Mite-killing cleaning robot

Abstract

The utility model discloses an acarus killing cleaning robot which comprises a cleaning system, a chassis and a walking system. The cleaning system comprises a roller, a dust suction port, a dust collection box and a separator; the chassis is provided with a walking system to realize automatic cleaning; the separator is connected with the dust suction port and can form spiral air flow, garbage is separated from the air flow through centrifugal force, the separated garbage is collected in the dust collection box, and the garbage separation effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a cleaning robot technical field, especially in a kind of acarid removal cleaning robot. BACKGROUND

[0002] The existing acarid removal appearance is hand-held structure, need hand to drive it to move, it is more laboured for the acarid removal cleaning work of carpet etc.

[0003] The existing cleaning robot is separated from dust suction wind flow by filter screen assembly, garbage is attached on filter screen assembly after using for a period of time, increase the resistance of wind flow, thereby influence the suction of wind flow, therefore filter screen assembly needs to be replaced regularly, cause that use cost is higher. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of acarid removal cleaning robot, its separator can form spiral wind flow, utilize centrifugal force to separate garbage from wind flow and collect in dust collection box, garbage separation effect is good, also benefit to reduce use cost.

[0005] To achieve this purpose, the utility model adopts the following technical solutions:

[0006] A kind of acarid removal cleaning robot, including cleaning system, chassis and walking system;

[0007] Cleaning system includes roller, dust suction port, dust collection box and separator;

[0008] Chassis is equipped with walking system;

[0009] Chassis is equipped with the concave cavity for accommodating roller, the wall surface of concave cavity is equipped with dust suction port;

[0010] Separator is connected with dust suction port, separator can form spiral wind flow, utilize centrifugal force to separate garbage from wind flow, separated garbage is collected in dust collection box.

[0011] In some embodiments, separator includes inner cavity, spiral air duct, separation port, air inlet and air outlet;

[0012] One end of inner cavity is equipped with spiral air duct, the other end of inner cavity is equipped with separation port, the beginning of spiral air duct is communicated with air inlet, the end of spiral air duct is communicated with inner cavity, air outlet is communicated with inner cavity;

[0013] Air inlet is connected with dust suction port;

[0014] Separation port is connected with dust collection box;

[0015] Air outlet is connected with negative pressure generator, and the air outlet end of negative pressure generator is equipped with sound-absorbing nest.

[0016] In some embodiments, the acceleration guide surface is arranged to extend inwardly in a direction away from the spiral duct;

[0017] The acceleration guide surface is arranged to extend inwardly in a direction away from the spiral duct.

[0018] In some embodiments, the acceleration guide surface is arranged to extend inwardly in an arc structure;

[0019] or the acceleration guide surface is arranged to extend inwardly in a diagonal structure.

[0020] In some embodiments, the separator further comprises an air outlet pipe arranged inside the inner cavity and coaxially arranged with the inner cavity;

[0021] The air outlet is arranged at an end of the inner cavity close to the spiral duct;

[0022] One end of the air outlet pipe extends towards the separation opening and is in communication with the inner cavity; the other end of the air outlet pipe is in communication with the air outlet;

[0023] The end of the air outlet pipe close to the separation opening is provided with a through hole covered with a filter element.

[0024] In some embodiments, the separator is arranged inside the dust collection box and is horizontally placed.

[0025] In some embodiments, the dust collection box comprises a box body and a side cover;

[0026] The inner side of the side cover is provided with a first plate body and a second plate body protruding, and the separator is arranged between the first plate body and the second plate body;

[0027] The first plate body is provided with a slot portion, and the second plate body is provided with a protruding buckle portion;

[0028] One end of the separator is provided with a latch portion matched with the slot portion, and the other end of the separator is provided with a elastic buckle matched with the protruding buckle portion.

[0029] In some embodiments, the elastic buckle comprises an elastic portion, a buckle slot portion and a force applying portion;

[0030] The elastic portion is in a U shape, and the buckle slot portion and the force applying portion are arranged at the end of the elastic portion away from the inner cavity;

[0031] The buckle slot portion is matched with the protruding buckle portion.

[0032] In some embodiments, the cleaning robot further comprises a robot body, and the top of the side wall of the robot body is provided with a cliff sensor, and the cliff sensor is in data connection with the walking system.

