirt sensing module 10 detects that the dirt degree of the cleaning cloth 20 exceeds the threshold, the controller controls the water spraying device to increase the water spraying amount on the ground or the cleaning cloth 20, or controls the cleaning robot 100 to return to the base station to clean the cleaning cloth 20 deeply or replace the cleaning cloth 20.

[0050] Please refer to Figures 8 to 10The sensing housing 11 includes an upper shell 111 and a lower shell 112, which enclose a cavity. The light-transmissive side wall 113 can be a part of the upper shell 111 or the lower shell 112, or can be a structure independent of the upper shell 111 and the lower shell 112. In some examples, the upper shell 111 and the lower shell 112 are made of non-transparent plastic, and the light-transmissive side wall 113 is a light-transmissive structure inlaid in the lower shell 112. Alternatively, a sealed light-transmissive window can be provided in the lower shell 112 (or the upper shell 111).

[0051] Referring to Figure 5 From the perspective of the cleaning robot 100 in operation, the working end surface 22 of the cloth 20 faces downward to facilitate contact with the floor, and the top of the cloth 20 has a circular tray 30 made of a hard material, such as plastic, for holding the cloth 20. The diameter of the cloth 20 is greater than the diameter of the tray 30.

[0052] Referring to Figures 2 to 4 In some examples, when the cloth 20 is in the retracted state, the peripheral side surface 21 of the cloth 20 contacts the light-transmissive side wall 113, and the cloth 20 cleans the light-transmissive side wall 113 during rotation. The cleaning robot 100 is easily contaminated by dirt such as sewage and dust during operation. When the light-transmissive side wall 113 of the dirt sensing module 10 is contaminated, the dirt hinders the emission and reception of detection light, thereby reducing detection reliability. In the present example, when a timing or a preset condition is triggered, the cloth 20 is retracted to the retracted state, the peripheral side surface 21 of the cloth 20 contacts the light-transmissive side wall 113, and the cloth 20 rotates to clean the light-transmissive side wall 113, thereby improving the detection reliability of the dirt sensing module 10 for the degree of contamination of the cloth 20.

[0053] Referring to Figure 2 and Figure 8 The light-transmissive side wall 113 has a shape of a circular arc matching the peripheral side surface of the cloth 20. The diameter of the light-transmissive side wall 113 can be slightly greater than the diameter of the cloth 20. The shape of the light-transmissive side wall 113 matching the peripheral side surface of the cloth 20 can enable the peripheral side surface of the cloth 20 to better contact and clean the light-transmissive side wall 113.

[0054] Referring to Figure 9 and Figure 10In some embodiments, the dirt sensing module 10 further comprises a second receiving terminal 14 arranged in the cavity of the sensing housing 11, when the cloth 20 is in the contracted state, the transmitting terminal 12 and the first receiving terminal 13 are aligned with the peripheral side surface 21 of the cloth 20 for dirt detection, and the transmitting terminal 12 and the second receiving terminal 14 are aligned with the working end surface 22 of the cloth 20 for dirt detection. The transmitting terminal 12 and the first receiving terminal 13 cooperate to detect the dirt degree of the peripheral side surface 21 of the cloth 20. The transmitting terminal 12 and the second receiving terminal 14 cooperate to detect the dirt degree of the working end surface 22 of the cloth 20. The detection light emitted by the transmitting terminal 12 can be received by the first receiving terminal 13 and the second receiving terminal 14 at the same time. In some cases, as long as the dirt degree calculated by the signal feedback of any receiving terminal exceeds the threshold value, it is judged that the cloth 20 needs to be cleaned or replaced, thereby it is beneficial to avoid missed detection.

[0055] In some embodiments, the cleaning robot 100 is provided with two cloths 20, and the dirt sensing module 10 is provided with two groups of first sensing groups, each of which comprises a transmitting terminal 12 and a first receiving terminal 13, and each of which is arranged in one-to-one correspondence with the cloth 20. The cleaning robot 100 is provided with two cloths 20, and because the same area is cleaned, the dirt degrees of the two cloths 20 are usually close. The left first receiving terminal 13 is aligned with the left cloth 20 for detection, and the right first receiving terminal 13 is aligned with the right cloth 20 for detection. In some cases, as long as the dirt degree calculated by the signal feedback of any receiving terminal exceeds the threshold value, it is judged that both of the two cloths 20 need to be cleaned or replaced, thereby it is beneficial to avoid missed detection. Of course, the single cloth 20 exceeding the threshold value can also be handled separately.

[0056] Please refer to Figure 13 In some embodiments, the dirt sensing module 10 is provided with two groups of second sensing groups, each of which comprises a transmitting terminal 12 and a second receiving terminal 14, and each of which is arranged in one-to-one correspondence with the cloth 20. The left second receiving terminal 14 is aligned with the left cloth 20 for detection, and the right second receiving terminal 14 is aligned with the right cloth 20 for detection. In some cases, as long as the dirt degree calculated by the signal feedback of any receiving terminal exceeds the threshold value, it is judged that both of the two cloths 20 need to be cleaned or replaced, thereby it is beneficial to avoid missed detection. Of course, the single cloth 20 exceeding the threshold value can also be handled separately.