[0033] In some embodiments, the cliff sensor is a laser TOF distance measuring sensor.

[0034] The separator can form spiral air flow, garbage is separated from the air flow by centrifugal force and collected in the dust collecting box, garbage separation effect is good, and use cost is reduced.

[0035] The walking system cooperates with the cliff sensor, the cliff detection is more accurate and reliable, the falling risk is reduced, and safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A structure diagram of the acarid-killing cleaning robot;

[0037] Figure 2 A structure diagram of the acarid-killing cleaning robot, wherein the machine body is omitted;

[0038] Figure 3 A sectional view of Figure 2

[0039] Figure 4 An exploded view of the separator of the utility model;

[0040] Figure 5 A second exploded view of the separator of the utility model;

[0041] Figure 6 A sectional view of the first embodiment of the separator of the utility model;

[0042] Figure 7 A sectional view of the second embodiment of the separator of the utility model;

[0043] Figure 8 A sectional view of the third embodiment of the separator of the utility model;

[0044] Figure 9 An exploded view of the dust collecting box of the utility model;

[0045] Figure 10 A second exploded view of the dust collecting box of the utility model;

[0046] Figure 11 A structure diagram of the elastic buckle of the separator of the utility model;

[0047] Figure 12 An assembly structure diagram of the cliff sensor of the utility model;

[0048] Figure 13 A connection structure diagram of the cliff sensor and the walking system of the utility model;

[0049] ​Wherein: 100 - cleaning system; 1 - dust collection box; 11 - box body; 12 - side cover; 121 - first plate body; 122 - slot part; 123 - second plate body; 124 - protruding buckle part; 2 - separator; 26 - air inlet; 27 - air outlet; 20 - inner cavity; 21 - spiral air duct; 211 - spiral fin; 22 - separation opening; 23 - air outlet pipe; 231 - through hole; 24 - filter element; 25 - acceleration guide surface; 2a - cup body; 28 - latch part; 2b - first end cover; 29 - elastic buckle; 291 - elastic part; 292 - buckle groove part; 293 - force applying part; 2c - second end cover; 3 - negative pressure generator; 7 - sound attenuation nest; 4 - dust suction port; 62 - second pipeline; 5 - roller; 200 - chassis; 210 - recessed cavity; 300 - machine body; 310 - side wall; 400 - walking system; 410 - wheel; 500 - cliff sensor; 510 - transmitting unit; 520 - receiving unit; 530 - processing chip; 600 - central processing unit. DETAILED DESCRIPTION

[0050] The utility model will be further explained in detail below in combination with the drawings.

[0051] Reference Figures 1 to 6 A mite cleaning robot, comprising a cleaning system 100, a chassis 200 and a walking system 400;

[0052] The cleaning system 100 comprises a roller 5, a dust suction port 4, a dust collection box 1 and a separator 2.

[0053] The roller 5 is driven to rotate by a first motor, and can clean a carpet, a bed, a sofa, a floor and other surfaces to be cleaned.

[0054] The dust suction port 4 can suck dust, particles and other garbage into it; the dust collection box 1 is used to collect or store the garbage; and the separator 2 can separate the garbage from the airflow.

[0055] The chassis 200 is provided with the walking system 400; the walking system 400 comprises wheels 410 and steering wheels, etc., the wheels 410 and the steering wheels are driven by corresponding motors, and the wheels 410 and the steering wheels are arranged on the chassis 200, thereby driving the cleaning robot to walk and realizing automatic cleaning.

[0056] The chassis 200 can be provided with a disinfection and mite removal mechanism, such as an ozone generator and an ultraviolet lamp, etc., which can disinfect and remove mites from a carpet, a bed, a sofa, a floor and other surfaces; this can be appropriately set according to the situation.

[0057] Reference Figure 3 The chassis 200 is provided with a recessed cavity 210 for accommodating the roller 5, and the wall surface of the recessed cavity 210 is provided with the dust suction port 4; the dust suction port 4 can be located above or beside the roller 5.

[0058] The separator 2 is connected with the dust suction port 4, and the separator 2 can form a spiral air flow and separate garbage from the air flow by centrifugal force. The separated garbage is collected in the dust collecting box 1, so that the filter screen assembly can be replaced, the setting of the filter screen assembly is saved, and the use cost is reduced.

[0059] Reference Figures 4 to 6 The separator 2 comprises an inner cavity 20, a spiral air duct 21, a separation port 22, an air inlet 26 and an air outlet 27. The spiral air duct 21 is composed of a spiral blade 211 and can guide the spiral flow of the air flow, so as to form a spiral air flow. The inner cavity 20 is in a cylindrical, cup-shaped or cylindrical shape, which is beneficial to the spiral flow of the air flow along the peripheral wall of the inner cavity 20.

[0060] One end of the inner cavity 20 is provided with the spiral air duct 21, and the other end of the inner cavity 20 is provided with the separation port 22. The initial end of the spiral air duct 21 is in communication with the air inlet 26, the terminal end of the spiral air duct 21 is in communication with the inner cavity 20, and the air outlet 27 is in communication with the inner cavity 20.

[0061] The air inlet 26 is connected with the dust suction port 4. The dust suction port 4 can be connected with the air inlet 26 through a first pipeline or directly connected with the air inlet 26.

[0062] The separation port 22 is connected with the dust collecting box 1.

[0063] The air outlet 27 is connected with the negative pressure generator 3. The negative pressure generator 3 can be a fan or a negative pressure motor to form a negative pressure air flow. The negative pressure generator 3 can be connected with the air outlet 27 through a second pipeline 62.

[0064] Therefore, garbage flows into the spiral air duct 21 of the separator 2 from the dust suction port 4 under the action of the negative pressure air flow. The spiral air duct 21 guides the air flow to flow in a spiral direction, promotes the spiral flow of the air flow in the inner cavity 20, forms a spiral air flow, and flows towards the separation port 22. The garbage is separated from the air flow under the action of centrifugal force and is collected in the dust collecting box 1. The air flow separated from the garbage flows to the air outlet 27 and finally flows to the outside.

[0065] Further, the separation port 22 can be arranged on the peripheral wall of the inner cavity 20. The separation port 22 can be in a strip shape and arranged in a circumferential direction along the peripheral wall of the inner cavity 20. In this way, the garbage has more time and space to separate from the air flow during the spiral motion or circumferential motion, the garbage separation is more sufficient, and the separation efficiency is higher.

[0066] Further, the air outlet end of the negative pressure generator 3 is provided with a sound-absorbing nest 7, which is beneficial to reduce noise.

[0067] Reference Figure 7 And Figure 8 The separation port 22 further comprises an acceleration guide surface 25 arranged at the other end of the inner cavity 20 relative to the spiral air duct 21.

[0068] The accelerating guide surface 25 is arranged to extend gradually inward in a direction away from the spiral air duct 21;

[0069] It can be understood that the accelerating guide surface 25 is arranged to extend gradually inward to the central axis of the inner cavity 20 in a direction away from the spiral air duct 21, so that the space of the end portion of the inner cavity 20 away from the spiral air duct 21 gradually narrows, so as to make the spiral radius of the spiral airflow gradually small, thereby making the flow rate of the spiral airflow gradually increase, and further making the centrifugal force of the garbage gradually increase, so that the garbage can be separated from the separation port 22 more quickly, and the garbage with lighter weight can also obtain sufficient centrifugal force to separate from the separation port 22, thereby improving the separation effect of the garbage. The accelerating guide surface 25 can be a part of the peripheral wall of the inner cavity 20.

[0070] Reference Figure 7 Optionally, the accelerating guide surface 25 is arranged to extend gradually inward in an arc structure.

[0071] Reference Figure 8 Optionally, the accelerating guide surface 25 is arranged to extend gradually inward in an oblique line structure.

[0072] Reference Figure 6 The separator 2 further comprises an air outlet pipe 23, which is arranged inside the inner cavity 20 and coaxially arranged with the inner cavity 20; which is beneficial to reduce the flow resistance of the spiral airflow, and the structure is also more compact.

[0073] The air outlet 27 is arranged at the end portion of the inner cavity 20 close to the spiral air duct 21.

[0074] One end of the air outlet pipe 23 is arranged to extend in the direction of the separation port 22 and communicate with the inner cavity 20; the other end of the air outlet pipe 23 communicates with the air outlet 27.