[0057] In some cases, the sensing group for detecting the left wiping cloth 20 can be referred to as a left sensing group, and the sensing group for detecting the right wiping cloth 20 can be referred to as a right sensing group. The left sensing group includes one of the emitting terminal 12, the first receiving terminal 13 and the second receiving terminal 14, and the right sensing group also includes one of the emitting terminal 12, the first receiving terminal 13 and the second receiving terminal 14. The left sensing group and the right sensing group can work independently. In some examples, the left sensing group and the right sensing group are respectively independent sensors.

[0058] Referring to Figure 9 and Figure 10 In some embodiments, the dirt sensing module 10 further includes a circuit board 15 arranged in the cavity, one side of the circuit board 15 facing the cleaning target is a first side, and the other side is a second side. The emitting terminal 12 and the second receiving terminal 14 are arranged on the first side of the circuit board 15, and the first receiving terminal 13 is arranged on the second side of the circuit board 15. When the wiping cloth 20 is in the retracted state, the emitting terminal 12 and the second receiving terminal 14 are located on the side of the working end face 22 of the wiping cloth 20 facing the cleaning target. The emitting terminal 12, the first receiving terminal 13 and the second receiving terminal 14 can be arranged on the same circuit board 15. In order to facilitate the emitting terminal 12 and the second receiving terminal 14 to detect the working end face 22 of the wiping cloth 20, when the wiping cloth 20 is in the retracted state, the emitting terminal 12 and the second receiving terminal 14 are located on the outside of the working end face 22 of the wiping cloth 20, that is, the emitting terminal 12 and the second receiving terminal 14 are lower than the working end face 22 of the wiping cloth 20 (see Figure 11 and Figure 12 ).

[0059] Referring to Figure 9 and Figure 10 In some embodiments, the dirt sensing module 10 further includes a first light shielding member 114 arranged in the cavity and located between the emitting terminal 12 and the second receiving terminal 14. The second receiving terminal 14 needs to receive the detection light reflected from the wiping cloth 20 after being emitted by the emitting terminal 12. By arranging the first light shielding member 114 between the emitting terminal 12 and the second receiving terminal 14, it can be beneficial to prevent the detection light emitted by the emitting terminal 12 from being directly received by the second receiving terminal 14 to form interference, that is, signal noise.

[0060] Referring to Figure 9 and Figure 10In some embodiments, the dirt sensing module 10 further comprises a second light blocking member 115, which is arranged in the cavity and between the two first receiving terminals 13. The left first receiving terminal 13 is configured to receive the detection light reflected from the cloth 20 after being emitted by the left emitting terminal 12. The second light blocking member 115 arranged between the two first receiving terminals 13 can prevent the detection light emitted by the left (or right) emitting terminal 12 from being received by the right (or left) first receiving terminal 13, which can cause signal noise. The second light blocking member 115 is arranged close to the first receiving terminal 13, and can form a light blocking area for the first receiving terminal 13, which can reduce the interference of ambient light on the first receiving terminal 13. The first light blocking member 114 and the second light blocking member 115 are made of light blocking materials, such as non-transparent plastic or metal. The first light blocking member 114 and the second light blocking member 115 can both be in the form of a rib.

[0061] Referring to Figure 9 and Figure 10 In some embodiments, the lower shell 112 is provided with at least two first light blocking members 114, which are arranged one-to-one corresponding to the second sensing groups. For the left second sensing group, a first first light blocking member 114 is arranged between the emitting terminal 12 and the second receiving terminal 14. For the right second sensing group, a second first light blocking member 114 is arranged between the emitting terminal 12 and the second receiving terminal 14.

[0062] The upper shell 111 is provided with at least two second light blocking members 115, which are arranged one-to-one corresponding to the first sensing groups, and are arranged close to the corresponding first receiving terminals 13. For the left first sensing group, a first second light blocking member 115 is arranged to the right of the first receiving terminal 13. For the right first sensing group, a second second light blocking member 115 is arranged to the left of the first receiving terminal 13. A third second light blocking member 115 can also be arranged at a middle position between the two first receiving terminals 13. The number and position of the first light blocking members 114 and the second light blocking members 115 can further improve the light blocking effect of the first receiving terminals 13 and the second receiving terminals 14, thereby improving the detection reliability of the dirt sensing module 10.

[0063] Referring to Figure 13In some embodiments, the light emission direction of the first emitting terminal 12 forms an acute angle θ with the light emission direction of the second emitting terminal 12. The light emission direction of the emitting terminal 12 generally refers to the direction in which the emitting terminal 12 emits the detection light, or the beam direction, the optical axis direction, or the installation direction. The light emission directions of the two emitting terminals 12 form an acute angle θ, which can reduce the interference of the detection light emitted by the emitting terminal 12 on one side (for example, the left side) on the receiving terminal on the other side (for example, the right side), thereby improving the detection reliability of the dirt sensing module 10. In some examples, the acute angle θ is 20°-60°, and preferably 30°.