[0075] The spiral airflow flows to the separation port 22 along the A direction, the airflow separated from the garbage flows into the air outlet pipe 23, and flows to the air outlet 27 along the B direction, and finally flows to the outside, wherein the A direction and the B direction are opposite; since the flow directions of the A direction and the B direction are opposite, it is quite difficult for the garbage to move in the B direction under the inertia of the centrifugal force, which effectively makes the garbage stay in the inner cavity 20 to perform spiral motion or circular motion, and finally separates from the separation port 22, so as to realize more sufficient separation of the garbage and improve the garbage separation effect.

[0076] Further, the end of the air outlet pipe 23 close to the separation opening 22 is provided with a through hole 231, and the through hole 231 is covered with a filter 24. The through hole 231 can be provided on the peripheral wall of the air outlet pipe 23, and the filter 24 is annular and can be sleeved or clamped on the air outlet pipe 23. The filter 24 can be made of stainless steel filter screen. In this way, the air flow needs to pass through the filter 24 to flow into the air outlet pipe 23. Because the size or weight of the garbage is different, the centrifugal force obtained is different, and there can be a small amount of garbage with smaller particles or lighter weight distributed in the central area of the air flow. In order to further reduce or prevent the garbage from flowing to the outside, the filter 24 can be provided to block the garbage and promote the garbage to stay in the inner cavity 20 to continue the spiral motion or circular motion.

[0077] In addition, because the central area of the spiral air flow is basically free of garbage or has a small amount of garbage, and the garbage tends to move outward under the action of centrifugal force, the amount of garbage attached to the filter 24 is small, and the filter 24 can be used for a long time without frequent replacement.

[0078] The dust removal method of the acarid removal cleaning robot includes the following steps:

[0079] The negative pressure generator 3 works to form a negative pressure air flow, and the garbage is sucked into the separator 2 from the dust suction port 4 under the action of the negative pressure air flow;

[0080] The spiral air duct 21 of the separator 2 promotes the spiral flow of the air flow to form a spiral air flow, and the spiral air flow flows along the A direction in the inner cavity 20 to the separation opening 22;

[0081] The garbage is separated from the separation opening 22 under the action of centrifugal force and enters the dust collection box 1;

[0082] The air flow after the garbage is separated flows to the outside.

[0083] Further, the acceleration guide surface 25 can promote the spiral radius of the spiral air flow to gradually decrease, so that the flow rate of the spiral air flow gradually increases;

[0084] Further, the air flow after the garbage is separated flows to the air outlet pipe 23 and flows along the B direction to the air outlet 27 and finally to the outside. The A direction is opposite to the B direction.

[0085] In this way, the separator 2 can form a spiral air flow to separate the garbage from the air flow by using centrifugal force. Further, the acceleration guide surface 25 can increase the flow rate of the spiral air flow, so that the garbage obtains greater centrifugal force and is separated from the separation opening 22 more quickly and more fully, further improving the garbage separation effect.

[0086] Reference Figure 4 With Figure 5 The separator 2 can be composed of a cup body 2a, a first end cover 2b, a second end cover 2c, and an air outlet pipe 23.

[0087] The first end cover 2b and the second end cover 2c are assembled at two ends of the cup body 2a respectively, and can be assembled through a screwing, buckling, plug-in or other structure. The first end cover 2b is provided with a elastic buckle 29. The air outlet pipe 23 is assembled in the interior of the cup body 2a. The air inlet pipe can be assembled through a screwing, buckling, plug-in or other structure. The air outlet pipe 23 is provided with at least part of the spiral piece 211. The air inlet 26 and the air outlet 27 are arranged at one end of the cup body 2a. The separation port 22 is arranged at the other end of the cup body 2a.

[0088] Reference Figure 9 With Figure 10 The separator 2 is arranged in the interior of the dust collecting box 1, which is beneficial to save space. The separator 2 is horizontally placed, and the structure is more compact. The separation port 22 can be horizontally directed to the dust collecting box 1.

[0089] The dust collecting box 1 comprises a box body 11 and a side cover 12. A sealing ring can be arranged at the connection between the box body 11 and the side cover 12.

[0090] The inner side of the side cover 12 is provided with a first plate body 121 and a second plate body 123 which are protruded. The separator 2 is arranged between the first plate body 121 and the second plate body 123. Or the inner side of the side cover 12 is provided with a recessed area for assembling the separator 2. The opposite two wall surfaces of the recessed area correspond to the first plate body 121 and the second plate body 123.

[0091] The first plate body 121 is provided with a slot part 122. The second plate body 123 is provided with a protruding buckle part 124.

[0092] One end of the separator 2 is provided with a plug pin part 28 matched with the slot part 122. The other end of the separator 2 is provided with an elastic buckle 29 matched with the protruding buckle part 124. Thus, the convenient assembly is realized through the buckling or clamping structure. The elastic buckle 29 can be made of plastic or metal.

[0093] Reference Figure 11 The elastic buckle 29 comprises an elastic part 291, a buckle groove part 292 and a force applying part 293.

[0094] The elastic part 291 is in a U shape, so as to have a certain deformation elasticity. The buckle groove part 292 and the force applying part 293 are arranged at one end of the elastic part 291 away from the inner cavity 20. The buckle groove part 292 is matched with the protruding buckle part 124. The force applying part 293 is the position of the external force application. The user pushes the force applying part 293 to promote the elastic part 291 to produce deformation and shrink, so as to promote the buckle groove part 292 to move away from the protruding buckle part 124, and realize the disassembly.

[0095] Reference Figure 1 , Figure 12 With Figure 13The cleaning robot further comprises a body 300, a top of a side wall 310 of the body 300 is provided with a cliff sensor 500, and the cliff sensor 500 is in data connection or signal connection with the walking system 400. The body 300 can be a shell structure, and the body 300 and the chassis 200 form an internal space capable of accommodating the dust collecting box 1, the negative pressure generator 3 and other components.

[0096] The cliff sensor 500 is arranged in an inclined manner and can emit a detection signal downward and outward. The cliff sensor 500 is arranged at the top of the side wall 310 of the body 300, so that the detection range is wider, and the detected data is more stable and accurate. The cliff sensor 500 is arranged at least in three positions, for example, the front end, the left side and the right side of the walking path are each provided with a corresponding cliff sensor 500. The cliff sensor 500 can be hiddenly arranged at the top of the side wall 310.

[0097] When the cliff sensor 500 detects a cliff, that is, the distance between the cliff and the body 300 is less than a preset value (edge detection distance H), for example, the edge detection distance H is set to be between 1 cm and 20 cm, the cliff sensor 500 sends a signal to the walking system 400, and the walking system 400 performs an action of avoiding the cliff according to the signal, for example, stopping, retreating, turning around, turning, and the like, so as to change or re-plan the walking path to avoid falling.

[0098] The cliff sensor 500 is a laser TOF distance measuring sensor. The laser TOF distance measuring sensor measures the distance by using the flight time of laser pulses, and calculates the distance of the target object by calculating the phase difference between the light emission and reflection. In this way, the laser TOF distance measuring sensor can be independent of the reflectivity of the object, and the color or surface characteristics of the object have less effect on the detection result.

[0099] The distance measurement method of a common infrared sensor or a laser sensor usually depends on the amount of light reflected from the surface of an object. The color and surface roughness of the object can significantly affect the amount of reflected light, thereby affecting the accuracy. For example, the surface of a carpet, a bed or a sofa is cloth, and the light reflectivity is low, so it is difficult for a common infrared sensor or a laser sensor to accurately detect. The laser TOF distance measuring sensor is independent of the amount of reflected light, so it can more accurately detect carpets, beds and sofas. Moreover, the edges of a bed or a sofa are usually arc-shaped or gradually inclined, and the surface of a bed or a sofa is not flat and has wrinkles. If the sensor is assembled on the bottom surface of the chassis 200, the detection range is small, and misjudgment is likely to occur. Therefore, the cliff sensor 500 of the present application adopts the laser TOF distance measuring principle and is arranged at the top of the side wall 310 of the body 300, so that the edges of a carpet, a bed or a sofa can be effectively, timely and accurately detected, and the cliff sensor 500 is more suitable for cleaning carpets, beds and sofas.

[0100] The cliff sensor 500 comprises a transmitting unit 510, a receiving unit 520 and a processing chip 530, the transmitting unit 510 is used for transmitting a probe signal, the receiving unit 520 is used for receiving a reflected signal, and the receiving unit 520 can be provided with a filter. The transmitting unit 510 and the receiving unit 520 are connected with the processing chip 530. The cliff sensor 500 can be connected with the walking system 400 through the central processor 600, so that the corresponding motor can be controlled, and the control of the walking path is realized. The central processor 600 is prior art, and is only applied herein.