[0064] The cleaning robot 100 provided by the embodiments of the present application includes the above-described cloth dirt detection structure, and the cleaning robot 100 is further provided with a control circuit, which is in communication connection with the dirt sensing module 10. The communication connection can be an electrical connection through a cable, or a wireless connection, such as Bluetooth. In some examples, the control circuit is in electrical connection with the circuit board 15.

[0065] In some embodiments, the cleaning robot 100 is further provided with a water spraying device. The control circuit is provided with a controller, which controls the lifting and rotation of the cloth 20, the water spraying device, and the movement of the cleaning robot 100 according to the detection signal of the dirt sensing module 10. For example, when the dirt sensing module 10 detects that the dirt degree of the cloth 20 exceeds a threshold value, the controller controls the water spraying device to increase the water spraying amount on the ground or the cloth 20, or controls the cleaning robot 100 to return to the base station to perform deep cleaning or replace the cloth 20.

[0066] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A cleaning cloth contamination detection structure for detecting a degree of contamination of a disc-shaped cleaning cloth of a cleaning robot, the cleaning cloth being installed to a body of the cleaning robot and performing a cleaning function by rotation, the cleaning cloth being liftable with respect to the body of the cleaning robot to have a retracted state and an extended state, the cleaning cloth having a peripheral side surface and a working end surface that contacts a cleaning target, characterized by, The cloth dirty detection structure comprises: ​ A dirty sensing module is installed on the body of the cleaning robot, and the dirty sensing module comprises a sensing shell, a transmitting terminal and a first receiving terminal. The sensing shell has a cavity, and the transmitting terminal and the first receiving terminal are arranged in the cavity. A side of the sensing shell close to the cloth is a light-transmitting side wall. When the cloth is in a retracted state, the transmitting terminal and the first receiving terminal are aligned with the peripheral side surface or the working end surface of the cloth to perform dirty detection.

2. The cloth dirty detection structure according to claim 1, wherein: When the cloth is in the retracted state, the peripheral side surface of the cloth contacts the light-transmitting side wall, and the cloth cleans the light-transmitting side wall during rotation.

3. The cloth dirty detection structure according to claim 2, wherein: The light-transmitting side wall is in the shape of a circular arc matching the peripheral side surface of the cloth.

4. The cloth dirty detection structure according to any one of claims 1-3, wherein: The dirty sensing module further comprises a second receiving terminal. The second receiving terminal is arranged in the cavity. When the cloth is in the retracted state, the transmitting terminal and the first receiving terminal are aligned with the peripheral side surface of the cloth to perform dirty detection, and the transmitting terminal and the second receiving terminal are aligned with the working end surface of the cloth to perform dirty detection.

5. The cloth dirty detection structure according to claim 4, wherein: The cleaning robot is provided with two cloths, and the dirty sensing module is provided with two groups of first sensing groups. The first sensing group comprises the transmitting terminal and the first receiving terminal, and the first sensing group is configured in one-to-one correspondence with the cloth.

6. The cloth dirty detection structure according to claim 5, wherein: The light-emitting direction of the first transmitting terminal forms an acute angle with the light-emitting direction of the second transmitting terminal.

7. The cloth dirty detection structure according to claim 5, wherein: The dirty sensing module is provided with two groups of second sensing groups. The second sensing group comprises the transmitting terminal and the second receiving terminal, and the second sensing group is configured in one-to-one correspondence with the cloth.

8. The cloth dirty detection structure according to claim 7, wherein: The dirty sensing module further comprises a circuit board. The circuit board is arranged in the cavity. A side of the circuit board facing the cleaning target is a first side, and the other side is a second side. The transmitting terminal and the second receiving terminal are located on the first side of the circuit board, and the first receiving terminal is located on the second side of the circuit board. When the cloth is in the retracted state, the transmitting terminal and the second receiving terminal are located on the side of the working end surface of the cloth facing the cleaning target.

9. The cloth dirty detection structure according to claim 8, wherein: The dirty sensing module further comprises a first light-blocking member. The first light-blocking member is arranged in the cavity and located between the transmitting terminal and the second receiving terminal.

10. The cloth dirty detection structure according to claim 9, wherein: The dirt sensing module further comprises a second light-blocking member, which is arranged in the cavity and between the two first receiving terminals.

11. The cloth dirt detection structure according to claim 10, characterized in that: The sensing housing comprises an upper shell and a lower shell, and the upper shell and the lower shell surround to form the cavity; The lower shell is provided with at least two first light-blocking members, and the first light-blocking members are arranged in one-to-one correspondence with the second sensing groups, and / or The upper shell is provided with at least two second light-blocking members, and the second light-blocking members are arranged in one-to-one correspondence with the first sensing groups, and the second light-blocking members are close to the corresponding first receiving terminals.

12. A cleaning robot, characterized in that: The cleaning robot comprises the cloth dirt detection structure according to any one of claims 1-11.

Images