[0101] The above only discloses some embodiments of the present application. For those skilled in the art, without departing from the inventive concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A mite-removing cleaning robot, characterized by, The cleaning system (100), the chassis (200) and the walking system (400) are included. The cleaning system (100) includes a roller (5), a dust suction port (4), a dust collecting box (1) and a separator (2). The chassis (200) is provided with a walking system (400). The chassis (200) is provided with a recess (210) for accommodating the roller (5), and the wall surface of the recess (210) is provided with the dust suction port (4). The separator (2) is connected with the dust suction port (4), the separator (2) can form a spiral air flow, and the garbage is separated from the air flow by centrifugal force, and the separated garbage is collected in the dust collecting box (1).

2. The acarid-removing cleaning robot according to claim 1, wherein The separator (2) includes an inner cavity (20), a spiral air duct (21), a separation port (22), an air inlet (26) and an air outlet (27). One end of the inner cavity (20) is provided with the spiral air duct (21), the other end of the inner cavity (20) is provided with the separation port (22), the initial end of the spiral air duct (21) is communicated with the air inlet (26), the terminal end of the spiral air duct (21) is communicated with the inner cavity (20), and the air outlet (27) is communicated with the inner cavity (20). The air inlet (26) is connected with the dust suction port (4). The separation port (22) is connected with the dust collecting box (1). The air outlet (27) is connected with a negative pressure generator (3), and the air outlet end of the negative pressure generator (3) is provided with a sound attenuation nest (7).

3. The acarid-removing cleaning robot according to claim 2, wherein The separation port (22) further includes an acceleration guide surface (25), which is arranged at the other end of the inner cavity (20) relative to the spiral air duct (21). The acceleration guide surface (25) gradually extends inward in a direction away from the spiral air duct (21).

4. The acarid-removing cleaning robot according to claim 3, wherein The acceleration guide surface (25) gradually extends inward in an arc structure. Or the acceleration guide surface (25) gradually extends inward in an inclined line structure.

5. The acarid-removing cleaning robot according to claim 2, wherein The separator (2) further includes an air outlet pipe (23), which is arranged inside the inner cavity (20) and coaxially arranged with the inner cavity (20). The air outlet (27) is arranged at the end of the inner cavity (20) close to the spiral air duct (21). One end of the air outlet pipe (23) extends in the direction of the separation port (22) and is communicated with the inner cavity (20); the other end of the air outlet pipe (23) is communicated with the air outlet (27). The end of the air outlet pipe (23) close to the separation port (22) is provided with a through hole (231), and the through hole (231) is covered with a filter (24).

6. The acarid-removing cleaning robot according to claim 1, wherein The separator (2) is arranged inside the dust collecting box (1), and the separator (2) is horizontally placed.

7. The acarid-removing cleaning robot according to claim 6, wherein The dust collecting box (1) includes a box body (11) and a side cover (12). The inner side of the side cover (12) is provided with a convex first plate body (121) and a second plate body (123), and the separator (2) is arranged between the first plate body (121) and the second plate body (123). The first plate body (121) is provided with a slot portion (122), and the second plate body (123) is provided with a convex buckle portion (124). One end of the separator (2) is provided with a plug-in part (28) matched with a slot part (122), and the other end of the separator (2) is provided with a elastic buckle (29) matched with a convex buckle part (124).

8. The acarid-removing cleaning robot according to claim 7, wherein The elastic buckle (29) comprises an elastic part (291), a buckle slot part (292) and a force applying part (293). The elastic part (291) is in U shape, and the buckle slot part (292) and the force applying part (293) are arranged at one end of the elastic part (291) away from the inner cavity (20). The buckle slot part (292) is matched with the convex buckle part (124).

9. The acarid-removing cleaning robot according to claim 1, wherein Further comprising a fuselage (300), and a cliff sensor (500) is arranged at the top of the side wall (310) of the fuselage (300) and is in data connection with the walking system (400).

10. The acarid-removing cleaning robot according to claim 9, wherein The cliff sensor (500) is a laser TOF distance measuring sensor.

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